Seedling planting device

Abstract

To provide a seedling planting device that can improve stability.SOLUTION: A seedling planting device 1 plants seedlings S in a ground G on an arbitrary axis (planting axis P). The seedling planting device 1 includes a hole forming unit 50 and a planting unit 60. The hole forming unit 50 has a drill 51 and a drill moving mechanism 54. The hole forming unit 50 moves the drill 51 along the arbitrary axis to form a hole D in the ground G on the axis in a state that the drill 51 is moved on the arbitrary axis by using the drill moving mechanism 54. The planting unit 60 has a planting chuck 61 and a chuck moving mechanism 63. The planting unit 60 moves the planting chuck 61 to a position retreated from the arbitrary axis by using the chuck moving mechanism 63 and causes the planting chuck 61 to grip the seedlings S. The planting unit 60 moves the planting chuck 61 onto the planting axis P by using the chuck moving mechanism 63, and plants the seedling S gripped by the planting chuck 61 into the hole D formed by the hole forming unit 50.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a seedling planting device. [Background technology]

[0002] Patent Document 1 discloses a conventional seedling planting device. This seedling planting device is equipped with a drilling device as a hole forming section and a storage and planting device as a planting section. The drilling device forms a planting hole using an auger as a drill. The storage and planting device has a clamp as a chuck and plants the seedling held in the planting hole. The auger moves up and down using a feed device. The clamp rotates via a clamp arm using a swing mechanism, and moves between directly above the planting hole and a position retracted from directly above the hole. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-33152 Summary of the Invention [Problem to be solved by the invention]

[0004] In the case of Patent Document 1, when forming a planting hole with an auger, the clamp is retracted to a retracted position and the auger is lowered to form the planting hole. When planting a seedling with a clamp, the clamp is moved directly above the planting hole and the seedling is planted in the hole. When planting the seedling, the seedling planting device of Patent Document 1 retracts the auger upward. For this reason, this seedling planting device has a large amount of vertical movement of the auger required for retraction. In this case, the overall height of the seedling planting device increases accordingly, raising the center of gravity and raising the concern of reduced stability.

[0005] The present invention has been made in view of the above-mentioned conventional circumstances, and an object to be achieved is to provide a seedling planting device that can improve stability. [Means for solving the problem]

[0006] The seedling planting device according to the present invention plants seedlings in the ground on an arbitrary axis. The seedling planting device includes a hole forming unit and a planting unit. The hole forming unit has a drill and a drill moving mechanism. The drill forms a hole in the ground. The drill moving mechanism moves the drill on the axis and between a position on the axis and a position retracted from the axis. The hole forming unit, with the drill moving mechanism moving the drill on the axis, moves the drill along the axis to form a hole in the ground on the axis. The planting unit has a planting chuck and a chuck moving mechanism. The planting chuck grips the seedling. The chuck moving mechanism moves the planting chuck between a position on the axis and a position retracted from the axis. The planting unit uses the chuck moving mechanism to move the planting chuck to a position retracted from the axis, causing the planting chuck to grip the seedling. The planting unit moves the planting chuck on the axis using the chuck moving mechanism, and plants the seedling held by the planting chuck into the hole formed by the hole forming unit.

[0007] This seedling planting device forms a hole on an arbitrary axis, and when planting a seedling in the hole on the axis, the drill movement mechanism can retract the drill from the axis, and the chuck movement mechanism can retract the planting chuck from the axis. Therefore, the seedling planting device can be configured with a smaller vertical size than conventional configurations in which either the drill or the planting chuck is retracted upward on the planting axis.

[0008] Therefore, the seedling planting device according to the present invention can improve stability.

[0009] The seedling planting device of the present invention may have a main slider. The main slider is movable along a slide rail extending vertically. The drill movement mechanism includes a hole forming guide rail fixedly disposed on the main slider and a hole forming slide member that moves on the hole forming guide rail, thereby moving the drill along the axis. The chuck movement mechanism includes a planting guide rail fixedly disposed relative to the main slider and a planting slide member that moves on the planting guide rail, thereby moving the planting chuck along the axis. In this case, the seedling planting device can be configured with an even smaller vertical size of the entire device. Specifically, the seedling planting device can ensure the vertical movement of the hole forming unit and the planting unit while reducing the overall height.

[0010] In the seedling planting device of the present invention, the drill moving mechanism can move the drill by rotating it around any axis parallel to the axis. In this case, the seedling planting device can realize a drill moving mechanism with a simple configuration.

[0011] In the seedling planting device of the present invention, the chuck moving mechanism can move the planting chuck by rotating it around any axis parallel to the axis. In this case, the seedling planting device can realize a chuck moving mechanism with a simple configuration. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a side view schematically showing a seedling planting device according to a first embodiment. [Figure 2] 1 is a plan view schematically showing a seedling planting device according to a first embodiment. [Figure 3] 1 is a rear view schematically showing a seedling planting device according to a first embodiment. [Figure 4] 3 is a rear view schematically showing the hole forming section according to the first embodiment. FIG. [Figure 5] FIG. 2 is a plan view schematically showing a hole forming section according to the first embodiment. [Figure 6] FIG. 2 is a rear view schematically showing the planting section according to the first embodiment. [Figure 7] FIG. 1 is a plan view schematically showing a planting section according to a first embodiment. [Figure 8] FIG. 1 is a diagram (part 1) for explaining a posture maintaining unit according to the first embodiment. [Figure 9] FIG. 10 is a diagram (part 2) for explaining the attitude maintaining unit according to the first embodiment. [Figure 10] FIG. 1 is a diagram (part 1) for explaining the operation of the seedling planting device according to the first embodiment. [Figure 11] FIG. 10 is a diagram (part 2) for explaining the operation of the seedling planting device according to the first embodiment. [Figure 12] FIG. 10 is a diagram (part 3) for explaining the operation of the seedling planting device according to the first embodiment. [Figure 13] FIG. 10 is a fourth diagram for explaining the operation of the seedling planting device according to the first embodiment. [Figure 14] FIG. 5 is a diagram (part 5) for explaining the operation of the seedling planting device according to the first embodiment. [Figure 15] FIG. 6 is a diagram (part 6) for explaining the operation of the seedling planting device according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] <Embodiment 1> A first embodiment of a seedling planting device according to the present invention will be described with reference to the drawings. In the following description, a self-propelled seedling planting device 1 will be exemplified as the seedling planting device according to the present invention. In addition, each of the drawings referred to in the following description is shown in a simplified form, with some or all of the components other than the essential parts omitted.

[0014] In the following description, the front-to-back, left-to-right, and up-to-down directions of the seedling planting device 1 are defined based on the state in which the traveling direction of the seedling planting device 1 traveling on a horizontal plane is the forward direction. In other words, the front-to-back direction of the seedling planting device 1 is the traveling direction as the forward direction, and the opposite direction as the backward direction. The left-to-right and up-to-down directions of the seedling planting device 1 are the left-to-right and up-to-down directions when facing forward in the traveling direction. The X-axis, Y-axis, and Z-axis shown in each diagram represent the front-to-back, left-to-right, and up-to-down directions, respectively. The positive directions of the X-axis, Y-axis, and Z-axis are the forward, left, and up directions, respectively.

[0015] The seedling planting device 1 of the first embodiment plants a seedling S in the ground G on a planting axis P. The planting axis P is a virtual axis that is arbitrarily set on the seedling planting device 1 as shown in FIGS. 1 and 2. The seedling S to be planted by the seedling planting device 1 moves along this planting axis P. The ground G on which the seedling S is planted is a forestry site such as a mountain forest, and is primarily a slope. A soft layer Gs such as leaf mold may be formed on the surface of the ground G (see FIG. 1, etc.). In the ground G, a layer suitable for planting the seedling S is a layer Gh having a predetermined hardness below the soft layer Gs. This predetermined hardness is preferably, for example, approximately the same as the hardness of the root ball R of the seedling S, but is not particularly limited thereto.

[0016] As shown in Figures 1 to 3, the seedling planting device 1 includes a traveling unit 2 and a seedling planting unit 4. The traveling unit 2 includes a vehicle body 2A, a rotary support unit 2B, and a crawler-type endless track (hereinafter simply referred to as a crawler) 2C. The vehicle body 2A is box-shaped. The vehicle body 2A is equipped with functional units (not shown) such as an engine, a battery, a fluid pressure unit, and a control unit. Each unit of the seedling planting device 1, which will be described later, includes a fluid pressure actuator, an electric actuator, etc., and is driven and controlled by these functional units. Each unit of the seedling planting device 1 can be operated by a remote control device RC capable of wireless communication.

[0017] The rotation support part 2B extends rearward from the rear of the vehicle body 2A. The rotation support part 2B is rotatably connected to the vehicle body 2A around a rotation axis A1. The rotation axis A1 is set as an axis extending parallel to the left-right direction at the rear end of the vehicle body 2A. The rotation support part 2B also rotatably connects the seedling planting unit 4 connected to its rear end around a rotation axis A2. The rotation axis A2 is set as an axis parallel to the front-rear direction at the rear end of the rotation support part 2B. When the vehicle body 2A tilts due to the inclination of the ground G, the rotation support part 2B can maintain the posture of the seedling planting unit 4 by rotating the seedling planting unit 4 around the rotation axes A1 and A2. The function of the rotation support part 2B to rotate around the rotation axis A1 relative to the vehicle body 2A and the function of the rotation support part 2B to rotate the seedling planting unit 4 around the rotation axis A2 function as a posture maintaining part 80, which will be described later.

[0018] A pair of crawlers 2C are provided on the left and right sides of the vehicle body 2A. The crawlers 2C are wound around a drive pulley 2D and a driven pulley 2E that are rotatably supported on the vehicle body 2A. As shown in Fig. 1, the crawlers 2C are wound around the drive pulley 2D and the driven pulley 2E in the shape of an oval ring that is long in the front-rear direction in a side view.

[0019] The seedling planting unit 4 is disposed behind the traveling unit 2. The front end of the seedling planting unit 4 is connected to the rotation support part 2B of the traveling unit 2. A planting axis P is set on this seedling planting unit 4. The planting axis P is usually set to extend in the up-down direction (vertical direction). The seedling planting unit 4 is freely rotatable in the front-back and left-right directions by the rotation support part 2B. For example, when the traveling unit 2 tilts due to the inclination of the ground G, the seedling planting unit 4 can rotate around the rotation axes A1 and A2 to tilt to the opposite side to the inclination of the traveling unit 2 and maintain its posture. The seedling planting unit 4 maintains its posture so that the planting axis P is vertical, regardless of the degree of inclination of the ground G.

[0020] As shown in Figures 1 to 3, the seedling planting unit 4 has a main slider 40, a seedling placement section 10, a hole forming section 50, a planting section 60, and a detection section 70. The main slider 40 is provided so as to be movable up and down along the planting axis P. Specifically, the main slider 40 is movably supported by a slider support section 41. The slider support section 41 corresponds to the slide rail of the present invention. The slider support section 41 extends up and down and moves the main slider 40 along its extension direction. The slider support section 41 is a connection section with the rotation support section 2B of the traveling unit 2 in the seedling planting unit 4. The main slider 40 is rotatably supported on the rotation support section 2B via the slider support section 41.

[0021] In the seedling planting unit 4, the hole forming section 50, the planting section 60, and the detection section 70 are each supported by the main slider 40. Therefore, the hole forming section 50, the planting section 60, and the detection section 70 move and rotate in accordance with the movement of the main slider 40 in the planting axis P direction and the rotation about the rotation axes A1 and A2. Furthermore, the seedling placing section 10 in the seedling planting unit 4 is fixedly supported by the slider support section 41. Therefore, the seedling placing section 10 rotates in accordance with the rotation of the slider support section 41 about the rotation axes A1 and A2, but does not follow the up and down movement of the main slider 40.

[0022] The seedling placement unit 10 places seedlings S before planting. As shown in Figures 1 to 3, the seedling placement unit 10 has a plurality of storage tubes 11 and a conveyor 12. The storage tubes 11 are cylindrical and open at the top. A plurality of storage tubes 11 are provided. The plurality of storage tubes 11 are arranged in a line on the conveyor 12. The seedlings S are placed in the storage tubes 11 with their root balls R contained therein. One seedling S is stored in each storage tube 11. In this way, a plurality of seedlings S are placed in the seedling placement unit 10.

[0023] In the seedling placement section 10, multiple storage tubes 11 are moved around by a conveyor 12. As shown in FIG. 2, a take-out position 12A is set on the conveyor 12. The multiple storage tubes 11 are moved sequentially to the take-out position 12A by the indexing operation of the conveyor 12. This take-out position 12A is a position where a seedling S is taken out by a planting chuck 61 (described later) in the planting section 60. When taking a seedling S from the seedling placement section 10, the planting chuck 61 takes the seedling S from the storage tube 11 located at the take-out position 12A. The seedling placement section 10 is movable left and right. After the seedling S is taken out from the take-out position 12A by the planting chuck 61, the seedling placement section 10 retracts the take-out position 12A to the left. This allows the planting chuck 61 to move up and down without coming into contact with the seedling placement section 10.

[0024] The hole forming unit 50 forms a hole D (see Figure 11) in the ground G for planting a seedling S. As shown in Figures 2 and 3, the hole forming unit 50 is disposed to the rear right of the main slider 40. The hole forming unit 50 is movable up and down along the planting axis P from an upper end position indicated by a solid line in Figure 4 to a lower end position indicated by a two-dot chain line. The hole forming unit 50 is supported by a guide rail 50A. The guide rail 50A corresponds to the hole forming guide rail of the present invention. The guide rail 50A movably supports the hole forming unit 50. The guide rail 50A is fixedly disposed relative to the main slider 40. The hole forming unit 50 moves up and down relative to this guide rail 50A, and thereby also moves up and down relative to the main slider 40.

[0025] The hole forming unit 50 is movable between a position on the planting axis P shown by the two-dot chain line in Figure 5 and a position retracted from the planting axis P shown by the solid line. This movement is due to rotation around the rotation axis A3. The rotation axis A3 is set as an axis parallel to the planting axis P. Therefore, this movement is movement in a direction intersecting the planting axis P. The hole forming unit 50 moves onto the planting axis P and descends on this planting axis P to form a hole D in the ground G on the planting axis P. The upper end position and the position retracted from the planting axis P are the initial positions of the hole forming unit 50.

[0026] As shown in FIGS. 4 and 5, the hole forming unit 50 includes a drill 51, a drill shank 52, a drill support 53, and a drill moving mechanism 54. The drill 51 includes a conical portion 51A and an expanded diameter portion 51B. The conical portion 51A has a conical spiral shape and expands in diameter upward. The expanded diameter portion 51B is connected to the upper end of the conical portion 51A. The expanded diameter portion 51B has a spiral shape with an outer diameter that expands in a stepped manner from the outer diameter at the upper end of the conical portion 51A. The expanded diameter portion 51B sweeps away soil from the upper edge of the depression formed by the conical portion 51A and further forms a countersunk depression at the upper end of the depression (see FIG. 11, etc.). The drill shank 52 is connected to the upper end of the drill 51 and transmits power to the drill 51 to rotate the drill 51. The drill support portion 53 axially supports the drill shank portion 52 so as to be freely rotatable.

[0027] The configuration of the drill is not particularly limited as long as it forms a hole in the ground. The drill may form a hole of a shape other than a cone, such as a cylindrical shape. The drill may be configured as a so-called auger drill having a cylindrical spiral shape. Furthermore, it is not essential for the drill to have an enlarged diameter portion. If the drill has an enlarged diameter portion, the configuration of the enlarged diameter portion is not particularly limited as long as it forms a counterbore-shaped recess. The enlarged diameter portion is not limited to a spiral shape and may be an impeller-shaped portion.

[0028] The drill moving mechanism 54 moves the drill 51. Specifically, the drill moving mechanism 54 can move the drill 51 in two directions: along the planting axis P and in a direction intersecting the planting axis P. As shown in FIGS. 4 and 5, the drill moving mechanism 54 has a first member 54A and a second member 54B. The first member 54A corresponds to the hole forming slide member of the present invention. The first member 54A is supported by the guide rail 50A so as to be movable up and down. In other words, the movement of the drill 51 along the planting axis P by the drill moving mechanism 54 is the movement in the up and down direction by the guide rail 50A. Note that, at the upper end position of the hole forming unit 50 shown in FIG. 4, the upper end 54C of the first member 54A corresponds to the upper end of the hole forming unit 50.

[0029] The second member 54B is supported by the first member 54A so as to be movable in a direction intersecting the planting axis P. The second member 54B also supports the drill support unit 53. That is, the drill moving mechanism unit 54 moves the drill 51 in a direction intersecting the planting axis P between a position on the planting axis P and a position retracted from the planting axis P. The second member 54B moves in a direction intersecting the planting axis P by rotating around the rotation axis A3 set between the second member 54B and the first member 54A. The drill 51 rotates between the position on the planting axis P and the retracted position by the relative rotation of the second member 54B around the rotation axis A3 with respect to the first member 54A.

[0030] The planting unit 60 plants seedlings S in the holes D formed by the hole forming unit 50. As shown in FIGS. 2 and 3, the planting unit 60 is disposed to the left rear of the main slider 40. The planting unit 60 is movable up and down along the planting axis P from the upper end position indicated by the solid line in FIG. 6 to the lower end position indicated by the two-dot chain line. The planting unit 60 is supported by a guide rail 60A. The guide rail 60A movably supports the planting unit 60. The guide rail 60A corresponds to the planting guide rail of the present invention. The guide rail 60A is provided with the same specifications as the guide rail 50A in the hole forming unit 50. That is, the guide rails 50A, 60A have the same length, cross-sectional shape, etc. The guide rail 60A is fixedly disposed relative to the main slider 40. The planting unit 60 moves up and down relative to the guide rail 60A, thereby also moving up and down relative to the main slider 40. The guide rails 50A and 60A of common specifications have a directional cross-sectional shape, and are arranged symmetrically with respect to the main slider 40.

[0031] The planting unit 60 is movable between a position on the planting axis P shown by the solid line in Figure 7 and a position on the planting axis P shown by the two-dot chain line, where it is retracted. This movement is by rotation around the rotation axis A4, which is set as an axis parallel to the planting axis P. Therefore, this movement is movement in a direction intersecting the planting axis P. The planting unit 60 takes the seedling S from the seedling placement unit 10, moves it onto the planting axis P, and descends on this planting axis P, thereby planting the seedling S into the hole D by the hole forming unit 50. The upper end position and the position on the planting axis P of the planting unit 60 are initial positions.

[0032] As shown in Figures 6 and 7, the planting unit 60 has a planting chuck 61 and a chuck movement mechanism 63. The planting chuck 61 has a pair of left and right claws 61A whose distance from each other can be changed, and a claw support unit 61B that supports the pair of claws 61A so that the distance between them can be changed. The planting chuck 61 grips the seedling S with the pair of claws 61A. The chucked seedling S is lowered along the planting axis P shown in Figure 7 and other figures to be planted. As shown in Figure 6, the planting chuck 61 also has a pressing member 61C. The pressing member 61C is plate-shaped with a U-shaped notch in a plan view and is positioned below the pair of claws 61A. After inserting the seedling S into the hole D, the pressing member 61C is lowered to compact the root ball R and the soil around the root ball R. The U-shaped notch in the pressing member 61C is smaller than the diameter of the root ball of the seedling S and is formed to a size that allows the trunk of the seedling S to pass through. The size of the notch in the pressing member may be, for example, smaller than the inner diameter of the hole D. In this case, too, the seedling can be fixed by compacting at least the soil around the root ball.

[0033] The chuck moving mechanism 63 moves the planting chuck 61. Specifically, the chuck moving mechanism 63 can move the planting chuck 61 in two directions: along the planting axis P and in a direction intersecting the planting axis P. As shown in Figures 6 and 7, the chuck moving mechanism 63 has a first member 63A and a second member 63B. The first member 63A corresponds to the planting slide member of the present invention. The first member 63A is supported by the guide rail 60A so as to be movable in the vertical direction. In other words, the movement of the planting chuck 61 along the planting axis P by the chuck moving mechanism 63 is the movement in the vertical direction by the guide rail 60A. Note that, at the upper end position of the planting unit 60 shown in Figure 6, the upper end 63C of the first member 63A corresponds to the upper end of the planting unit 60. When the planting part 60 is in the upper end position, the upper end 63C of the first member 63A is set at a position substantially equivalent to the upper end 54C of the first member 54A when the hole forming part 50 is in the upper end position.

[0034] The second member 63B is supported by the first member 63A so as to be movable in a direction intersecting the planting axis P. The second member 63B also supports the claw support portion 61B of the planting chuck 61. That is, the chuck moving mechanism 63 moves the planting chuck 61 in a direction intersecting the planting axis P between a position on the planting axis P and a position retracted from the planting axis P. The second member 63B moves in a direction intersecting the planting axis P by rotating around the rotation axis A4 set between the second member 63B and the first member 63A. The planting chuck 61 rotates between a position retracted from the planting axis P and a position on the planting axis P by the relative rotation of the second member 63B with respect to the first member 63A around the rotation axis A4.

[0035] The planting chuck 61 moves up and down due to the relative movement of the first member 63A of the chuck movement mechanism 63 with the guide rail 60A, and pivots between a position on the planting axis P and a retracted position due to the relative rotation of the second member 63B about the rotation axis A4 with respect to the first member 63A. The planting chuck 61 pivots from its position on the planting axis P to pick up the seedling S from the pick-up position 12A. The planting chuck 61 pivots onto the planting axis P while gripping the picked-up seedling S, and plants the picked-up seedling S into the hole D at this position on the planting axis P.

[0036] As shown in Figures 2 and 3, the guide rails 50A in the hole forming unit 50 and the guide rails 60A in the planting unit 60 are arranged approximately symmetrically on the left and right behind the main slider 40. As described above, the guide rails 50A, 60A have the same specifications in terms of length, cross-sectional shape, etc. In the seedling planting device 1, the guide rails 50A, 60A are set to be approximately equal in terms of upper end positions, front-to-rear positions, etc. The hole forming unit 50 and the planting unit 60, which are movably supported on these guide rails 50A, 60A, respectively, move up and down and turn along symmetrical trajectories.

[0037] The detection unit 70 detects a layer Gh of a predetermined hardness on the ground G. As described above, the layer Gh of a predetermined hardness is a layer on the ground G that has a hardness suitable for planting a seedling S. On the ground G, it is difficult to stably fix a seedling S in a soft layer Gs such as leaf mold on the surface. Therefore, the seedling planting device 1 uses the detection unit 70 to detect a layer Gh of a hardness suitable for planting a seedling S, and plants the seedling S in this layer Gh. The hardness suitable for planting a seedling S is, for example, a hardness equivalent to that of the root ball R of the seedling S.

[0038] The detection unit 70 has a ground contact portion 71 and a load cell (not shown). As shown in FIGS. 4 and 6, the ground contact portion 71 comes into contact with the ground G. The detection unit 70 detects a layer Gh of a predetermined hardness on the ground G based on the contact of the ground contact portion 71 with the ground G. As shown in FIG. 6, the ground contact portion 71 is provided on the lower part of the main slider 40. The ground contact portion 71 extends downward in a rod shape from the lower end of the main slider 40. The ground contact portion 71 comes into contact with the ground G as the main slider 40 descends. The main slider 40 continues to descend until the lower end of the ground contact portion 71 reaches the layer Gh of the predetermined hardness on the ground G.

[0039] The load cell measures the magnitude of the load when the ground contact portion 71 is pressed against the ground G. As a result, when the detection unit 70 measures the magnitude of the load corresponding to the magnitude when the ground contact portion 71 is pressed against a layer Gh of a predetermined hardness, it can detect the layer at that depth as a layer of the predetermined hardness.

[0040] The detection of the layer of a predetermined hardness is not limited to the use of the load cell. For example, the detection of the layer of a predetermined hardness may be performed using a configuration including a spring that contracts in response to the magnitude of the load when the contact portion is lowered and pressed against the ground, a detection object such as a magnetic member or a dog plate that changes position as the spring contracts, and a detection unit that detects the change in position of the detection object and detects when the spring has contracted to a predetermined length, such as a non-contact or contact switch. Alternatively, the detection may be performed by calculating the magnitude of the thrust when the contact portion is lowered and pressed against the ground from the load of the thrust generating means, and detecting the layer of a predetermined hardness based on this. In this case, the thrust generating means may be, for example, a fluid pressure actuator or an electric actuator.

[0041] The seedling planting device 1 is equipped with a posture maintaining unit 80. The posture maintaining unit 80 maintains the posture of the seedling planting unit 4. The seedling planting device 1 is used on sloping ground such as in a mountain forest. In this case, the seedling planting device 1 will tilt in accordance with the slope of the ground G. It is preferable that the removal of seedlings S from the seedling placing unit 10 and the planting of seedlings S by the seedling planting unit 4 be performed in a constant posture regardless of the slope caused by the slope of the ground G, etc. The seedling planting device 1 maintains the seedling planting unit 4 in a predetermined posture by the posture maintaining unit 80. The predetermined posture is a posture in which the planting axis P is vertical. This allows the seedling planting device 1 to stabilize the planting of seedlings S by the seedling planting unit 4.

[0042] In this embodiment, the position maintaining section 80 maintains the position of the seedling planting unit 4 in the position where the seedling planting device 1 is on a horizontal plane (hereinafter also referred to as the horizontal position) as shown in Figures 1 and 2. In this horizontal position, the seedling S on the seedling placing section 10 is positioned in a position extending vertically upward from the root ball R. In addition, in the horizontal position, the planting axis P of the seedling planting unit 4 is vertical.

[0043] As shown in Figures 8 and 9, the attitude maintaining section 80 has a first tilt adjusting section 81 and a second tilt adjusting section 82. The seedling planting device 1 shown in Figures 8 and 9 has been simplified by omitting some of the components other than the essential parts. The tilt of the seedling planting unit 4 in the front-to-back direction (pitch direction) is adjusted by the first tilt adjusting section 81. The tilt of the seedling planting unit 4 in the left-to-right direction (roll direction) is adjusted by the second tilt adjusting section 82. The attitude maintaining section 80 has detection means (not shown) that can detect tilt, such as an inclination sensor, acceleration sensor, or angular velocity sensor, and maintains the attitude based on the detection results of this detection means.

[0044] The first tilt adjustment unit 81 rotates the rotation support unit 2B in the pitch direction relative to the vehicle body 2A. That is, the first tilt adjustment unit 81 adjusts the tilt of the rotation support unit 2B in the pitch direction relative to the vehicle body 2A. The second tilt adjustment unit 82 rotates the slider support unit 41 in the roll direction relative to the rotation support unit 2B. That is, the second tilt adjustment unit 82 adjusts the tilt of the slider support unit 41 in the roll direction relative to the rotation support unit 2B.

[0045] 8, the first tilt adjustment unit 81 has a first pivotal support unit 81A, a vehicle body bracket 81B, a rotation support unit first bracket 81C, and a first cylinder 81D. The first pivotal support unit 81A supports rotation of the rotation support unit 2B relative to the vehicle body 2A about a rotation axis A1. The first pivotal support unit 81A connects a vehicle body side pivotal support member 81A1 and a rotation support unit first pivotal support member 81A2 so that they can rotate relatively about the rotation axis A1. The vehicle body side pivotal support member 81A1 protrudes rearward from the rear end of the vehicle body 2A.

[0046] 8 and 9, the rotation support part first pivotal support member 81A2 is provided in front of the mounting base 91 of the rotation support part 2B. In detail, the rotation support part 2B has the mounting base 91 extending in the left-right direction, and a pair of arms 92, 93 extending forward from both left and right ends of the mounting base 91. The rotation support part first pivotal support member 81A2 is connected to the front ends of the arms 92, 93. The rotation support part first pivotal support member 81A2 is disposed between the pair of left and right arms 92, 93.

[0047] The vehicle body side bracket 81B is fixed to the vehicle body 2A at a position spaced a predetermined distance L1 from the first pivotal support portion 81A. The vehicle body side bracket 81B pivotally supports one end of the first cylinder 81D so that it can rotate freely around a rotation axis A5. This rotation axis A5 is an axis parallel to the rotation axis A1. In this embodiment, the rotation axis A5 is provided at a position spaced apart from the first pivotal support portion 81A in the up-down direction.

[0048] The rotation support unit-side first bracket 81C is fixed to the rotation support unit 2B at a position that is a predetermined distance L2 away from the first pivot support unit 81A. The fixed position of this rotation support unit-side first bracket 81C relative to the rotation support unit 2B is a position that is a predetermined angle d1 away from the vehicle body-side bracket 81B around the rotation axis A1. The rotation support unit-side first bracket 81C pivotally supports the other end of the first cylinder 81D so that it can rotate freely around the rotation axis A6. Like the rotation axis A5, this rotation axis A6 is an axis that is parallel to the rotation axis A1. In this embodiment, the rotation axis A6 is provided at a position that is away from the first pivot support unit 81A in the front-rear direction.

[0049] The predetermined distance L1 between the first shaft support portion 81A and the vehicle-side bracket 81B is the distance between the rotation axis A1 and the rotation axis A5. The predetermined distance L2 between the first shaft support portion 81A and the rotation support unit-side first bracket 81C is the distance between the rotation axis A1 and the rotation axis A6. The predetermined angle d1 around the rotation axis A1 between the rotation support unit-side first bracket 81C and the vehicle-side bracket 81B is the angle between the rotation axis A5 and the rotation axis A6. The predetermined angle d1 around the rotation axis A1 between the rotation support unit-side first bracket 81C and the vehicle-side bracket 81B is the angle in the neutral state. The neutral state is a state in which the seedling planting device 1 is on a horizontal plane. In this state, the various parts of the seedling planting device 1 are in the following states. That is, the crawler 2C of the traveling unit 2 is in contact with the ground G horizontally, and the planting axis P of the seedling planting unit 4 is vertical. The angle between the rotation support unit first bracket 81C and the vehicle body side bracket 81B changes with the extension and contraction of the first cylinder 81D. In the seedling planting device 1, the range of this angle change is set to about ±40°.

[0050] As shown in FIG. 8, the first cylinder 81D has both ends connected to the vehicle body bracket 81B and the rotation support unit first bracket 81C. The first cylinder 81D extends and retracts between the vehicle body bracket 81B and the rotation support unit first bracket 81C. This causes the first cylinder 81D to rotate the rotation support unit 2B around the rotation axis A1 relative to the vehicle body 2A. Specifically, the bottom end of the first cylinder 81D is rotatably supported by the vehicle body bracket 81B, and the head end is rotatably supported by the rotation support unit first bracket 81C. The first cylinder 81D changes the angle around the rotation axis A1 between the vehicle body bracket 81B and the rotation support unit first bracket 81C (the angle between the rotation axis A5 and the rotation axis A6) within a range of ±40° as it extends and retracts from its neutral length. That is, the first tilt adjustment section 81 can adjust the tilt of the rotation support section 2B relative to the vehicle body 2A in the pitch direction within a range of ±40° by extending or contracting the first cylinder 81D.

[0051] 8 and 9, the second tilt adjustment unit 82 has a second pivotal support unit 82A, a rotation support unit-side second bracket 82B, a slider support unit-side bracket 82C, and a second cylinder 82D. The second pivotal support unit 82A pivotally supports rotation of the slider support unit 41 about a rotation axis A2 relative to the rotation support unit 2B. The second pivotal support unit 82A connects a rotation support unit-side second pivotal support member 82A1 to the lower end of the slider support unit 41 so as to be rotatable relative to the rotation axis A2. The rotation support unit-side second pivotal support member 82A1 protrudes rearward from the mounting base 91 and is connected to the lower end of the slider support unit 41.

[0052] The rotation support portion-side second bracket 82B is fixed to the rotation support portion 2B at a position a predetermined distance L3 away from the second pivot support portion 82A. The rotation support portion-side second bracket 82B pivotally supports one end of the second cylinder 82D so that the second cylinder 82D is rotatable about a rotation axis A7. The rotation axis A7 is an axis parallel to the rotation axis A2.

[0053] The slider support portion side bracket 82C is fixed to the slider support portion 41 at a position that is a predetermined distance L4 away from the second pivot support portion 82A. The fixed position of the slider support portion side bracket 82C relative to the slider support portion 41 is a position that is a predetermined angle d2 away from the rotation support portion side second bracket 82B around the rotation axis A2. In this embodiment, the slider support portion side bracket 82C pivotally supports the other end of the second cylinder 82D so that it can rotate freely around the rotation axis A8. Like the rotation axis A7, this rotation axis A8 is an axis that is parallel to the rotation axis A2.

[0054] The predetermined distance L3 between the second pivot support 82A and the rotation support unit-side second bracket 82B is the distance between the rotation axis A2 and the rotation axis A7. The predetermined distance L4 between the second pivot support 82A and the slider support unit-side bracket 82C is the distance between the rotation axis A2 and the rotation axis A8. The predetermined angle d2 around the rotation axis A2 between the slider support unit-side bracket 82C and the rotation support unit-side second bracket 82B is the angle between the rotation axis A7 and the rotation axis A8. The predetermined angle d2 around the rotation axis A2 between the slider support unit-side bracket 82C and the rotation support unit-side second bracket 82B is the angle in the neutral state. The angle between the slider support unit-side bracket 82C and the rotation support unit-side second bracket 82B changes depending on the extension and contraction of the second cylinder 82D. In the seedling planting device 1, the range of this angle change is set to approximately ±40°.

[0055] As shown in FIGS. 8 and 9, the second cylinder 82D has both ends connected to the rotation support unit-side second bracket 82B and the slider support unit-side bracket 82C. The second cylinder 82D extends and retracts between the rotation support unit-side second bracket 82B and the slider support unit-side bracket 82C. This allows the second cylinder 82D to rotate the slider support unit 41 around the rotation axis A2 relative to the rotation support unit 2B. Specifically, the bottom-side end of the second cylinder 82D is rotatably supported by the rotation support unit-side second bracket 82B, and the head-side end of the second cylinder 82D is rotatably supported by the slider support unit-side bracket 82C. The extension and retraction of the second cylinder 82D from its neutral length changes the angle around the rotation axis A2 between the rotation support unit-side second bracket 82B and the slider support unit-side bracket 82C (the angle between the rotation axis A7 and the rotation axis A8) within a range of ±40°. That is, the second tilt adjustment unit 82 can adjust the tilt of the slider support unit 41 relative to the rotation support unit 2B within a range of ±40° in the roll direction by expanding and contracting the second cylinder 82D.

[0056] The seedling planting unit 4 maintains the verticality of the planting axis P by adjusting the tilt in the pitch direction using the first tilt adjustment unit 81 and the tilt in the roll direction using the second tilt adjustment unit 82. The seedlings S planted by the seedling planting unit 4, whose posture is maintained in this manner, are in a vertical position regardless of the degree of inclination of the ground G. In this manner, the posture maintaining unit 80 maintains the posture of the seedling planting unit 4 so that the planting axis P remains vertical. The posture maintaining unit 80 maintains the posture of the seedling planting unit 4 so that not only the planting axis P is vertical, but also the movement directions of the main slider 40, hole forming unit 50, and planting unit 60 are vertical.

[0057] Next, the operation of the seedling planting device 1 configured as described above will be described. When using the seedling planting device 1 to plant seedlings S, a user of the seedling planting device 1 first places the seedlings S in the seedling placement unit 10. The seedling planting device 1 can place one seedling S in each of the multiple storage tubes 11 in the seedling placement unit 10. The seedling placement unit 10 moves the multiple storage tubes 11 in a circular motion using the conveyor 12. The conveyor 12 moves each storage tube 11 sequentially to the removal position 12A using an indexing operation. The seedlings S in the storage tubes 11 placed at the removal position 12A wait to be removed by the planting chuck 61 in the planting unit 60.

[0058] Next, the user of the seedling planting device 1 moves the seedling planting device 1 to the planting location of the seedling S. The seedling planting device 1 travels using a pair of left and right crawlers 2C, making it extremely capable of traversing adverse terrain such as mountain forests. The seedling planting device 1 can be moved by operating the remote control device RC. The seedling planting device 1 does not require a passenger space, making it easy to miniaturize. For example, the seedling planting device according to the present invention can easily be made small enough to fit in the bed of a light vehicle-standard truck. The seedling planting device 1 rotates the seedling planting unit 4 around two rotation axes A1 and A2 and can tilt in the front-rear and left-right directions. This allows the seedling planting device 1 to travel while maintaining the orientation of the seedling planting unit 4. This allows the seedling planting device 1 to travel stably even on slopes.

[0059] Once the seedling planting device 1 has been moved to the planting location of the seedling S, the user of the seedling planting device 1 begins planting the seedling S using the seedling planting device 1. The seedling planting device 1 can automatically perform a series of operations from removing the seedling S from the seedling placement unit 10 to planting it in the ground G. Just before starting to plant the seedling S, the seedling planting unit 4 is tilted about the rotation axes A1 and A2 and is in a posture-maintaining state. Specifically, the seedling planting unit 4 maintains its posture so that the planting axis P is vertical.

[0060] When planting of the seedling S begins, the planting unit 60 uses the planting chuck 61 to remove the seedling S from the seedling placement unit 10. Specifically, as shown in FIG. 10, the planting chuck 61 moves from its initial position on the planting axis P (the position shown in FIG. 2) to a position where it is retracted on the planting axis P. At this time, the planting chuck 61 moves by rotating around the rotation axis A4. Then, the planting chuck 61 removes the seedling S from the storage tube 11 located at the removal position 12A. After the planting chuck 61 moves, the hole forming unit 50 rotates the drill 51 from the retracted position to a position on the planting axis P, as shown in FIG. 10.

[0061] The planting unit 60 may have a partition plate. The partition plate may be disposed outside the claw support portion 61B in the movement direction when the spacing between the pair of claws 61A gripping the seedling S is changed. In this embodiment, the seedling S is moved to the take-out position 12A by the conveyor 12. Therefore, the seedling S that is not the target of removal and adjacent to the target seedling S is only located on one side upstream of the conveyor 12. Therefore, if a partition plate is provided in the seedling planting device 1, it is sufficient to provide the partition plate only on one side corresponding to the upstream side of the conveyor 12. The seedling planting device 1 can separate the seedling S on the conveyor 12 that is the target of gripping by the planting chuck 61 from the seedling S that is adjacent to the target seedling S on the upstream side of the target seedling S. Therefore, even if the branches of the adjacent seedling S that is not the target of gripping are entangled with the target seedling S, the partition plate can untangle the entanglement, allowing only the target seedling S to be successfully picked up. Furthermore, by being fixed to the claw support portion 61B, the partition plate can maintain its position without moving in accordance with the spacing change operation of the pair of claws 61A, allowing it to effectively perform its function of separating the seedlings S.

[0062] At this time, the seedling planting unit 4 raises the main slider 40. As the main slider 40 rises, the hole forming section 50 and the planting section 60 also rise. As the planting section 60 rises with the main slider 40, it can remove the seedling S held by the planting chuck 61 upward from the storage tube 11. The seedling placing section 10 is then moved to the left, and the conveyor 12 is retracted from directly below the seedling S held by the planting chuck 61. Note that the amount of lift of the main slider 40 at this time is sufficient so that the upper end of the storage tube 11, which moves as the conveyor 12 retracts, does not come into contact with the root ball R of the seedling S, which has risen with the planting chuck 61.

[0063] The seedling S removed from the seedling placement unit 10 is planted in a hole D formed by the hole forming unit 50. Before the hole forming unit 50 forms the hole D, the seedling planting unit 4 detects a layer Gh of a predetermined hardness in the ground G using the detection unit 70. Specifically, as shown in FIG. 11 , the seedling planting unit 4 lowers the main slider 40 to press the ground contact portion 71 of the detection unit 70 against the ground G. The lowering of the main slider 40 causes the ground contact portion 71 to penetrate the soft layer Gs on the surface of the ground G and press until it reaches the layer Gh of the predetermined hardness. The seedling planting unit 4 stops the lowering of the main slider 40 when the magnitude of the load measured based on a load cell (not shown) in the detection unit 70 reaches a magnitude indicated by the predetermined hardness.

[0064] When the detection unit 70 detects a layer Gh of a predetermined hardness, the hole forming unit 50 and the planting unit 60 descend as the main slider 40 descends. At this time, the seedling placing unit 10 retreats to the left as described above. Therefore, the planting unit 60 can descend together with the main slider 40 to a height below the height of the conveyor 12 without moving upward relative to the main slider 40 or turning to return to the planting axis P to avoid contact between the planting chuck 61 and the conveyor 12.

[0065] The seedling planting device 1 limits the height position of the main slider 40's rising end by providing the seedling placement unit 10 with the ability to move laterally. For example, consider a case in which the seedling placement unit 10 is immovable laterally. In this case, to avoid contact between the planting chuck 61 and the conveyor 12, the main slider 40 must be raised or rotated back onto the planting axis P by an amount that takes into account the amount of descent of the main slider 40 when the detection unit 70 detects the layer Gh with a predetermined hardness. In these cases, the overall height of the device increases and unnecessary labor costs are incurred. In contrast, the seedling planting device 1 allows the amount of lift of the main slider 40 when removing a seedling S to be set to the minimum required amount, regardless of the amount of descent of the main slider 40 when the detection unit 70 detects the layer Gh with a predetermined hardness.

[0066] Furthermore, if the seedling placement unit 10 cannot move left and right, one way to avoid contact between the planting chuck 61 and the conveyor 12 is to rotate the planting unit 60 on the planting axis P when the detection unit 70 detects the layer Gh of a predetermined hardness. However, in this case, unnecessary labor is required, such as retracting the planting unit 60 from the planting axis P again in order for the hole forming unit 50 to form the hole D. By providing the seedling placement unit 10 with the ability to move left and right, the seedling planting device 1 can reduce the height of the entire device and prevent an increase in unnecessary labor required for planting seedlings.

[0067] Thereafter, the seedling planting unit 4 forms a hole D using the hole forming unit 50. The hole forming unit 50 forms a hole D in the ground G on the planting axis P. As shown in FIG. 12, the hole forming unit 50 descends on the planting axis P to form the hole D. At this time, the planting axis P is kept vertical because the seedling planting unit 4 is held in position. Therefore, the formed hole D is formed along the vertical direction regardless of the degree of inclination of the ground G.

[0068] The amount of descent of the hole forming unit 50 is based on the depth of a layer Gh of a predetermined hardness in the ground G. The seedling planting unit 4 lowers the hole forming unit 50 by a predetermined fixed amount of descent while the ground contact portion 71 is in contact with the ground G. This allows the seedling planting unit 4 to form holes D of the same depth in the layer Gh of a predetermined hardness, even in different planting locations, without using a means for measuring the amount of descent, such as an encoder. Furthermore, when the hole forming unit 50 forms the hole D, the ground contact portion 71 remains in contact with the ground G. This allows the hole forming unit 50 to form the hole D in a stable state. After forming the hole D, the hole forming unit 50 then rises, rotates, and returns to its initial position. After the hole forming unit 50 returns to its initial position, the planting unit 60 rotates the planting chuck 61 to a position on the planting axis P.

[0069] The hole forming unit 50 forms the hole D using a drill 51 having a conical portion 51A and an enlarged diameter portion 51B. As shown in Fig. 13, the drill 51 forms a conical depression that can adequately accommodate the root ball R of the seedling S, and also forms the hole D by removing the topsoil around the upper edge of the conical depression. In this way, the hole forming unit 50 can form the hole D that is suitable for planting the seedling S.

[0070] After the hole D is formed by the hole forming section 50, the planting section 60 plants the seedling S in the hole D. Even when the planting section 60 plants the seedling S in the hole D, the seedling planting unit 4 maintains a state in which the ground contact section 71 is in contact with the ground G, and the planting axis P maintains a position along the vertical direction. Therefore, the planting section 60 can plant the seedling S in the hole D in a stable state.

[0071] As shown in FIG. 13 , the planting unit 60 lowers the seedling S held by the planting chuck 61 into the hole D. At this time, the amount of lowering of the planting unit 60 is determined based on the depth of a layer Gh of a predetermined hardness in the ground G, similar to the amount of lowering of the hole forming unit 50. Therefore, by lowering the planting unit 60 by a predetermined fixed amount of lowering, the seedling planting unit 4 can lower the seedling S to a height position approximately equal to the hole D, even in different planting locations, without using a means for measuring the amount of lowering, such as an encoder. The planting unit 60 then releases its grip on the seedling S. This places the seedling S in the hole D. At this time, the planting axis P is maintained vertical by the action of the rotation support unit 2B, so the seedling S is placed in the hole D in a good posture.

[0072] Next, as shown in Figure 14, the planting unit 60 lowers the pressing member 61C to press and compact the root ball R and the surrounding soil with its bottom surface. Finally, as shown in Figure 15, the planting chuck 61 is raised and returned to its initial position, and the main slider 40 is raised and returned to its initial position. This completes the planting of the seedling S.

[0073] As described above, the seedling planting device 1 according to the first embodiment plants a seedling S in the ground G on a planting axis P, which is an arbitrary axis. The seedling planting device 1 includes a hole forming unit 50 and a planting unit 60. The hole forming unit 50 includes a drill 51 and a drill moving mechanism 54. The drill 51 forms a hole D in the ground G. The drill moving mechanism 54 moves the drill 51 on the planting axis P, which is an arbitrary axis. The drill moving mechanism 54 also moves the drill 51 between a position on the planting axis P and a position retracted from the planting axis P. The hole forming unit 50 moves the drill 51 along the planting axis P while the drill moving mechanism 54 moves the drill 51 on the planting axis P to form a hole D in the ground G on the planting axis P. The planting unit 60 includes a planting chuck 61 and a chuck moving mechanism 63. The planting chuck 61 grips the seedling S. The chuck moving mechanism 63 moves the planting chuck 61 between a position on the planting axis P and a position retracted from the planting axis P. The planting unit 60 uses the chuck moving mechanism 63 to move the planting chuck 61 to the position retracted from the planting axis P, causing the planting chuck 61 to grip the seedling S. The planting unit 60 uses the chuck moving mechanism 63 to move the planting chuck 61 onto the planting axis P, and plants the seedling S gripped by the planting chuck 61 into the hole D formed by the hole forming unit 50.

[0074] This configuration improves the stability of the seedling planting device 1. That is, when planting a seedling S into a hole D formed on the planting shaft P, the seedling planting device 1 can retract the drill 51 from the planting shaft P using the drill movement mechanism 54, and can retract the planting chuck 61 from the planting shaft P using the chuck movement mechanism 63. As a result, the seedling planting device 1 can be configured with a reduced vertical size compared to a conventional configuration in which either the drill or the planting chuck does not retract from the planting shaft, i.e., in which either the drill or the planting chuck retracts upward on the planting shaft. Therefore, the seedling planting device 1 can be configured with a reduced vertical size compared to a conventional configuration in which either the drill or the planting chuck retracts upward on the planting shaft. This improves the stability of the seedling planting device 1.

[0075] The seedling planting device 1 also includes a main slider 40. The main slider 40 is movable along a slider support 41, which serves as a vertically extending slide rail. The drill movement mechanism 54 in the seedling planting device 1 includes a guide rail 50A, which serves as a hole-forming guide rail and is fixedly mounted on the main slider 40, and a first member 54A, which serves as a hole-forming slide member that moves on the guide rail 50A, to move the drill 51 along the planting axis P. The chuck movement mechanism 63 includes a guide rail 60A, which serves as a planting guide rail, and a first member 63A, which serves as a planting slide member that moves on the guide rail 60A, to move the planting chuck 61 along the planting axis P. This allows the seedling planting device 1 to achieve a configuration that further reduces the overall vertical size of the device. Specifically, the seedling planting device 1 can ensure the vertical movement of the hole-forming unit 50 and the planting unit 60 while reducing the overall height.

[0076] For example, in a configuration in which only the hole forming unit and planting unit move vertically and the main slider does not, ensuring the required amount of vertical movement requires an apparatus height that corresponds to that amount of movement. In contrast, in the seedling planting device 1, the main slider 40, which supports the hole forming unit 50 and planting unit 60 so that they can move vertically, itself is vertically movable. Therefore, the seedling planting device 1 can set the required amount of vertical movement by dividing it between two vertical movement mechanisms, thereby reducing the overall height of the device. As a result, the seedling planting device 1 can maintain a low center of gravity, ensuring stability of the device and enabling even more stable planting operations.

[0077] Furthermore, in the seedling planting device 1, the guide rails 50A and 60A have common specifications. Therefore, the seedling planting device 1 can easily achieve a configuration that reduces the size in the vertical direction. In other words, by making the guide rails 50A, 60A in the hole forming section 50 and the planting section 60 have common specifications such as length, the seedling planting device 1 can avoid a configuration in which, for example, only one of the guide rails protrudes upward. As a result, the seedling planting device 1 can reduce its size in the vertical direction. Furthermore, by making the guide rails 50A, 60A have common specifications, the seedling planting device 1 can reduce the number of types of component parts and lower manufacturing costs compared to when the guide rails have different specifications.

[0078] Furthermore, in the seedling planting device 1, the drill moving mechanism 54 moves the drill 51 by rotating it around the rotation axis A3, which is an arbitrary axis parallel to the planting axis P. Therefore, the seedling planting device 1 can realize the drill moving mechanism 54 with a simple configuration.

[0079] Furthermore, in the seedling planting device 1, the chuck moving mechanism 63 moves the planting chuck 61 by rotating it around the rotation axis A4, which is an arbitrary axis parallel to the planting axis P. Therefore, the seedling planting device 1 can realize the chuck moving mechanism 63 with a simple configuration.

[0080] Furthermore, the seedling planting device 1 has a seedling planting unit 4 that is rotatable around rotation axes A1 and A2. The seedling planting unit 4 is maintained in a position such that the planting axis P is vertical. This allows the seedling planting device 1 to perform planting work stably. That is, in the seedling planting device 1, the removal of the seedling S from the seedling placement unit 10, the formation of the hole D in the ground G, and the planting of the seedling S in the hole D are all performed in a constant position with the planting axis P maintained in a vertical position, regardless of the degree of inclination of the ground G. This allows the seedling planting device 1 to perform planting work of the seedling S stably.

[0081] The seedling planting device 1 also includes a remote control device RC. The remote control device RC remotely controls the seedling planting unit 4 to perform a series of operations from picking up the seedling S to planting it in the ground G. Therefore, the seedling planting device 1 can safely perform the planting work of the seedling S from a remote location.

[0082] The seedling planting device 1 according to the first embodiment also includes a detection unit 70. The detection unit 70 has a ground contact unit 71. The ground contact unit 71 is provided so as to be movable in the vertical direction and comes into contact with the ground G. The detection unit 70 detects a layer Gh of a predetermined hardness in the ground G based on the contact of the ground contact unit 71 with the ground G. This allows the seedling planting device 1 to properly determine the layer Gh of the ground G that has a hardness suitable for planting the seedling S. As a result, the seedling planting device 1 can properly plant the seedling S.

[0083] In the seedling planting device 1, the detection unit 70 has a load cell (not shown) that measures the magnitude of the load when the contact part 71 is lowered and pressed against the ground G. Therefore, the seedling planting device 1 can easily realize a configuration that can accurately grasp the layer Gh in the ground G that has a hardness suitable for planting the seedling S.

[0084] The seedling planting device 1 also includes an attitude maintaining unit 80. The attitude maintaining unit 80 maintains the attitudes of the hole forming unit 50 and the planting unit 60 so that the planting axis P is vertical. Therefore, the seedling planting device 1 can stably form a hole D using the hole forming unit 50 and plant a seedling S into the hole D using the planting unit 60. By including the attitude maintaining unit 80, even if the device tilts due to a slope of the ground G, the attitudes of the hole forming unit 50 and the planting unit 60 are maintained so that the planting axis P is vertical. As a result, the hole forming unit 50 and the planting unit 60 can plant the seedling S in a vertical attitude regardless of the degree of slope of the ground G when planting the seedling S.

[0085] The present invention is not limited to the first embodiment described above with reference to the drawings, and the following embodiments are also included within the technical scope of the present invention.

[0086] (1) It is not essential that the seedling planting device according to the present invention be equipped with a traveling unit. The seedling planting device may be attached to a machine having traveling means, such as a backhoe or a self-propelled mower. When the seedling planting device is equipped with a traveling unit, its configuration is not limited to the configuration exemplified in the above embodiment. The configuration of the traveling unit is not limited to a configuration having crawlers, but may be a configuration having wheels, walking legs, etc. The traveling unit may have traveling means that combines two or more different types of traveling means, such as crawlers, wheels, walking legs, etc.

[0087] (2) It is not essential that the seedling planting device according to the present invention be operated by a remote control device. The seedling planting device may be equipped with an operating unit instead of or in addition to a remote control device. The seedling planting device may be a ride-on type that an operator can ride on, or a walk-behind type that the operator operates while walking. Furthermore, the seedling planting device may automatically perform each of the operations related to planting the seedlings described above, such as moving the seedling to the planting position, forming a hole, and planting, in a series.

[0088] (3) The configuration of the seedling placement unit according to the present invention is not limited to the configurations exemplified in the above embodiment. The seedling placement unit may be configured to place seedlings while they are housed in a seedling cultivation container. When the seedling placement unit is configured to place seedlings while they are housed in a container, the shape of the container, the arrangement of the cultivation holes, etc. are not limited to the above embodiment.

[0089] (4) The configuration of the hole forming unit according to the present invention is not limited to the configurations exemplified in the above embodiments. The movement of the hole forming unit between the position on the planting shaft and the position retracted from the planting shaft may be a rotational movement or a linear movement.

[0090] (5) The configuration of the planting unit according to the present invention is not limited to the configurations exemplified in the above embodiments. The planting unit may move between a position on the planting shaft and a position retracted from the planting shaft by rotating or linear movement. The planting unit may be configured with an articulated robot, such as a vertical or horizontal robot.

[0091] (6) The hole forming section and planting section according to the present invention may be configured, for example, such that the hole forming section is located on the left side of the main slider and the planting section is located on the right side. In this configuration, if the seedling planting device includes a seedling placing section, the seedling placing section is provided symmetrically with the seedling placing section 10 exemplified in the above embodiment. In other words, the seedling planting unit may be provided symmetrically with the seedling planting unit 4 exemplified in the above embodiment. [Explanation of symbols]

[0092] 1... seedling planting device, 40... main slider, 41... slider support part (slide rail), 50... hole forming part, 50A... guide rail (hole forming guide rail), 51... drill, 54... drill moving mechanism part, 54A... first member (hole forming slide member), 60... planting part, 60A... guide rail (planting guide rail), 61... planting chuck, 63... chuck moving mechanism part, 63A... first member (planting slide member), D... hole, G... ground, P... planting shaft (shaft), S... seedling

Claims

1. A seedling planting device for planting seedlings in the ground on an arbitrary axis, a hole forming unit including a drill that forms a hole in the ground, and a drill moving mechanism that moves the drill on the axis and moves the drill between a position on the axis and a position retracted from the axis, and that, with the drill moved on the axis by the drill moving mechanism, moves the drill along the axis to form a hole in the ground on the axis; a planting unit having a planting chuck for gripping the seedling and a chuck moving mechanism for moving the planting chuck between a position on the axis and a position retracted from the axis, the planting unit using the chuck moving mechanism to move the planting chuck to the position retracted from the axis to grip the seedling, and the planting unit using the chuck moving mechanism to move the planting chuck onto the axis and plant the seedling gripped by the planting chuck into the hole; The seedling planting device is provided with:

2. The main slider is movable along a slide rail extending vertically, the drill moving mechanism includes a hole forming guide rail fixedly disposed on the main slider and a hole forming slide member that moves on the hole forming guide rail, and moves the drill along the axis; The seedling planting device described in claim 1, wherein the chuck moving mechanism has a planting guide rail fixedly arranged relative to the main slider and a planting slide member that moves on the planting guide rail, and moves the planting chuck along the axis.

3. The seedling planting device according to claim 1 or 2, wherein the drill moving mechanism moves the drill by rotating it about an arbitrary axis parallel to the axis.

4. The seedling planting device according to claim 1 or 2, wherein the chuck moving mechanism moves the planting chuck by rotating it about an arbitrary axis parallel to the axis.

Images