JP4753858B2 - Transplanter seedling removal device - Google Patents

Transplanter seedling removal device Download PDF

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JP4753858B2
JP4753858B2 JP2006348043A JP2006348043A JP4753858B2 JP 4753858 B2 JP4753858 B2 JP 4753858B2 JP 2006348043 A JP2006348043 A JP 2006348043A JP 2006348043 A JP2006348043 A JP 2006348043A JP 4753858 B2 JP4753858 B2 JP 4753858B2
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seedling
claw
support shaft
shaft
pot
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JP2008154533A (en
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将人 杉岡
勇樹 阿部
隆 岩川
健吉 野坂
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Kubota Corp
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Description

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。   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.

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。
この種の従来技術は、苗取り爪を取り付けた苗爪台と、この苗爪台を苗トレイのポット部に略対向する方向に略楕円軌跡を描きながら往復運動をさせかつその略楕円軌跡の一端下側で苗取り爪をポット部に進入させた後に一端上側で苗取り爪をポット部から後退させて苗を取り出させる往復動手段と、前記苗取り爪がポット部の外側から前記略楕円軌跡の他端側との間にあるときに、苗取り爪の姿勢をポット部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とを有している。 The transplanting machine has a seedling placing table on which a seedling tray having a large number of pot parts in the vertical and horizontal directions is placed on the traveling machine, a planting part for planting seedlings on the cocoon, and a seedling tray from the 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.
This type of conventional technology is a method of making a reciprocating motion while drawing a substantially elliptical locus in a direction substantially opposite to the pot portion of the seedling tray, and a Reciprocating means for taking out the seedling by retracting the seedling catching claw from the pot part on one upper side after allowing the seedling catching claw to enter the pot part below the one end, and the seedling catching claw from the outside of the pot part to the substantially elliptical shape And a posture changing means for performing a substantially arc locus motion for changing the posture of the seedling claw from a posture facing the pot portion to a substantially downward posture when located between the other end side of the locus.

そして前記往復動手段は、太陽軸と、太陽軸と同心の太陽歯車と、太陽軸に装着されかつアイドラ歯車及び遊星歯車を支持しているギヤケースと、遊星歯車を支持する遊星軸に基部が装着されかつ先端に爪支軸を介して苗爪台を回転自在に支持した回動アームとを有し、前記太陽歯車から遊星歯車までの中心間距離と遊星歯車から爪支軸までの中心間距離とを異ならせている。
このように爪支軸の往復移動に遊星ギヤ機構を使用して、苗植え付けの高速化を可能にするとともに、ポット部に対向する方向に略沿う略楕円軌跡を描かせるように苗取り爪を往復移動させることにより、ポット部の上下中央より下側から進入させて上側から退出させて、低抵抗で苗を取り出せるようにしている。
特開２００４−８１１５９号公報 The reciprocating means includes a sun shaft, a sun gear concentric with the sun shaft, a gear case mounted on the sun shaft and supporting the idler gear and the planet gear, and a base mounted on the planet shaft supporting the planet gear. And a pivot arm rotatably supporting a seed claw base at the tip via a claw support shaft, and a center distance from the sun gear to the planetary gear and a center distance from the planet gear to the claw support shaft. Are different.
In this way, the planetary gear mechanism is used for the reciprocating movement of the claw support shaft to enable the seedling planting to be speeded up, and the seedling removing claw can be drawn so as to draw a substantially elliptical locus substantially along the direction facing the pot portion. By reciprocating, the seeds can be taken out with low resistance by entering from the lower center of the pot part from the lower side and withdrawing from the upper side.
JP 2004-81159 A

前記従来技術においては、遊星ギヤ機構の遊星軸で回動アームを介して爪支軸を押し引きしており、爪支軸には苗取り爪及び苗爪台の重量が加わっていて、回動アームは遊星軸を中心に爪支軸側が垂下しようとする重力（回動力）が常にかかった状態になっている。
爪支軸が太陽軸側から略楕円軌跡の端部へ移行するとき、回動アームには突っ張り抵抗が加わっているが、端部の折り返し点を通過すると、回動アームは引っ張り状態となり、折り返し点を境にして遊星ギヤ機構のギヤの歯面の当たりが反対側になる。
前記遊星ギヤ機構には２組の噛合部でギヤのバックラッシが存在するため、歯当たりが逆転すると、回動アームがそのバックラッシ分だけ揺動して苗取り爪をガタつかせる。特に、ポット部に進入させたときに苗取り爪の先端が下向きに揺動することがあると、根鉢を傷めて、植付部への供給途中に苗を落下させる可能性がある。 In the prior art, the planetary shaft of the planetary gear mechanism pushes and pulls the claw support shaft through the rotation arm, and the claw support shaft is added with the weight of the seedling claw and the seedling claw stand, and rotates. The arm is always in the state of gravity (rotational power) that the claw support shaft is about to hang around the planetary axis.
When the claw support shaft moves from the sun axis side to the end of the approximately elliptical locus, a tension resistance is applied to the rotating arm. At the point, the contact of the tooth surface of the planetary gear mechanism is on the opposite side.
Since the planetary gear mechanism has a backlash of the gear at two sets of meshing portions, when the tooth contact is reversed, the rotating arm swings by the amount of the backlash to rattle the seedling catching claw. In particular, if the tip of the seedling picking claw may swing downward when entering the pot portion, the root pot may be damaged and the seedling may be dropped during the supply to the planting portion.

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装置を提供することを目的とする。
本発明は、爪支軸を常に上向きに付勢しておくことにより、遊星ギヤ機構のギヤの歯当たりを常に一定面にして、苗取り爪の先端のガタつきを無くす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。 It is an object of the present invention to provide a seedling removal device for a transplanter that can solve such problems of the prior art.
The present invention provides a transplanting machine in which the tooth contact of the planetary gear mechanism is always kept constant by constantly biasing the claw support shaft upward so that rattling of the tip of the seedling claw is eliminated. An object is to provide a seedling removal device.

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、苗取り爪３２を取り付けた苗爪台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略楕円軌跡Ｄを描きながら往復運動をさせかつその略楕円軌跡Ｄ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を取り出させる往復動手段３６とを有し、
前記往復動手段３６は、太陽軸４３と、太陽軸４３と同心の太陽歯車４２と、太陽軸４３に装着されかつアイドラ歯車４４及び遊星歯車４５を支持しているギヤケース４７と、遊星歯車４５を支持する遊星軸４６に基部が装着されかつ先端に爪支軸６１を介して苗爪台３３を回転自在に支持した回動アーム４８とを有し、前記太陽歯車４２から遊星歯車４５までの中心間距離Ｋ１と遊星歯車４５から爪支軸６１までの中心間距離Ｋ２とを異ならせており、
前記苗爪台３３を介して爪支軸６１を上向きに付勢する付勢手段７６を有することである。 Specific means for solving the problems in the present invention are as follows.
First, the seedling claw base 33 with the seedling claw 32 attached thereto and the seedling claw base 33 are reciprocated while drawing a substantially elliptic locus D in a direction substantially opposite to the pot portion P of the seedling tray T, and the abbreviation thereof. Reciprocating means 36 for removing the seedling N by retracting the seedling claw 32 from the pot portion P on one upper side after allowing the seedling collecting claw 32 to enter the pot portion P on the lower side of the elliptical locus D;
The reciprocating means 36 includes a sun shaft 43, a sun gear 42 concentric with the sun shaft 43, a gear case 47 attached to the sun shaft 43 and supporting the idler gear 44 and the planetary gear 45, and the planetary gear 45. A rotating arm 48 having a base attached to the supporting planetary shaft 46 and rotatably supporting the seedling claw base 33 via a claw support shaft 61 at the tip, and a center from the sun gear 42 to the planetary gear 45; The distance K1 is different from the center distance K2 from the planetary gear 45 to the claw support shaft 61.
It has urging means 76 for urging the claw support shaft 61 upward via the seedling claw stand 33.

第２に、苗取り爪３２を取り付けた苗爪台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略楕円軌跡Ｄを描きながら往復運動をさせかつその略楕円軌跡Ｄ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の外側から前記略楕円軌跡Ｄの他端側との間にあるときに、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、
前記往復動手段３６は、太陽軸４３と、太陽軸４３と同心の太陽歯車４２と、太陽軸４３に装着されかつアイドラ歯車４４及び遊星歯車４５を支持しているギヤケース４７と、遊星歯車４５を支持する遊星軸４６に基部が装着されかつ先端に爪支軸６１を介して苗爪台３３を回転自在に支持した回動アーム４８とを有し、前記太陽歯車４２から遊星歯車４５までの中心間距離Ｋ１と遊星歯車４５から爪支軸６１までの中心間距離Ｋ２とを異ならせており、
前記苗爪台３３を介して爪支軸６１を上向きに付勢する付勢手段７６を有することである。 Secondly, the seedling claw base 33 to which the seedling claw 32 is attached, and the seedling claw base 33 are reciprocated while drawing a substantially elliptic locus D in a direction substantially opposite to the pot portion P of the seedling tray T, and its abbreviation. The reciprocating means 36 for removing the seedling N by retracting the seedling claw 32 from the pot portion P on one upper side after the seedling collecting claw 32 has entered the pot portion P below the one end of the elliptical locus D, and the seedling removing When the claw 32 is between the outside of the pot portion P and the other end side of the substantially elliptical locus D, the substantially circular locus that changes the posture of the seedling collecting claw 32 from the posture facing the pot portion P to the substantially downward direction. Posture changing means 37 for exercising,
The reciprocating means 36 includes a sun shaft 43, a sun gear 42 concentric with the sun shaft 43, a gear case 47 attached to the sun shaft 43 and supporting the idler gear 44 and the planetary gear 45, and the planetary gear 45. A rotating arm 48 having a base attached to the supporting planetary shaft 46 and rotatably supporting the seedling claw base 33 via a claw support shaft 61 at the tip, and a center from the sun gear 42 to the planetary gear 45; The distance K1 is different from the center distance K2 from the planetary gear 45 to the claw support shaft 61.
It has urging means 76 for urging the claw support shaft 61 upward via the seedling claw stand 33.

第３に、前記苗爪台３３は爪支軸６１を境にして苗取り爪３２取り付け側と反対側に連動部３３Ｃを突出しており、
前記姿勢変更手段３７は、苗爪台３３が前記略楕円軌跡運動を行うときに連動部３３Ｃと係合してその移動を案内する略円弧形状のカム面５０Ａを有するカム部材５０とを備えており、
前記付勢手段７６は、太陽軸４３を回転自在に支持するギヤボックス５８に固定のステー７７と、このステー７７と苗爪台３３の苗取り爪３２取り付け側との間に設けられていて苗爪台３３に爪支軸６１を上方向へ付勢するスプリング７８とを有することである。 Thirdly, the seedling claw base 33 projects an interlocking portion 33C on the opposite side of the seedling claw 32 attachment side with the claw support shaft 61 as a boundary,
The posture changing means 37 includes a cam member 50 having a substantially arc-shaped cam surface 50A that engages with the interlocking portion 33C and guides its movement when the seedling claw stand 33 performs the substantially elliptical locus motion. And
The biasing means 76 is provided between a stay 77 fixed to a gear box 58 that rotatably supports the sun shaft 43, and between the stay 77 and the seedling claw 32 attachment side of the seedling claw base 33. The claw base 33 has a spring 78 that urges the claw support shaft 61 upward.

第４に、前記スプリング７８のステー７７側の取り付け端部は太陽軸４３から略楕円軌跡Ｄの中心線Ｄａと略直交する方向に位置することである。
このような構成によって、次のような作用を奏する。
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動させて、略楕円軌跡Ｄ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、苗爪台３３を略楕円軌跡Ｄの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を取り出すとき、遊星軸４６に基部が装着された回動アーム４８は苗爪台３３の爪支軸６１を下側から支持しながら略楕円軌跡Ｄの一端側へ突っ張るように移動させ、その一端で折り返すと、遊星軸４６は爪支軸６１より上側へ移動し、回動アーム４８は爪支軸６１を引っ張って太陽軸４３側へ移動させる。 Fourth, the stay end of the spring 78 on the stay 77 side is located in a direction substantially perpendicular to the center line Da of the substantially elliptic locus D from the sun shaft 43.
With such a configuration, the following operation is achieved.
The seedling claw base 33 is moved forward in a direction substantially opposite to the pot part P of the seedling tray T, and the seedling claw 32 is made to enter the pot part P below one end of the substantially elliptical trajectory D. When the seedling picking claw 32 is retracted from the pot portion P at one upper end of the substantially elliptical locus D and the seedling N is taken out, the rotating arm 48 having the base attached to the planetary shaft 46 is connected to the claw support shaft 61 of the seedling claw stand 33. Is supported so as to be stretched toward one end side of the substantially elliptical locus D while being supported from the lower side, and is turned back at one end thereof, the planetary shaft 46 is moved upward from the claw support shaft 61, and the rotating arm 48 is moved to the claw support shaft 61. Is moved to the sun axis 43 side.

前記爪支軸６１が苗Ｎを取り出すための略楕円軌跡Ｄの一端下側にあるときだけでなく、上側にあるときも、爪支軸６１は付勢手段７６によって上向きに付勢されているので、苗取り爪３２の重量等による爪支軸６１から回動アームを回動する力が働かなく、太陽歯車４２とアイドラ歯車４４及びアイドラ歯車４４と遊星歯車４５とは歯当たりが常に同じ面となり、バックラッシによる苗取り爪３２のガタつきはなくなり、ポット部Ｐに進入させたときの苗取り爪３２先端の下向き揺動が防止される。
前記苗取り爪３２がポット部Ｐの外側から前記略楕円軌跡Ｄの他端側との間にあって、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とき、遊星軸４６は爪支軸６１より上側から下側へ移動する。そして回動アーム４８は遊星軸４６からぶら下がりながら爪支軸６１を突っ張り移動させる状態から、爪支軸６１を下側から支持しながら引っ張るように移動させ、その他端で折り返すとき、回動アーム４８による爪支軸６１を下側から支持する状態の変化があるが、このときも苗爪台３３を介して爪支軸６１を付勢手段７６によって上向きに付勢されているので、爪支軸６１から回動アームを回動する力が働かなく、太陽歯車４２とアイドラ歯車４４及びアイドラ歯車４４と遊星歯車４５とは歯当たりが常に同じ面となり、バックラッシによる苗取り爪をガタつきはなくなり、苗を放出するときの苗取り爪先端の揺動が防止される。 The claw support shaft 61 is urged upward by the urging means 76 not only when the claw support shaft 61 is on the lower side of the substantially elliptical locus D for taking out the seedling N but also on the upper side. Therefore, the force of rotating the rotating arm from the claw support shaft 61 due to the weight of the seedling removing claw 32 does not work, and the sun gear 42, the idler gear 44, the idler gear 44, and the planetary gear 45 always have the same tooth contact. Thus, the backlash of the seedling picking claws 32 is free from rattling, and the downward swinging of the tips of the seedling picking claws 32 when entering the pot portion P is prevented.
When the seedling claw 32 is between the outside of the pot part P and the other end side of the substantially elliptical locus D, and the attitude of the seedling claw 32 is changed from a position facing the pot part P to a substantially downward direction, the planet The shaft 46 moves from the upper side to the lower side of the claw support shaft 61. When the claw support shaft 61 is stretched and moved from the state where the claw support shaft 61 is stretched while being hung from the planetary shaft 46 and is turned at the other end, the rotation arm 48 is turned. There is a change in the state of supporting the claw support shaft 61 from the lower side, but the claw support shaft 61 is also urged upward by the urging means 76 via the seedling claw base 33 at this time. No force to rotate the rotating arm from 61, the sun gear 42 and the idler gear 44, the idler gear 44 and the planetary gear 45 are always in the same surface, the seedling claw by backlash will not rattle, When the seedling is released, the tip of the seedling claw is prevented from swinging.

付勢手段７６はステー７７とスプリング７８との簡単な部材で構成でき、苗取り爪３２がポット部Ｐに対向する姿勢と略下向きに姿勢とに変更されても、苗爪台３３を介して爪支軸６１を上向きに確実に付勢することができ、略楕円軌跡Ｄの一端側においても他端側においても略同等に付勢力を与えることができる。   The urging means 76 can be constituted by a simple member of a stay 77 and a spring 78, and even if the seedling claw 32 is changed to a posture facing the pot portion P and a posture substantially downward, the seedling claw base 33 is used. The claw support shaft 61 can be reliably urged upward, and the urging force can be applied substantially equally on one end side and the other end side of the substantially elliptical locus D.

以上詳述した本発明によれば、遊星ギヤ機構のギヤの歯当たりを常に一定面にして、苗取り爪の先端のガタつきを無くすことができ、苗取り出し作業を正確かつ確実に行うことができる。   According to the present invention described in detail above, the gear tooth contact of the planetary gear mechanism can always be a constant surface, the backlash of the tip of the seedling claw can be eliminated, and the seedling removal operation can be performed accurately and reliably it can.

以下、本発明の実施の形態を図面に基づいて説明する。
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。
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。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
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.
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.

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。
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。 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.
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, and an actuator (hydraulic cylinder) 16 supported on the gantry 6 is operated to operate the interlocking portion. 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.

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。
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。 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.
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.

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。
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。 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.
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. It mainly comprises 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 it to the planting mechanism 22.

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。２８は苗取出機構２４を覆うカバーである。
図１、２、４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。 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. A cover 28 covers the seedling extraction mechanism 24.
1, 2, and 4, the seedling tray T is made of plastic, has a thin wall, has flexibility, and includes a large number of pot portions P that are arranged in a grid pattern at a predetermined pitch vertically and horizontally. ing.

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。
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。 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.
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.

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。
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。 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, 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.
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.

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。
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。 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.
Each seedling extraction device 30 is driven by the power from the first PTO shaft 18, and has a pair of left and right seedling removal claws 32 (seedling extraction members) at the tip, and the seedling removal claws 32 are placed in the pot portion P. It is configured to pierce a seedling pot having a floor soil and hold the seedling N, take out the seedling N from the pot portion P, and supply it to the planting cup 26 of the planting mechanism 22.

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。
図１〜９において、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。 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. Draw an elliptical trajectory and move up and down between the upper seedling supply position and the lower seedling discharge position.
1-9, one of the left and right seedling picking devices 30 has a gear box 58 mounted on a support base 57 mounted on the fixed frame 21A, and the power transmitted from the first PTO shaft 18 is transmitted to the gear box 58. The shaft 59 is supported, both ends of the transmission shaft 59 project from the gear box 58 and one end is used as a sun shaft 43, and the other end is connected to the sun shaft of the other seedling picking device 30 through gear transmission means or chain transmission means. The power transmitted to the seedling supply mechanism 23 is also taken out from the gear box 58.

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。   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 stand 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.

前記左右各苗取り爪３２は、爪部材３２Ａの基部３２ＡＣ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３２ＡＣ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は平面視Ｓの字状に屈曲した丸棒材（針形状）で形成しており、長手方向先端３２ａから中途部３２ｂまでの先端部３２ＡＳと、縦軸３２Ｂに装着された基部３２ＡＣと、中途部３２ｂから基部３２ＡＣまでの収縮部３２ＡＫとを有する。 Each of the left and right seedling collecting claws 32 is pivotally supported by the seedling claw base 33 through a vertical axis 32B provided on the base 32AC of the claw member 32A so that the tip interval can be expanded and contracted. The claw member 32A is diametrically extended from the vertical axis 32B. The base part 32AC of the left and right claw members 32A is provided with a spring contraction member 60 that biases the tip thereof in the contraction direction.
The claw members 32A of the both seedling claw 32 are formed of a round bar material (needle shape) bent in the shape of S in plan view, and a front end portion 32AS from the front end 32a to the midway portion 32b, and a vertical axis 32B. And a contraction part 32AK from the midway part 32b to the base part 32AC.

前記爪部材３２Ａは先端部３２ＡＳと収縮部３２ＡＫの間の中途部３２ｂで屈曲されており、苗突き刺し時には平面視において、先端部３２ＡＳは爪左右中心線Ｈと略平行に位置し、中途部３２ｂから基部３２ＡＣまでは外方向に山形に屈曲されていて、先端部３２ＡＳと繋がる傾斜部分が末広がり状の収縮部３２ＡＫとなっている。
なお、収縮部３２ＡＫは傾斜部分の一部であり、苗取り補助具３４が中途部３２ｂから引き続いて摺動する範囲であり、左右苗取り爪３２に収縮作用を与える部分をいう。
前記左右苗取り爪３２の先端部３２ＡＳの長手方向長さＱ１は、収縮部３２ＡＫの長さＱ２より長く、２倍以上、３〜５倍程度になっている。但し、収縮部３２ＡＫの傾斜角度は苗取り補助具３４の摺動を阻害しない角度に設定されている。 The claw member 32A is bent at a midway part 32b between the tip part 32AS and the contraction part 32AK, and the tip part 32AS is positioned substantially parallel to the claw left and right center line H in plan view when the seedling is pierced, and the midway part 32b. The base portion 32AC is bent in a mountain shape in the outward direction, and an inclined portion connected to the tip portion 32AS is a diverging contraction portion 32AK.
The contraction part 32AK is a part of an inclined part, is a range in which the seedling removal aid 34 continues to slide from the midway part 32b, and refers to a part that imparts a contraction action to the left and right seedling removal claws 32.
The longitudinal direction length Q1 of the distal end portion 32AS of the left and right seedling picking claws 32 is longer than the length Q2 of the contraction portion 32AK and is about 2 to 3 times. However, the inclination angle of the contraction portion 32AK is set to an angle that does not hinder the sliding of the seedling removal aid 34.

また、左右各苗取り爪３２の爪部材３２Ａの先端部３２ＡＳの形状は、先端３２ａ側へ左右幅Ｗが次第に小さくなり、収縮部３２ＡＫと先端３２ａとの中間から先端３２ａにかけて上下幅Ｚが次第に小さくなっており、先端３２ａにいくほど平べったくなっている。この苗取り爪３２は、棒材を切削して先端部３２ＡＳを形成し、中途部３２ｂ及ぶ基部３２ＡＣを屈曲することにより形成している。
前記苗取り爪３２の爪部材３２Ａは、径を根の切断に影響がでない程度の太さ（例えば、直径３〜６ｍｍ好ましくは４〜５ｍｍ）であり、外周円弧面を削って平坦な２面を形成することにより根との接触面積を拡大し、根鉢に挿入したときに根や土と接触した摩擦力を利用して苗Ｎを保持し、従来の苗取り爪では取り出しできなかった根鉢の崩れやすい苗Ｎでも取り出し可能にしている。 The shape of the tip 32AS of the claw member 32A of each of the left and right seedling collecting claws 32 is such that the left-right width W gradually decreases toward the tip 32a, and the vertical width Z gradually increases from the middle between the contraction 32AK and the tip 32a to the tip 32a. It is small and flattened toward the tip 32a. The seedling claw 32 is formed by cutting a bar material to form a distal end portion 32AS and bending a base portion 32AC extending to the midway portion 32b.
The claw member 32A of the seedling claw 32 has a diameter that does not affect the cutting of the root (for example, a diameter of 3 to 6 mm, preferably 4 to 5 mm), and has two flat surfaces by shaving the outer circumferential arc surface. The contact area with the root is increased by forming the root, and the seedling N is retained by using the frictional force that is in contact with the root and the soil when inserted into the root pot. It is possible to take out even the seedling N which is easy to collapse the pot.

左右苗取り爪３２は、平面視において先端部３２ＡＳがポット部Ｐ内にその中心線Ｓと平行に進入して、側面視において苗Ｎの根鉢を中心線Ｓ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に装着され、苗取り爪３２の長手方向と平行に位置調整自在になっている。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。 In the left and right seedling picking claws 32, the tip 32AS enters the pot portion P in parallel with the center line S in plan view, and the root pot of the seedling N is stabbed to the deepest part below the center line S in side view. And hold it so that it is forcibly inserted from both sides.
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, and the position of the support block 33B can be adjusted in parallel with the longitudinal direction of the seedling picking claws 32. The vertical axis 32B of the both seedling catching claws 32 is pivotally supported by the support block 33B, and the distance from the pawl support axis 61 to the tip 32a of the seedling catching claws 32 can be adjusted by adjusting the front and rear positions.

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。
前記嵌合部材３４Ｂは、左右爪部材３２Ａに嵌合する左右一対の孔３４ｂを有しており、この孔３４ｂの間隔は進入前の左右先端部３２ＡＳの間隔と略同一に設定され、従って、収縮部３２ＡＫ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、左右収縮部３２ＡＫと摺接するときに苗取り爪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の先端部３２ＡＳ側に位置するとき、距離Ｌは拡大されて最大（Ｌ１）になり、苗取り爪３２の収縮部３２ＡＫ側に位置するとき、距離Ｌは縮小されて最小（Ｌ２）になる。 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.
The fitting member 34B has a pair of left and right holes 34b that fit into the left and right claw members 32A, and the interval between the holes 34b is set to be substantially the same as the interval between the left and right tip portions 32AS before entering. The distance between the contraction parts 32AK is set to be narrower than the distance between the contraction parts 32AK, and the distance L between the tips of the seedling catching claws 32 can be expanded and contracted when slidingly contacting the left and right contraction parts 32AK by moving the seedling removal aid 34 back and forth. Yes. When the fitting member 34B is positioned on the tip end 32AS side of the seedling catching claw 32, the distance L is enlarged to the maximum (L1), and when the fitting member 34B is located on the contraction portion 32AK side of the seedling catching claw 32, the distance L is reduced. To the minimum (L2).

なお、左右爪部材３２Ａ及び嵌合部材３４Ｂは距離Ｌの異なるものを複数用意して、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してもよい。
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。 A plurality of left and right claw members 32A and fitting members 34B having different distances L 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. May be.
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.

苗爪台３３の台本体３３Ａに設けたピン７３と揺動アーム４０に固定のブラケット７４に設けた調整ピン７５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。
前記ブラケット７４は板材をＬ字形状に形成されたもので、その先端辺にはピン７３からの距離を異ならせた位置に頭付きピンで形成された前記調整ピン７５が複数本設けられており、付勢手段６２の張力を調整して嵌合部材３４Ｂの弾発力を変更可能にしている。
即ち、移植する苗Ｎの葉が大きい時、長い時は、付勢手段６２の張力を強くして、苗Ｎの放出力を高めて植付けカップ２６内に深く確実に入るようにし、苗Ｎの葉が小さい時、短い時は、放出時に苗Ｎの放出姿勢が変化し易いので、付勢手段６２の張力を弱くして、安定姿勢で植付けカップ２６内に入るようにする。 Between the pin 73 provided on the base body 33A of the seedling claw stand 33 and the adjustment pin 75 provided on the bracket 74 fixed to the swing arm 40, a coil that repels the fitting member 34B toward the tip of the claw member 32A. A spring biasing means 62 is provided.
The bracket 74 has a plate material formed in an L-shape, and a plurality of the adjustment pins 75 formed of headed pins are provided at positions where the distance from the pin 73 is different at the tip side. The elasticity of the fitting member 34B can be changed by adjusting the tension of the biasing means 62.
That is, when the leaves of the seedling N to be transplanted are large or long, the tension of the urging means 62 is increased to increase the release power of the seedling N so that it deeply enters the planting cup 26. When the leaves are small or short, the discharge posture of the seedling N is easily changed at the time of discharge. Therefore, the tension of the urging means 62 is weakened so that it enters the planting cup 26 in a stable posture.

前記複数本の調整ピン７５は揺動アーム４０に設けてもよく、頭付きピンの代わりにブラケット７４又は揺動アーム４０に複数のスプリング係合孔を形成してもよい。ピン７３はブラケットを介して支持ブロック３３Ｂに取り付けてもよい。また、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。 The plurality of adjustment pins 75 may be provided in the swing arm 40, or a plurality of spring engagement holes may be formed in the bracket 74 or the swing arm 40 instead of the headed pin. The pin 73 may be attached to the support block 33B via a bracket. Further, the biasing 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.

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。 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.

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。ギヤボックス５８から突出した支持筒体８３に太陽歯車４２を固定するとともに軸受８４を介してギヤケース４７を回転自在に支持し、これらの内部に挿通した太陽軸４３の外端に廻り止め状態で固定板８５を嵌合し、この固定板８５をギヤケース４７に固定して、ギヤケース４７を太陽軸４３に一体回転自在に装着し、前記ギヤケース４７に互いに噛合したアイドラ歯車４４と遊星歯車４５とを回転自在に支持させ、前記アイドラ歯車４４を太陽歯車４２に噛合している。 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. The sun gear 42 is fixed to the support cylinder 83 protruding from the gear box 58, and the gear case 47 is rotatably supported via the bearing 84. The sun gear 43 is fixed to the outer end of the sun shaft 43 inserted therethrough in a non-rotating state. The plate 85 is fitted, the fixed plate 85 is fixed to the gear case 47, the gear case 47 is attached to the sun shaft 43 so as to be rotatable together, and the idler gear 44 and the planetary gear 45 meshed with the gear case 47 are rotated. The idler gear 44 is meshed with the sun gear 42.

前記遊星歯車４５は遊星軸４６に固定されており、この遊星軸４６はギヤケース４７から突出していてそ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、伝動軸５９からの動力で太陽軸４３が自転するとギヤケース４７が一体回転し、太陽歯車４２に噛合しているアイドラ歯車４４が太陽歯車４２の廻りを公転しながら自転し、アイドラ歯車４４の自転によって遊星歯車４５が逆方向に自転して、回動アーム４８の遊星軸４６側端部を太陽歯車４２の廻りで公転させながら、回動アーム４８を遊星軸４６を中心に回転させる。 The planetary gear 45 is fixed to the planetary shaft 46, and the planetary shaft 46 protrudes from the gear case 47, and one end of a rotating arm 48 is detachably attached to the end of the planetary shaft 46. The claw support shaft 61 is fixed to the end. 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 shaft 43 rotates by the power from the transmission shaft 59, the gear case 47 rotates integrally, and the idler gear 44 meshing with the sun gear 42 is the sun gear 42. The planetary gear 45 rotates in the reverse direction due to the rotation of the idler gear 44 and revolves around the sun gear 42 while rotating the planetary shaft 46 side end of the rotation arm 48. 48 is rotated about the planetary axis 46.

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。 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

即ち、ギヤケース４７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。   That is, when the gear case 47 rotates in the direction of the arrow (counterclockwise) in FIG. 3, the claw support shaft 61 passes through the lower locus Dd of the substantially elliptic locus D and reaches the end on the pot portion P side of the center line Da. From the line Da to the farthest end portion from the pot portion P of the center line Da through the upper locus Du. 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.

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、水平線に対して角度Ｊだけ後下向きに傾斜している。この傾斜角度Ｊ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及び押動杆３４Ａとも略平行になっている。 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 elliptical locus D is inclined rearward and downward by an angle J with respect to the horizontal line. This inclination angle J 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, and the seedling picking claws 32 and the push rod 34A. Both are substantially parallel.

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Ｊが設定されている。
しかし、苗取り爪３２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Ｊを所要角度に変更設定することができる。 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 J is set in order to make the seedling collecting claw 32 substantially parallel to the lower side wall Pb of the pot portion P at the seedling removal position.
However, when the seedling claw 32 is inclined upward or downward with respect to the lower side wall Pb of the pot portion P at the seedling extraction position, the inclination angle is changed by changing the position or posture of the cam member 50 described later. J can be changed and set to the required angle.

図１〜３、５〜８において、苗爪台３３の台本体３３Ａには爪支軸６１を境にして苗取り爪３２と反対側に連動部３３Ｃが突出しており、前記姿勢変更手段３７は連動部３３Ｃの先端の軸４９Ｂに設けたコロ４９Ａをカム部材５０に係合することにより構成されている。このカム部材５０にはコロ４９Ａを案内する略円弧形状のカム面５０Ａを形成しており、取り付け具６９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、苗爪台３３を介して苗取り爪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３３Ｃ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。 1 to 3 and 5 to 8, the base body 33 </ b> A of the seedling claw base 33 has an interlocking portion 33 </ b> C projecting on the opposite side of the seedling claw 32 with the claw support shaft 61 as a boundary. The roller 49 </ b> A provided on the shaft 49 </ b> B at the tip of the interlocking portion 33 </ b> C is engaged with the cam member 50. This cam member 50 is formed with a substantially arc-shaped cam surface 50A for guiding the roller 49A, and the mounting plate 70 fixed to the gear box 58 can be adjusted to the front / rear position, the vertical position or the tilt angle via the mounting tool 69. It is fixed to.
This posture changing means 37 controls the posture of the seedling claw 32 via the seedling claw base 33, and the seedling claw 32 is located on the far end side of the reciprocating motion of the substantially elliptical locus D from the outside of the pot portion P. (The side far from the seedling tray T), the roller 49A at the tip of the interlocking portion 33C is guided by the substantially arc locus E, and the posture of the seedling claw 32 is substantially reduced from the posture facing the pot portion P. The posture of the seedling claw stand 33 is changed so that the posture is changed downward.

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。 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 is formed substantially in parallel with the lower side wall Pb of the pot portion P, the seedling claw 32, the push rod 34A, and the like. Thus, when the tip 32a is in the pot portion P, the posture of the seedling collecting claw 32 is not changed as much as possible.
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.

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。 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.

前記ギヤボックス５８に固定の取り付け板７０と苗爪台３３との間には付勢手段７６が設けられている。この付勢手段７６は、取り付け板７０に固定のステー７７と、このステー７７と苗爪台３３との間に架設されたスプリング７８とを有する。このスプリング７８は苗爪台３３から左右にずれているが、苗爪台３３の真上に配置することが好ましい。
前記ステー７７は板７７ａに棒材７７ｂを溶着したものであり、取り付け板７０に長孔及びボルトを介して上下位置調整自在に設けられており、スプリング７８は両端に上下連結片７９、８０を有し、棒材７７ｂ及び苗爪台３３に揺動自在に連結され、苗爪台３３の爪支軸６１を常に上方向へ付勢している。即ち、苗爪台３３の苗取り爪３２側は付勢手段７６によって弾力的に吊り上げられていて、爪支軸６１は下側軌跡Ｄｄにあるとき、スプリング７８によって略楕円軌跡Ｄの端部側へ弾圧される。 A biasing means 76 is provided between the mounting plate 70 fixed to the gear box 58 and the seedling claw stand 33. The urging means 76 includes a stay 77 fixed to the mounting plate 70 and a spring 78 installed between the stay 77 and the seedling claw stand 33. Although the spring 78 is shifted from the seedling claw base 33 to the left and right, it is preferable that the spring 78 is disposed right above the seedling claw base 33.
The stay 77 is obtained by welding a bar 77b to a plate 77a. The stay 77 is provided on the mounting plate 70 through a long hole and a bolt so that the vertical position can be adjusted. A spring 78 has upper and lower connecting pieces 79 and 80 at both ends. And is swingably connected to the bar 77b and the seedling claw base 33, and always urges the claw support shaft 61 of the seedling claw base 33 upward. That is, the seedling claw 32 side of the seedling claw base 33 is elastically lifted by the urging means 76, and when the claw support shaft 61 is in the lower locus Dd, the end of the substantially elliptic locus D is moved by the spring 78. It is oppressed to.

前記スプリング７８の上連結片７９のステー７７側の取り付け端部は、太陽軸４３から略楕円軌跡Ｄの中心線Ｄａと略直交する方向Ｙに位置しており、爪支軸６１が苗取り出し時の位置にあっても、苗放出時の位置にあっても、略同様に上向き付勢ができるようになっている。
次に、前述した苗取出装置３０における苗取り出し方法を説明する。
図９Ａ（図９の状態Ａ）及び図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及びギヤケース４７の回転によって太陽歯車４２の廻りで遊星軸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。 An attachment end of the upper connecting piece 79 of the spring 78 on the stay 77 side is located in a direction Y substantially perpendicular to the center line Da of the substantially elliptical locus D from the sun shaft 43, and the claw support shaft 61 is taken out when the seedling is taken out. Even if it is in the position of the seedling or the position at the time of releasing the seedling, the upward biasing can be performed in substantially the same manner.
Next, a seedling extraction method in the seedling extraction device 30 described above will be described.
FIG. 9A (state A in FIG. 9) and FIG. 10 show a state immediately before the seedling claw 32 enters the pot portion P. The reciprocating means 36 operates and the sun gear 43 and the gear case 47 rotate to rotate the sun gear. The planetary shaft 46 revolves around 42 and revolves, and the claw support shaft 61 of the seedling claw base 33 to which the seedling catching claw 32 is attached is substantially elliptical locus D along the direction substantially facing the pot portion P of the seedling tray T. The reciprocating motion is performed while drawing, passing through the lower trajectory Dd of the substantially elliptical trajectory D, and being located at the approximate center in the longitudinal direction of the approximate elliptical trajectory D.

また、姿勢変更手段３７が作動して、連動部３３Ｃ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３３Ｃのコロ４９Ａはカム部材５０の部分５０Ａａに達し、図９Ｂ〜９Ｄ、１１に示すように、苗取り爪３２の姿勢は略楕円軌跡Ｄの下側軌跡Ｄｄ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（僅かに傾斜）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）。 In addition, the posture changing means 37 is operated to change the posture of the seedling catching claw 32 from the substantially downward direction to the substantially horizontal pot portion P via the interlocking portion 33C 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 portion 33C moves to the cam member 50. 9B to 9D and 11, the posture of the seedling claw 32 is substantially parallel to the lower locus Dd of the substantially elliptic locus D, and the lower edge 32b is the lower side edge of the pot portion P. It becomes substantially parallel to Pb (slightly inclined) and begins to pierce the root pot of the seedling N in the pot part P (draws a partial trajectory M1).

また、これと同時に図９に示すように、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の嵌合部材３４Ｂは、図９Ｂ〜９Ｄ、１１の状態又はその前後に達するまで、即ち、苗取り爪３２の先端３２ａから中途部まで移動する間は、苗取り爪３２の先端部３２ＡＳが爪中心線Ｈと略平行であるので、左右苗取り爪３２の先端間距離Ｌを縮小することはなく、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。 At the same time, as shown in FIG. 9, the auxiliary tool operating means 39 has started to operate, and the cam body 41 swings against the swinging arm 40 against the biasing means 62, so 34 is moved away from the pot portion P, and the seedling-removing claw 32 is shifted to a state that does not hinder the seedling N from starting to pierce the root pot of the seedling N.
The fitting member 34B of the seedling removal assisting tool 34 reaches the state shown in FIGS. 9B to 9D and 11 or before and after that, that is, while it moves from the tip 32a of the seedling removal claw 32 to the middle part thereof. Since the tip portion 32AS is substantially parallel to the claw center line H, the distance L between the tips of the left and right seedling picking claws 32 is not reduced, and the seedling catching claws 32 are substantially straight in a posture facing the pot portion P. Enter the part P and pierce the seedling N.

前記図１１の状態から太陽軸４３が回転すると、図１〜３、９Ｅ、１２の状態に移行することになり、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３３Ｃのコロ４９Ａはカム部材５０の部分５０Ａａ内を移動する。図１１の状態又はその前後から図１２の状態に移行（図９Ａから図９Ｄまで移行）するときに、苗取り補助具３４の嵌合部材３４Ｂは苗取り爪３２の収縮部３２ＡＫと摺接するので、左右苗取り爪３２の先端間距離Ｌを大きく収縮させ、苗Ｎの根鉢の底部分まで挟む。   When the sun shaft 43 rotates from the state of FIG. 11, the state shifts to the states of FIGS. 1 to 3, 9 </ b> E, and 12. The side locus Dd is moved to the distal end side, and the roller 49A of the interlocking portion 33C moves within the portion 50Aa of the cam member 50. When the state shown in FIG. 11 or before and after that state is changed to the state shown in FIG. Then, the distance L between the tips of the left and right seedling removing claws 32 is greatly shrunk, and the seedling N is pinched to the bottom of the root pot.

即ち、苗爪台３３を移動させて、苗取り爪３２を苗トレイＴのポット部Ｐの奥近くまで侵入させるとき、苗取り補助具３４の嵌合部材３４Ｂは苗取り爪３２の先端側から中途部まで移動する。このとき、苗取り補助具３４に案内されるのは左右苗取り爪３２の先端部３２ＡＳであり、この先端部３２ＡＳは爪左右中心線Ｈと略平行であるため、苗取り補助具３４による苗取り爪３２の先端間隔Ｌを収縮させる作用は生じなく、苗Ｎの表面には苗取り爪３２が突き刺さるだけで余分な孔は形成されなく、左右苗取り爪３２の先端は広い間隔で苗Ｎの根を挟む。   That is, when the seedling claw base 33 is moved and the seedling removal claw 32 is caused to enter the depth of the pot portion P of the seedling tray T, the fitting member 34B of the seedling removal aid 34 is moved from the front end side of the seedling removal claw 32. Move halfway. At this time, it is the tip portion 32AS of the left and right seedling picking claws 32 that is guided to the seedling picking aid 34, and this tip portion 32AS is substantially parallel to the nail left and right center line H. The action of contracting the tip interval L of the take-off claw 32 does not occur, and only the seedling take-off claw 32 is pierced on the surface of the seedling N, and no extra hole is formed. Sandwich the roots.

苗爪台３３がさらに移動しかつ苗取り補助具３４が苗取り爪３２の中途部３２ｂから基部３２ＡＣ側へ移動するとき、末広がり状の収縮部３２ＡＫが苗取り補助具３４の嵌合部材３４Ｂに案内されるので、苗取り爪３２の先端間隔Ｌは急速に収縮され、苗Ｎの根を多量に摘むことになる（図９Ｅの状態）。
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る。 When the seedling claw stand 33 further moves and the seedling removal aid 34 moves from the midway portion 32b to the base portion 32AC side of the seedling removal claw 32, the diverging contraction portion 32AK becomes a fitting member 34B of the seedling removal aid 34. Since it is guided, the tip interval L of the seedling picking nail 32 is rapidly contracted, and a large amount of the roots of the seedling N is picked (state of FIG. 9E).
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.

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３２ａ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を突き刺しの略最終時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。   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. The tip 32a of the right and left seedling claw 32 contracts against the contraction member 60 slightly before the seedling claw 32 pierces the root pot of the seedling N, and the distance L between the tips contracts by the distance. L1 and the root pot of the seedling N will be pinched. That is, the seedling removal assisting tool 34 is moved faster at the end of entry than at the beginning of entry into the pot portion P by the seedling removal claw 32, and the seedling removal claw 32 is rapidly contracted at the almost final stage of piercing. The clamping is performed reliably and stably.

苗取り爪３２が苗Ｎの根鉢に完全に挿入された後は、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、図１２、１３に示すように、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、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。 After the seedling claw 32 is completely inserted into the root pot of the seedling N, the movement of the claw support shaft 61 of the seedling claw base 33 by the operation of the reciprocating means 36 causes the end of the elliptical locus D on the pot part P side. As shown in FIGS. 12 and 13, by 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 the partial trajectory M2), as shown in FIGS. ), The seedling removing claws 32 are pulled out of the pot portion P while being lifted up slightly while keeping the posture substantially facing the pot portion P.
The partial trajectory M2 is substantially parallel to the upper side wall Pb on the back side of the pot part P, and approaches the center in the vertical direction on the mouth side of the pot part P. Therefore, the root pot of the seedling N is the pot part. There is almost no sliding contact with the lower side wall Pb and no sliding contact with the upper side wall Pb, and the upper side wall Pb can be separated while being separated upward from the lower side wall Pb.

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、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。
往復動手段３６においては、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動させて、略楕円軌跡Ｄ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、苗爪台３３を略楕円軌跡Ｄの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を取り出すとき（図１０〜１２）、遊星軸４６に基部が装着された回動アーム４８は苗爪台３３の爪支軸６１を下側から支持しながら略楕円軌跡Ｄの一端側へ突っ張るように移動させ、その一端で折り返すと、遊星軸４６は爪支軸６１より上側へ移動し、回動アーム４８は爪支軸６１を引っ張って太陽軸４３側へ移動させる（図１２〜１４）。 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.
In the reciprocating means 36, the seedling claw base 33 is moved forward in a direction substantially opposite to the pot portion P of the seedling tray T, and the seedling claw 32 enters the pot portion P below one end of the substantially elliptical locus D. After that, when the seedling claw base 33 is retracted from the pot portion P and the seedling N is taken out by moving the seedling claw base 33 on one upper side of the substantially elliptical trajectory D (FIGS. 10 to 12), the rotation of the planet shaft 46 with the base attached. The moving arm 48 moves so as to stretch toward one end of the substantially elliptical locus D while supporting the claw support shaft 61 of the seedling claw stand 33 from below, and the planetary shaft 46 is located above the claw support shaft 61 when folded back at one end. The rotation arm 48 pulls the claw support shaft 61 and moves it to the sun shaft 43 side (FIGS. 12 to 14).

前記爪支軸６１が苗Ｎを取り出すための略楕円軌跡Ｄの一端下側にあるときだけでなく、上側にあるときも、爪支軸６１は付勢手段７６によって上向きに付勢されているので、爪支軸６１から回動アームを回動する力が働かなく、太陽歯車４２とアイドラ歯車４４及びアイドラ歯車４４と遊星歯車４５とは歯当たりが常に同じ面となり、バックラッシによる苗取り爪３２をガタつかせることはなくなり、ポット部Ｐに進入させたときの苗取り爪先端３２ａの下向き揺動が防止される。
図１４〜１６において、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。 The claw support shaft 61 is urged upward by the urging means 76 not only when the claw support shaft 61 is on the lower side of the substantially elliptical locus D for taking out the seedling N but also on the upper side. Therefore, the force for rotating the rotating arm from the claw support shaft 61 does not act, and the sun gear 42, the idler gear 44, the idler gear 44, and the planetary gear 45 are always in the same surface, and the seedling removal claw 32 due to backlash is obtained. The seedling claw tip 32a is prevented from swinging downward when it enters the pot portion P.
14-16, while the nail | claw support shaft 61 moves from the center of the substantially elliptical locus | trajectory D to the edge part far from the pot part P (drawing partial locus | trajectory M3), the attitude | position change means 37 makes the seedling removal nail | claw 32 When the posture is changed greatly and abruptly and the seedling catching claw 32 is substantially downward, or before and after that, the cam follower 67 is detached from the action surface 41b of the cam body 41 and falls into the cam recess 41c, and the swinging arm 40 returns to the back. Accordingly, the seedling removal assisting tool 34 of the assisting tool actuating means 39 protrudes toward the distal end side of the seedling removing claw 32 by the elastic force of the urging means 62, and the seedling removal claw 32 is projected by the pushing surface 34a. The pierced seedling N is discharged to the planting cup 26 waiting downward.

このとき、連動部３３Ｃ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。 At this time, the roller 49A of the interlocking portion 33C moves in 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.

前記苗取り爪３２がポット部Ｐの外側から前記略楕円軌跡Ｄの他端側との間にあって、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とき、遊星軸４６は爪支軸６１より上側から下側へ移動する。そして回動アーム４８は遊星軸４６からぶら下がりながら爪支軸６１を突っ張り移動させる状態から、爪支軸６１を下側から支持しながら引っ張るように移動させる（図１５〜１７）。
図１６に示す略楕円軌跡Ｄの他端で爪支軸６１が折り返すとき、回動アーム４８による爪支軸６１を下側から支持する状態の変化があるが、このときも苗爪台３３を介して爪支軸６１を付勢手段７６による弾力的な吊り持ちによって上向きに付勢されているので、爪支軸６１から回動アームを回動する力が働かなく、太陽歯車４２とアイドラ歯車４４及びアイドラ歯車４４と遊星歯車４５とは歯当たりが常に同じ面となり、バックラッシによる苗取り爪３２をガタつかせることはなくなり、ポット部Ｐに進入させたときの苗取り爪先端３２ａの上下揺動が防止される。 When the seedling claw 32 is between the outside of the pot part P and the other end side of the substantially elliptical locus D, and the attitude of the seedling claw 32 is changed from a position facing the pot part P to a substantially downward direction, the planet The shaft 46 moves from the upper side to the lower side of the claw support shaft 61. Then, the pivot arm 48 is moved from the state in which the claw support shaft 61 is stretched while hanging from the planetary shaft 46 so as to be pulled while being supported from the lower side (FIGS. 15 to 17).
When the claw support shaft 61 is folded back at the other end of the substantially elliptical locus D shown in FIG. 16, there is a change in the state in which the claw support shaft 61 is supported from the lower side by the rotating arm 48. Since the claw support shaft 61 is urged upward by the elastic suspension by the urging means 76, the force for rotating the rotation arm from the claw support shaft 61 does not work, and the sun gear 42 and the idler gear 44, the idler gear 44, and the planetary gear 45 are always in the same surface, and the seedling claw 32 due to backlash is not rattled, and the seedling claw tip 32a is moved up and down when it enters the pot portion P. Movement is prevented.

苗放出後の苗取り爪３２は、図１７に示すように、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。
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１〜１７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。 As shown in FIG. 17, the seedling claw 32 after the seedling discharge performs a return operation (draws 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. Thus, the posture is changed from a substantially downward posture to a horizontal posture (a backward downward inclined posture with a gentle angle), and the state returns to the state shown in FIG. 10, and the tip 32a of the seedling catching claw 32 completes one cycle of completing the general locus M.
In the present invention, it is best to configure the shape and structure of each member and the positional relationship between the front, rear, left, and right in the above embodiments 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.

例えば、付勢手段７６のスプリング７８を連結するステー７７は、太陽軸４３を回転自在に支持するギヤボックス５８に固定の取り付け板７０に装着さられているが、ギヤボックス５８自体に装着しもよい。   For example, the stay 77 that connects the spring 78 of the urging means 76 is mounted on the mounting plate 70 fixed to the gear box 58 that rotatably supports the sun shaft 43, but may be mounted on the gear box 58 itself. Good.

本発明の実施形態を示す全体側面図である。1 is an overall side view showing an embodiment of the present invention. 苗突き刺し完了時の要部の側面図である。It is a side view of the principal part at the time of completion of seedling sticking. 往復動手段の説明図である。It is explanatory drawing of a reciprocating means. 移植機の全体を示す側面図である。It is a side view which shows the whole transplanter. 苗取出装置の側面図である。It is a side view of a seedling extraction device. 苗取出装置の平面図である。It is a top view of a seedling extraction device. 苗取り爪の平面図である。It is a top view of a seedling removing nail. 苗取出装置の一部断面正面図である。It is a partial cross section front view of a seedling extraction device. 苗取り爪及び苗取り補助具の動作を示す平面説明図である。It is plane explanatory drawing which shows operation | movement of a seedling removal nail | claw and a seedling removal auxiliary tool. 苗突き刺し前の苗取出装置の要部の側面図である。It is a side view of the principal part of the seedling extraction device before seedling sticking. 苗突き刺し中の苗取出装置の要部の側面図である。It is a side view of the principal part of the seedling picking device during seedling piercing. 苗突き刺しかつ挟持完了時の苗取出装置の要部の側面図である。It is a side view of the principal part of the seedling picking apparatus at the time of seedling piercing and clamping completion. 苗取り出し開始時の苗取出装置の要部の側面図である。It is a side view of the principal part of the seedling extraction device at the time of starting seedling extraction. 苗取り出し移動時の苗取出装置の要部の側面図である。It is a side view of the principal part of the seedling extraction device at the time of seedling extraction movement. 苗放出直前の苗取出装置の要部の側面図である。It is a side view of the principal part of the seedling extraction device just before seedling discharge. 苗放出時の苗取出装置の要部の側面図である。It is a side view of the principal part of the seedling extraction device at the time of seedling discharge. 苗放出直後の苗取出装置の要部の側面図である。It is a side view of the principal part of the seedling extraction device immediately after seedling discharge.

符号の説明Explanation of symbols

１ 移植機
３０ 苗取出装置
３２ 苗取り爪
３２Ａ 爪部材
３２Ｂ 縦軸
３２ＡＳ 先端部
３２ＡＫ 収縮部
３３ 苗爪台
３６ 往復動手段
３７ 姿勢変更手段
３８ 姿勢制御手段
３９ 補助具作動手段
４０ 揺動アーム
４１ カム体
４２ 太陽歯車
４３ 太陽軸
４４ アイドラ歯車
４５ 遊星歯車
４７ ギヤケース
４８ 回動アーム
６１ 爪支軸
７６ 付勢手段
７７ ステー
７８ スプリング
Ｄ 略楕円軌跡
Ｍ 苗取り出し軌跡
Ｎ 苗 DESCRIPTION OF SYMBOLS 1 transplanting machine 30 seedling picking device 32 seedling picking claw 32A claw member 32B vertical axis 32AS tip 32AK contraction part 33 seedling claw stand 36 reciprocating means 37 posture changing means 38 posture control means 39 auxiliary tool operating means 40 swing arm 41 cam Body 42 Sun gear 43 Sun shaft 44 Idler gear 45 Planetary gear 47 Gear case 48 Rotating arm 61 Claw support shaft 76 Energizing means 77 Stay 78 Spring D Substantially elliptic locus M Seedling takeout locus N Seedling

Claims (4)

苗取り爪（３２）を取り付けた苗爪台（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略楕円軌跡（Ｄ）を描きながら往復運動をさせかつその略楕円軌跡（Ｄ）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）を取り出させる往復動手段（３６）とを有し、
前記往復動手段（３６）は、太陽軸（４３）と、太陽軸（４３）と同心の太陽歯車（４２）と、太陽軸（４３）に装着されかつアイドラ歯車（４４）及び遊星歯車（４５）を支持しているギヤケース（４７）と、遊星歯車（４５）を支持する遊星軸（４６）に基部が装着されかつ先端に爪支軸（６１）を介して苗爪台（３３）を回転自在に支持した回動アーム（４８）とを有し、前記太陽歯車（４２）から遊星歯車（４５）までの中心間距離（Ｋ１）と遊星歯車（４５）から爪支軸（６１）までの中心間距離（Ｋ２）とを異ならせており、
前記苗爪台（３３）を介して爪支軸（６１）を上向きに付勢する付勢手段（７６）を有し、
前記付勢手段（７６）は、太陽軸（４３）を回転自在に支持するギヤボックス（５８）に固定のステー（７７）と、このステー（７７）と苗爪台（３３）の苗取り爪（３２）取り付け側との間に設けられていて苗爪台（３３）に爪支軸（６１）を上方向へ付勢するスプリング（７８）とを有す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) with a seedling picking claw (32) attached thereto and a substantially elliptical locus (D) drawn in a direction substantially opposing the seedling claw base (33) to the pot portion (P) of the seedling tray (T) The seedling claw (32) is moved into the pot part (P) at one lower side of the substantially elliptical locus (D) and then the seedling claw (32) is moved to the pot part (P) at one upper side. And reciprocating means (36) for taking out the seedling (N) by retreating from
The reciprocating means (36) includes a sun shaft (43), a sun gear (42) concentric with the sun shaft (43), a sun shaft (43) and an idler gear (44) and a planetary gear (45 ) And a planetary shaft (46) supporting the planetary gear (45), and a base is mounted on the tip, and the seedling claw stand (33) is rotated via a claw support shaft (61) at the tip. A pivot arm (48) supported freely, and a center-to-center distance (K1) from the sun gear (42) to the planetary gear (45) and from the planetary gear (45) to the claw support shaft (61). The distance between the centers (K2) is different.
The seedling claw block via (33) have a biasing means (76) for upwardly biasing the pawl support shaft (61),
The biasing means (76) includes a stay (77) fixed to a gear box (58) that rotatably supports the sun shaft (43), and a seedling claw for the stay (77) and the seedling claw stand (33). (32) of the transplanter, characterized by chromatic and a spring (78) for biasing upward the pawl support shaft (61) to Naetsumedai (33) provided between the mounting side seedlings Take-out device. 苗取り爪（３２）を取り付けた苗爪台（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略楕円軌跡（Ｄ）を描きながら往復運動をさせかつその略楕円軌跡（Ｄ）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）の外側から前記略楕円軌跡（Ｄ）の他端側との間にあるときに、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、
前記往復動手段（３６）は、太陽軸（４３）と、太陽軸（４３）と同心の太陽歯車（４２）と、太陽軸（４３）に装着されかつアイドラ歯車（４４）及び遊星歯車（４５）を支持しているギヤケース（４７）と、遊星歯車（４５）を支持する遊星軸（４６）に基部が装着されかつ先端に爪支軸（６１）を介して苗爪台（３３）を回転自在に支持した回動アーム（４８）とを有し、前記太陽歯車（４２）から遊星歯車（４５）までの中心間距離（Ｋ１）と遊星歯車（４５）から爪支軸（６１）までの中心間距離（Ｋ２）とを異ならせており、
前記苗爪台（３３）を介して爪支軸（６１）を上向きに付勢する付勢手段（７６）を有し、
前記付勢手段（７６）は、太陽軸（４３）を回転自在に支持するギヤボックス（５８）に固定のステー（７７）と、このステー（７７）と苗爪台（３３）の苗取り爪（３２）取り付け側との間に設けられていて苗爪台（３３）に爪支軸（６１）を上方向へ付勢するスプリング（７８）とを有す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) with a seedling picking claw (32) attached thereto and a substantially elliptical locus (D) drawn in a direction substantially opposing the seedling claw base (33) to the pot portion (P) of the seedling tray (T) The seedling claw (32) is moved into the pot part (P) at one lower side of the substantially elliptical locus (D) and then the seedling claw (32) is moved to the pot part (P) at one upper side. Between the reciprocating means (36) for taking out the seedling (N) by retreating from the outside and the other end side of the substantially elliptical locus (D) from the outside of the pot portion (P) At a certain time, it has posture changing means (37) for making a substantially arc trajectory movement that changes the posture of the seedling picking nail (32) from a posture facing the pot portion (P) substantially downward,
The reciprocating means (36) includes a sun shaft (43), a sun gear (42) concentric with the sun shaft (43), a sun shaft (43) and an idler gear (44) and a planetary gear (45 ) And a planetary shaft (46) supporting the planetary gear (45), and a base is mounted on the tip, and the seedling claw stand (33) is rotated via a claw support shaft (61) at the tip. A pivot arm (48) supported freely, and a center-to-center distance (K1) from the sun gear (42) to the planetary gear (45) and from the planetary gear (45) to the claw support shaft (61). The distance between the centers (K2) is different.
The seedling claw block via (33) have a biasing means (76) for upwardly biasing the pawl support shaft (61),
The biasing means (76) includes a stay (77) fixed to a gear box (58) that rotatably supports the sun shaft (43), and a seedling claw for the stay (77) and the seedling claw stand (33). (32) of the transplanter, characterized by chromatic and a spring (78) for biasing upward the pawl support shaft (61) to Naetsumedai (33) provided between the mounting side seedlings Take-out device. 前記苗爪台（３３）は爪支軸（６１）を境にして苗取り爪（３２）取り付け側と反対側に連動部（３３Ｃ）を突出しており、
前記姿勢変更手段（３７）は、苗爪台（３３）が前記略楕円軌跡運動を行うときに連動部（３３Ｃ）と係合してその移動を案内する略円弧形状のカム面（５０Ａ）を有するカム部材（５０）とを備え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) projects the interlocking part (33C) on the opposite side of the seedling claw (32) mounting side with the claw support shaft (61) as a boundary,
The posture changing means (37) has a substantially arc-shaped cam surface (50A) that engages with the interlocking portion (33C) and guides its movement when the seedling claw stand (33) performs the substantially elliptical locus motion. transplanter seedlings extraction device according to claim 2, characterized in that it comprises a cam member (50) having. 前記スプリング（７８）のステー（７７）側の取り付け端部は太陽軸（４３）から略楕円軌跡（Ｄ）の中心線（Ｄａ）と略直交する方向に位置することを特徴とする請求項１〜３のいずれか１項に記載の移植機の苗取り出し装置。 Claim 1, characterized in that the position attachment end of the stay (77) side from the sun axis (43) in a direction substantially perpendicular centerline and (Da) of the substantially elliptical trajectory (D) of the spring (78) The seedling extraction device for a transplanter according to any one of -3.
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CN107155471B (en) * 2017-05-27 2023-04-11 河南科技大学 Be suitable for automatic seedling device of getting of transplanter of multiple specification seedling tray

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JP4203205B2 (en) * 2000-03-16 2008-12-24 ヤンマー農機株式会社 Vegetable transplanter
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JP3821738B2 (en) * 2002-03-20 2006-09-13 ヤンマー農機株式会社 Vegetable transplanter
JP3892779B2 (en) * 2002-08-28 2007-03-14 株式会社クボタ Method and apparatus for taking out seedling of transplanter

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