Automated plant distribution system and method

Abstract

A plant distribution unit for planting plants may include a set of ejectors for engaging and holding plant balls positioned in rows of plant balls in a tray having multiple rows. Each ejector may be configured to forcibly eject the engaged plant balls. The plant distribution unit may include a funnel assembly configured to receive the ejected plant balls and guide them to a shoe configured to receive the ejected plant balls from a funnel and position them for planting. The plant distribution unit may include a control system connected to the ejector drive system and the shoe drive system, allowing for operational adjustment of the plant distribution unit's operation. The plant distribution unit may include a flat feeder for operating a tray feeding system of the plant distribution unit that indexes the rows of trays for engagement by the ejectors.

Description

Technical Field

[0001] <Cross - Reference to Related Applications> This application claims the priority of U.S. Provisional Application No. 63 / 453,831, filed on March 22, 2023, "Mechanical Transplanter", the content of which is incorporated herein by reference.

[0002] The current versions of these embodiments generally relate to the field of automated mechanical planters for plants and cuttings.

Background Art

[0003] These embodiments relate to the mechanical planting of plants and cuttings, and more specifically, to devices that can automate the planting of plants into the ground or soil for crop production, which has conventionally been done manually. In this description, the term "plant" is used, but it should be understood to include everything that can be planted in the ground (cuttings, flowers, etc.).

[0004] Agriculture is extremely important for every country and economy. Agriculture consumes water resources and generally requires a large amount of unskilled labor. Such labor is becoming increasingly difficult to secure and, if secured, is becoming more costly. It would be beneficial to eliminate this manual labor from some of the repetitive operations in the agricultural field. This could reduce the overhead costs for producers and cultivators and potentially result in higher - quality products.

Summary of the Invention

Problems to be Solved by the Invention

[0005] Generally, crops are started in self-feed trays in greenhouse cultivation. This extends the growing period and allows plants to grow to a size that makes transplanting into the soil easier. Seeds and cuttings are planted indoors and managed until they reach a predetermined size. In commercial farms, the number of plants that need transplanting can be very large. The sooner seedlings are planted in the ground, the sooner the plants mature and yield a harvest. Manual labor can be unreliable and inconsistent, but machinery, once adjusted, is more reliable and efficient.

[0006] Plants and cuttings can grow excessively indoors. This can cause their roots to become tangled, making it difficult to remove the plants from the tray cells and potentially leading to plant loss.

[0007] Visual cues exist that can help determine whether a plant has a high chance of becoming productive. While this visual inspection is learnable, it requires concentration and experience. Finding a workforce capable of performing this inspection consistently and quickly can be challenging. Some form of vision, inspection, or sensor system that can identify plants with a low chance of becoming productive would be useful. It is inefficient to invest resources in plants that are unlikely to produce marketable products.

[0008] The inspection system can also be used to determine whether or not plants are growing in the feeder tray cells before attempting to pull plants or root balls out of the cells. This inspection system makes it possible to instruct the system to "skip" cells that do not show growth for transplanting.

[0009] Therefore, there is pressure to grow plants, pressure to grow them to a certain size by a specific planting date, and pressure to remove them from the trays and plant or transplant them in the ground. Time saved in any of these tasks contributes to the overall efficiency and profitability of the farm and any organization involved in the cultivation process. Mechanical efficiency, once adjusted, can be far more efficient and less expensive than manual labor.

[0010] For the reasons stated above, a mechanical transplanter for plants is needed. [Means for solving the problem]

[0011] In some respects, the technologies described herein relating to plant distribution units for planting plants include: Frame including the release bar; An ejector assembly connected to a frame: Ejector assembly housing; A set of ejectors mounted in a row in an ejector assembly housing, each ejector having a fork configured to engage with plant balls in rows of plant balls in a tray having multiple rows, and to hold the engaged plant balls on the fork, each ejector having an ejector release mechanism with a biasing means configured to eject the engaged plant balls by force, and a release assembly configured to load, lock, and release the ejector release mechanism; and, An ejector assembly having an ejector drive system configured to move a pair of ejectors horizontally and vertically between a plant ball engagement position and a plant ball discharge position, and to index the pair of ejectors to discharge each engaged plant ball into a funnel; A funnel assembly comprising a funnel positioned at a distance from the frame, the funnel being configured to receive the discharged plant balls and guide them to the shoe; A shoe assembly positioned at a distance from the frame, wherein the shoe assembly is: A shoe configured to receive plant balls discharged from a funnel and place the plant balls in a position for planting; and A shoe mechanism configured to plant a placed plant ball in the soil; and A shoe assembly having a shoe drive system configured to operationally control the shoe mechanism for planting plant balls in soil; A control system connected to an ejector drive system and a shoe drive system, which is for operationally adjusting the operation of a plant distribution unit, comprises a control system, The plant distribution unit is configured to perform the following actions: (a) Move a pair of ejectors to the plant ball engagement position, (b) Move a set of ejectors to engage each plant ball in the plant ball row onto the forks of the corresponding ejectors, thereby loading and locking the ejector release mechanism as each plant ball engages with its corresponding ejector. (c) Move one set of ejectors to the plant ball discharge position, thereby placing the first ejector near the funnel. (d) In response to the movement of a pair of ejectors, the release assembly releases the ejector release mechanism, thereby allowing the biasing force of the ejector release mechanism to act, forcing the plant ball into the funnel, which is then sent through the funnel to the planting position on the shoe and finally into the soil. (e) With respect to the second ejector that has not yet been placed, a pair of ejectors is indexed to place the second ejector that has not yet been placed near the funnel, thereby the release assembly releases the ejector release mechanism of the second ejector, thereby the biasing force of the ejector release mechanism of the second ejector acts on the plant ball, the plant ball is ejected into the funnel by force, the ejected plant ball is sent through the funnel to the planting position of the shoe and finally into the soil, (f) Repeat step (e) until all plant balls are ejected.

[0012] In some respects, the technology described herein relates to a plant distribution unit for planting plants, wherein the shoe mechanism further has a kicker arm having a hammer at one end movably connected to a frame and a hammer at the free end, the hammer being configured to move between a forward position and a backward position, and when a plant ball is placed in the shoe for planting, the hammer moves backward to bring the hammer into contact with the plant ball, thereby planting the plant ball in the soil.

[0013] In some aspects, the technology described herein relates to a plant distribution unit, wherein the shoe drive system is configured to operate a kicker arm, thereby moving forward at a speed faster than the speed at which the hammer moves backward.

[0014] In some aspects, the technology described herein relates to a plant distribution unit and further includes a sensor connected to a frame and configured to confirm that an ejector has engaged with a plant ball (seedling), wherein the plant distribution unit is further configured to: each ejector is placed near a funnel but before ejection, the sensor is used to determine whether the placed ejector has engaged with a plant ball; and in steps (d) and (e), the ejector mechanism is released only if it is determined that the placed ejector has engaged with a plant ball.

[0015] In some respects, the technology described herein relates to a plant distribution unit in which the sensor is an infrared sensor and the plant distribution unit further includes an infrared laser.

[0016] In some respects, the techniques described herein relate to a plant distribution unit, wherein the funnel further includes an elliptical upper periphery and a circular lower periphery, and the funnel further includes a tube connected to the lower periphery.

[0017] In some aspects, the techniques described herein relating to a plant distribution unit, the funnel further includes a guide tab extending downward from the front of the lower end of the tube.

[0018] In some aspects, the technology described herein further comprises a plant distribution unit comprising a flat feeder connected to a frame and configured to index a tray of plant balls to engage each row of plant balls in the tray.

[0019] In some aspects, the technology described herein relates to a plant dispensing unit, where the flat feeder includes a tray supply system, and the tray supply system includes drive components configured to index trays of plant balls and a tray supply drive system configured to operate the drive components, and the tray supply drive system is connected to a control system.

[0020] In some aspects, the technology described herein relates to a plant dispensing unit, where the flat feeder further has a braking system configured to slow the descent rate of trays loaded in the flat feeder.

[0021] In some aspects, the technology described herein relates to a plant dispensing unit, where each of the ejector drive system and the shoe drive system has an electric motor and a drive device.

[0022] In some aspects, the technology described herein relates to a plant dispensing unit, where when the ejector is placed near the funnel, the release assembly locked by the engagement of the release bar with the release assembly is released, thereby releasing the biasing means of the ejector mechanism.

[0023] In some aspects, the technology described herein relates to a method of dispensing plants, comprising the following steps (a) to (f). (a) Moving a set of ejectors of a plant dispensing unit to a plant ball engagement position; wherein each ejector has a fork configured to engage a plant ball in a plant ball row in a tray having a plurality of rows, and further the fork is configured to hold the engaged plant ball on the fork; wherein each ejector has an ejector release mechanism with biasing means configured to eject the engaged plant ball by force, and each ejector further includes a release assembly configured to lock, load, and release the ejector release mechanism. (b) Moving the set of ejectors to engage each plant ball in the plant ball row on the fork of the corresponding ejector; whereby the engagement of each plant ball to the ejector loads and locks the ejector release mechanism. (c) Moving the set of ejectors to a plant ball discharge position; whereby the first ejector is positioned near the funnel of the plant dispensing unit. (d) In response to the movement of the set of ejectors, the release assembly releases the ejector release mechanism; whereby the biasing force of the ejector release mechanism acts and the plant ball is ejected into the funnel by force; the ejected plant ball is sent through the funnel to the shoot of the plant dispensing unit and placed in the shoot for planting in the soil. (e) For a second ejector that has not yet been positioned, indexing the set of ejectors to position the second ejector, which has not yet been positioned, near the funnel; whereby the release assembly releases the ejector release mechanism of the second ejector; whereby the biasing force of the ejector release mechanism of the second ejector acts and the plant ball is ejected into the funnel by force; the plant ball ejected thereby is sent through the funnel to the planting position of the shoot and ultimately sent to the soil. (f) Repeating step (e) until all plant balls are discharged.

[0024] In some aspects, the techniques described herein, relating to a method of distributing plants, further include the following steps: For each plant ball placed in the shoe, the kicker arm of the plant distribution unit is activated to push the plant ball backward, thereby planting the plant ball in the soil.

[0025] In some aspects, the techniques described herein, relating to a method of distributing plants, further include the following steps: After operating the kicker arm to push the plant ball backward, move the kicker arm forward to reset its position.

[0026] In some aspects, the techniques described herein relating to a method of distributing plants further include the following steps: When each ejector is placed near the funnel before ejection, a sensor in the plant distribution unit is used to determine whether the placed ejector has engaged with a plant ball; and in steps (d) and (e), the ejector mechanism is released only if it is determined that the placed ejector has engaged with a plant ball.

[0027] In some respects, the technology described herein relates to a method of distributing plants, wherein the sensor is an infrared sensor, and the plant distribution unit further includes an infrared laser.

[0028] In some aspects, the techniques described herein relating to a method of distributing plants further include the following steps: When all plant balls in a row are engaged by the ejector, the tray feeding system of the plant distribution unit is activated to index the next row for engagement.

[0029] In some aspects, the techniques described herein relating to a plant distribution unit further include the release of an ejector release mechanism by a release assembly, where, when the ejector is placed near a funnel, the locked release assembly is released by a release bar that engages with the release assembly, thereby releasing the biasing means of the ejector mechanism.

[0030] Some embodiments of the present invention will become more apparent from the following more specific description, presented in conjunction with the following drawings, as well as from other aspects, features, and advantages described above and other aspects of the present invention. [Brief explanation of the drawing]

[0031] [Figure 1] A front perspective view of one embodiment of a mechanical transplanting machine is shown. [Figure 2] A front view of one embodiment of a mechanical transplanting machine is shown. [Figure 3] This is a front perspective view of one embodiment of the key elements, with some elements omitted, showing the grabber in the first position. [Figure 4] This is a front perspective view of one embodiment of the key elements, with some elements omitted, showing the grabber in the second position. [Figure 5] This is a forward perspective view of one embodiment of key elements, with some elements omitted, illustrating the overall picture of how this device interacts with existing structures. [Figure 6] This shows a left front perspective view of one embodiment of the device, with the cover components removed to examine the internal elements. [Figure 7] A front perspective view of one embodiment of the device is shown, with the cover components removed to examine the internal elements. [Figure 8] This is a rear-downward perspective view of one embodiment of the device, showing one embodiment of an inspection, visual, or sensor system. [Figure 9] This is a front-downward perspective view of one embodiment of the apparatus, showing the arrangement of elements with the grabber in a first position. [Figure 10] This is a front view of one embodiment of the Graba. [Figure 11] Figure 10 shows a rear view of one embodiment of the Graba. [Figure 12] This shows a fork with claws used for gripping plants or plant balls. [Figure 13] This shows the rear view of one embodiment of the Graba. [Figure 14] A right-side view of another embodiment of the mechanical transplanting machine is shown. [Figure 15] Figure 14 shows a left side view of the embodiment. [Figure 16] Figure 14 shows a rear view of the embodiment. [Figure 17] Figure 14 shows a front view of the embodiment. [Figure 18] Figure 14 shows a bottom view of the embodiment. [Figure 19] Figure 14 shows a top view of the embodiment. [Figure 20] Figure 14 shows an upward, front, and rightward perspective view of the embodiment. [Figure 21] Figure 14 shows a lower right perspective view of the embodiment. [Figure 22] Figure 14 shows a left front perspective view of the embodiment. [Figure 23] Figure 14 shows a right side view of an embodiment in which the positions of several elements differ. [Figure 24] Figure 14 shows a left side view of an embodiment in which the positions of several elements differ. [Figure 25] The lower right perspective view shows an embodiment of Figure 14 with different positions for several elements. [Figure 26] Figure 14 shows an upper left perspective view with some elements of the embodiment arranged in different positions. [Figure 27] Figure 14 shows a right side view with some elements of the embodiment arranged in different positions. [Figure 28] Figure 14 shows a left side view with some elements of the embodiment arranged in different positions. [Figure 29] Figure 14 shows a rear view in which some elements of the embodiment are positioned in different locations. [Figure 30] Figure 14 shows a front view with some elements of the embodiment arranged in different positions. [Figure 31] Figure 14 shows an upper right perspective view with some elements of the embodiment positioned in different locations. [Figure 32] A lower right perspective view is shown, with some elements of the embodiment in Figure 14 positioned in different locations. [Figure 33]The upper left perspective view shows some elements of the embodiment in Figure 14 arranged in different positions. [Figure 34] A side view of one embodiment of the Graba is shown, illustrating how the plant ball is held and released. [Figure 35] To illustrate the operation of the spring drive system, a second side view of one embodiment of the grabber is shown. [Figure 36] Figure 35 shows a second side perspective view of the embodiment. [Figure 37] This shows one embodiment of a partial second side perspective view of the grabber, and its interaction with a partial diagram of the trigger mechanism and a partial diagram of the movement mechanism. [Figure 38] This shows one embodiment of a partial perspective view of the second side of the grabber, and its interaction with partial diagrams of the trigger mechanism and the movement mechanism located at different positions. [Figure 39] This shows one aspect of an embodiment of a trigger mechanism in a non-operating position. [Figure 40] This shows one aspect of an embodiment of a trigger mechanism in the activated position. [Figure 41] This shows one aspect of one embodiment of the grabber, along with its state at a certain position and its interaction with a partial view of the funnel, sensor, trigger, trigger mechanism, and moving mechanism. [Figure 42A] One aspect of one embodiment of the grabber is shown, along with its state at a different location and its interaction with partial diagrams of the funnel, sensor, trigger mechanism, and movement mechanism. [Figure 42B] This shows one side of an embodiment of the grabber at a different location, and its interaction with a partial diagram of the trigger mechanism, the movement mechanism, and the feeder. [Figure 43] This diagram shows one aspect of an embodiment of a grabber in the preloaded position, and its interaction with the trigger, trigger mechanism, movement mechanism, and a partial diagram of the feeder. [Figure 44] This shows the interaction between one side of an embodiment of a grabber at the loading start position and a partial diagram of the moving mechanism and feeder. [Figure 45]This shows the interaction between one side of an embodiment of a grabber in a loading position and a partial diagram of the moving mechanism and feeder. [Figure 46] This shows one side of an embodiment of the grabber in the return start position, and its interaction with a partial diagram of the movement mechanism and feeder. [Figure 47A] This shows one aspect of an embodiment of a grabber in the return position, and its interaction with a partial diagram of the trigger, trigger mechanism, and movement mechanism. [Figure 47B] This shows one aspect of an embodiment of a grabber in the return position, and the interaction between the sensor, trigger, trigger mechanism, and partial diagram of the movement mechanism. [Figure 48] This diagram shows one aspect of an embodiment of a grabber approaching a sensor position, and the interaction between the sensor, trigger, trigger mechanism, and partial diagram of the movement mechanism. [Figure 49] One aspect of one embodiment of the grabber is shown, along with the interaction between the state at the detection position and a partial diagram of the funnel, sensor, trigger, trigger mechanism, and movement mechanism. [Figure 50] One aspect of one embodiment of the grabber is shown, along with the state at the post-detection position and the interaction between the funnel, sensor, trigger, trigger mechanism, and movement mechanism in a partial diagram. [Figure 51] A side view of one embodiment of the grabber in the pre-distribution position is shown, along with a partial view illustrating its interaction with the funnel, sensor, trigger, trigger mechanism, and movement mechanism. [Figure 52] A side view of one embodiment of the grabber in a partially unloaded position is shown, along with a partial view illustrating its interaction with the funnel, sensor, trigger, trigger mechanism, and movement mechanism. [Figure 53] This diagram shows one aspect of an embodiment of the grabber in the post-distribution position, and the interaction between it and a partial diagram of the funnel, sensor, trigger, trigger mechanism, and movement mechanism. [Figure 54A] A right-side perspective view of another embodiment of the distribution unit 237 is shown. [Figure 54B] Figure 54A shows a right side view of the distribution unit equipped with camera 277 and sensor 278. [Figure 54C]Figure 54A shows a front view of the distribution unit. [Figure 55A] Another right-side perspective view of the distribution unit 237 is shown. [Figure 55B] Figure 55A shows a plan view of the distribution unit 237. [Figure 55C] Figure 55A shows a right side view of the distribution unit 237. [Figure 55D] Figure 55A shows a bottom view of the distribution unit 237. [Figure 55E] Figure 55A shows the dispenser-side end of the distribution unit 237. [Figure 56A] An upward perspective view of an ejector drive system of another embodiment is shown. [Figure 56B] Figure 56A shows a side view of the ejector drive system. [Figure 56C] Figure 56A shows the front dispenser side end of the ejector drive system. [Figure 56D] Figure 56A shows an exploded view of the elements of the ejector drive system. [Figure 57A] A perspective view of the drive rail 241 together with the distribution unit or ejector assembly 243 is shown. [Figure 57B] Figure 57A shows a second perspective view of the drive rail 241 and the ejector or distribution unit assembly 243. [Figure 57C] A side view of the drive rail 241 is shown. [Figure 57D] A side view of the drive rail 241 and ejector assembly 243 is shown. [Figure 57E] The diagram shows the front end of the drive rail 241 and ejector assembly 243 in the horizontal or gripping position. [Figure 57F] This diagram shows the front end of the distribution unit assembly in a vertical position. [Figure 58A] A front perspective view of an ejector housing assembly 244 in another embodiment is shown. [Figure 58B] Figure 58A shows a front view of the ejector housing assembly 244. [Figure 59A]The ejector housing assembly 244 is shown in an exploded view, illustrating its various components as it is attached to the arm 248. [Figure 59B] Another exploded view of the ejector housing assembly 244 is shown, illustrating its various components. [Figure 60A] An exploded view of the ejector housing assembly 244 is shown with various elements removed to make the interaction easier to understand. [Figure 60B] Another exploded view of the ejector housing assembly 244 with various elements removed is shown to make the interaction easier to understand. [Figure 61A] This is a perspective view showing one embodiment of a flat feeder 251 attached to a distribution unit 237. [Figure 61B] This shows a rear view of a distribution unit 237 attached to one embodiment of a flat feeder 251. [Figure 61C] This shows a side view of a distribution unit 237 attached to an embodiment of the flat feeder 251. [Figure 61D] This shows a bottom view of the distribution unit 237 to which the flat feeder 251 is attached. [Figure 61E] A front view of the distribution assembly is shown. [Figure 61F] Figure 61A shows a detailed perspective view. [Figure 62A] This shows a rear view of the flat feeder 251 with its components removed. [Figure 62B] A side view of the flat feeder 251 and cover 255 is shown. [Figure 62C] This shows a front perspective view of the flat feeder cover 255 with the elements removed. [Figure 62D] This shows a rearward perspective view of the flat feeder cover 255 with its elements removed. [Figure 62E] A plan view of the flat feeder is shown. [Figure 63A] A rear view of one embodiment of the motor 258, drive shaft 259, and flat index gear or wheel 260 of the tray supply system 257 is shown. [Figure 63B] Figure 63A shows a side view of the tray supply system 257. [Figure 63C] A perspective view of the tray supply system 257 and its cover is shown. [Figure 63D] Figure 63A shows the other side of the tray supply system 257. [Figure 63E] The rear view of the supply system cover is shown. [Figure 63F] A side view of the supply system cover is shown. [Figure 64A] A perspective view of the tray supply system 257 and other components is shown. [Figure 64B] Figure 64A shows a side view of the tray supply system 257. [Figure 64C] A front view of the tray supply system 257 and other components is shown. [Figure 64D] A top view of the tray supply system 257 and its mounted components is shown. [Figure 65A] A perspective view of another embodiment of the planting shoe mechanism 263 is shown, with components removed to allow for internal viewing. [Figure 65B] Figure 65A shows a perspective view of the planting shoe mechanism 263 with added components. [Figure 65C] A side view of the planting shoe mechanism 263 is shown. [Figure 65D] A top view of the planting shoe mechanism 263, which shows another embodiment of the funnel 264, is shown. [Figure 66A] An upward perspective view showing another embodiment of the funnel is shown. [Figure 66B] A side view of one embodiment of the funnel assembly 268 is shown. [Figure 66C] This is a front view of one embodiment of the funnel assembly 268. [Figure 67] This is a flowchart illustrating one example of a method for distributing plants. [Figure 68] This is a schematic diagram of the control system for the plant distribution unit. [Modes for carrying out the invention]

[0032] Corresponding reference symbols in the drawings indicate corresponding parts across multiple drawings. Those skilled in the art will understand that elements in the drawings are shown for brevity and clarity and are not necessarily depicted to actual size. For example, the dimensions of elements in the drawings may be exaggerated relative to other elements to aid in understanding the various embodiments of the invention. Furthermore, common components that are useful or necessary in commercially viable embodiments, but are well known, are often omitted so as not to interfere with the visibility of the various embodiments of the invention.

[0033] The following description is not intended to imply any restrictive interpretation, but merely to illustrate the general principles of an exemplary embodiment. The scope of the invention should be determined by reference to the claims.

[0034] Throughout this specification, the terms “one embodiment,” “embodiment,” or similar expressions mean that a particular function, structure, or feature described in relation to that embodiment is included in at least one embodiment. Therefore, throughout this specification, the occurrence of “one embodiment,” “in an embodiment,” and similar expressions does not necessarily refer to the same embodiment, but it may.

[0035] Furthermore, the features, structures, or properties described in the present invention can be combined in any suitable manner in one or more embodiments. Many specific details are provided in the following description to fully understand embodiments of the present invention. However, those skilled in the art will recognize that the present invention can be carried out by omitting one or more specific details or by using other methods, components, materials, etc. Also, in other instances, well-known structures, materials, or operations are not shown in detail and their descriptions are omitted so as not to obscure aspects of the present invention.

[0036] A closer look at the drawings reveals that similar elements are numbered similarly, and Figure 1 shows one embodiment of a mechanical transplanter 18. The transplanter 18 has a left frame 22 and a right frame 20. A cover 24 covers the elements below it. The cover 24 is necessary to prevent sunlight from reaching the plant roots (not shown), as sunlight can have adverse effects on the plant roots and growth. Figure 1 also shows a feeder 26. The feeder 26 receives trays filled with plants with stems and leaves and arranges the plants 38 so that they can be picked by the left and right grabbers 30, 28. Figure 1 shows the grabbers 28, 30 in a first position 58. Figure 2 shows a front view of the mechanical transplanter 18. Figure 2 shows how the transplanter 18 interacts with existing technology.

[0037] Figure 3 shows some elements in a forward perspective view and removes other elements to clearly illustrate their coordinated operation. The feeder 26 is equipped with a feeder drive unit 42, which causes the feeder 26 to move horizontally towards and away from the grabbers 28 and 30. The grabbers 28 and 30 are shown at a first position 58 where the plants 38 are distributed into the funnel 36.

[0038] The plants 38 are loaded into the feeder 26 so that their stems and leaves are positioned almost horizontally, away from the feeder 26. The feeder 26 is provided with dividers 40, into which the stems and leaves are positioned. As shown in the figure, the dividers 40 are angled so that the stems and leaves are positioned without becoming entangled with each other. This makes it easier to remove the plants 38 from the cells 41 of the tray 43.

[0039] Figure 4 shows a front perspective view similar to that of Figure 3. For illustrative purposes, the operation of the device will be described using the left grabber 28. It should be understood that the right grabber 30 operates in much the same way. In Figure 4, the left grabber 28 is shown in the second position 60. The left grabber 28 rotates from an inclined vertical position to a nearly horizontal position, and from this position, it is translated so that the bottom 112 of the fork 92 engages with the plant 38 and picks it up from the cell 41 of the tray 43. At this point, the visual system 70 is activated and notifies the left grabber 28 whether there are any plants 38 that may not meet the criteria. The visual system can also assist in grasping and notify whether or not there are plants 38 in the cell 41. Once the plant 38 is grasped by the left grabber 28, the grabber moves horizontally and vertically and returns to the first position 58 as shown by the right grabber 30 in Figure 4.

[0040] Figure 5 shows another front perspective view of the apparatus with some components removed to advance the discussion of the function and arrangement of the components. In this Figure 5, the left grabber 28 is shown in the second position 60 and the right grabber 30 is in the first position 58. Also in this figure, the funnel 36 and funnel plate 37 are more clearly visible. These are supplied to the shoe assembly 48 and ultimately to the row 74 in the soil 75.

[0041] Figure 6 is another front perspective view of the mechanical transplanting machine 18, viewed from the opposite side of Figures 3 and 4, and shows various additional elements. The grabber drive unit 44 on the right grabber 30 is shown, and the grabber drive unit 44 on the left grabber 28 is also visible.

[0042] Figure 7 shows a front perspective view of the mechanical transplanting machine 18. In this figure, the cells 41 in the tray 43 are more clearly visible. Also shown are the auxiliary plates 46 that hold the dividers 40 in a parallel arrangement to each other.

[0043] Figure 8 shows a rearward perspective view of the mechanical transplanter 18 from the bottom. This figure shows the visual system 70. As previously mentioned, the visual system 70 can be used to determine whether plants are present in individual cells 41 before the grabbers 28 and 30 remove the plants 38 from the cells 41. The visual system 70 can also be used to check the quality of the plants 38 removed from the cells 41. This check helps determine whether the plants 38 are likely to grow well or whether another plant should be taken from another cell 41. There is little point in planting plants 38 that are unhealthy or deformed.

[0044] Figure 9 is a bottom-side front perspective view of the mechanical transplanter 18. In this figure, it is more clearly seen that the cells 41 in the tray 43 are positioned below the bottom edge 39 of the divider 40. When the cells 41 in the tray 43 are positioned below the bottom edge 39 of the divider 40, the left and right grabbers 28 and 30 can pick the plants 38 from the cells 41. Once the rows of plants 38 have been picked from the cells 41, the tray 43 is indexed vertically toward the soil 75 (not shown in this figure). Once all the plants 38 have been removed from the cells 41 in the tray 43, the tray 43 falls into a storage area (not shown) and is recovered from there for later replanting.

[0045] Figure 10 shows a first side view of the left-side grabber 28 as an example. Figure 11 shows a second side view of the left-side grabber 28.

[0046] Figure 11 shows a frame 96 that houses elements constituting a device for grasping plants 38 from individual cells 41 and simultaneously forcibly discharging the plants 38 into a funnel 36 and finally into the soil 75. In this embodiment, an air cylinder 94 with a control device 98 is used. The air cylinder 94 is fixed to a pair of forks 92. The forks 92 have claws 108, two of which are typically arranged on each fork 92. In this embodiment, two forks 92 are fixed to each cylinder 94. Each cylinder 94 also has a rod 88 that moves in and out of the cylinder 94. A plunger block 90 is fixed to one end of the rod 88. It should be understood that other methods of discharging the plants 38 into the funnel 36 and soil 75, such as solenoids and other mechanical, electrical, or non-mechanical methods or means, can be used. This discharging of plants 38 can be timed with other elements to optimize planting time and intervals and other parameters.

[0047] Figures 10 and 11 also show how the plunger block 19 moves from a position near the bottom of the air cylinder 94 to a position away from the air cylinder 94. Both figures show the tines 108 of the fork 92 gripping the plant 38. This is the approximate position when the plant 38 is picked from the cell 41 of the tray 43. As the left grabber 28 moves and rotates from the second position 60 to the first position 58, the air cylinder 94 rod 88 is activated and moves from inside the air cylinder 94 to its maximum detached position. This causes the plunger block 90 to move from the first position 125 to the second position 127. As shown in the figures, when the plunger block 90 moves to the second position 127, the plant 38 is forcibly discharged from the tines 108 of the fork 92 and finally into the soil 75 via the funnel 36. This plants the plant 38. As described, other methods for discharging the plant 38 are also available.

[0048] Figure 12 shows a perspective view of one embodiment of a fork 92 having claws 108.

[0049] Figure 13 shows a side view of one embodiment of the grabber 30, showing an air cylinder 94 fixed to the frame 96. The air cylinder 94 has a rod 88 extending from its bottom. The rod 88 is fixed to the plunger block 90. ​​A fork 92 is also fixed near the bottom of the air cylinder 94.

[0050] As you know, the logic and programming for the operation of these elements can be optimized based on soil conditions and the dimensions, shape, and weight of the plants 38 to be planted. This mechanical transplanter 18 can pick and plant many plants 38 in a more consistent and less variable manner than manual labor.

[0051] Figure 14 shows a second embodiment of the mechanical transplanting device 180. The transplanting device 180 has several components, including a feeder 176 that houses a loading tray 178 containing plant balls 185. This is connected to a moving mechanism 210 which has a housing and a grab controller 191 and a grab motor 192. The moving mechanism 210 is used to move and rotate the right grabber 190 and the left grabber 188. The housing 168 is located below the moving mechanism 210. The right grabber 190 and the left grabber 188 move from the inside to the outside of the housing 168 to grasp the plant balls 185 from the tray 178 of the feeder 176.

[0052] Figure 14 shows the right grabber 190 engaging with the feeder 176 to acquire the plant balls 185. The left grabber 188 has already engaged with the plant balls 185 and is discharging them into the funnel 194. From the funnel 194, the plant balls 185 are pushed through the shoe 200 to the planting ground 225. Once one plant ball 185 is discharged, the grabber 188 indexes itself on the moving mechanism 210, activating the trigger 218 of the trigger mechanism 220, which moves another ejector 219 to discharge another plant ball 185 to the ground 225.

[0053] The mechanical transplanter 180 has a control box 174 for controlling and adjusting the various elements that make up the transplanter 180. An electrical / mechanical connector 182 is provided for attaching the mechanical transplanter 180 to a tractor or other device. The connector 182 supplies power and energy to the transplanter 180. Skis 198 are positioned near the bottom of the transplanter 180. The skis 198 travel along the ground 225, forming a flat path on the ground 225. This allows the shoes 200 to guide the plant balls 185 discharged from the discharge grabbers 188, 190.

[0054] The diagram is positioned to more clearly illustrate the function of the device in the process of planting the plant ball 185 into the ground 225.

[0055] As shown in Figure 14, the right grabber 190 engages with the tray 178 of the feeder 176 and engages with the plant ball 185. The left grabber 188 discharges the plant ball 185 into the funnel 194, and the plant ball is discharged to the ground 225 via the shoe 200. In this figure, the left grabber 188 is indexing to the left.

[0056] Figure 15 shows a left side view of the mechanical transplanter 180, with the left and right grabbers 188 and 190 indexed to the same positions as in Figure 14. Figure 15 shows a sensor plate 204 located inside the housing 168 and near the funnel 194. The sensor plate 204 is shaped like a capital E, and is fixed to the bottom of the housing 168 so that the longer side of the E is vertically upward. Two sensor transmitters 205 are positioned on the central support of the E, facing in opposite directions. Corresponding sensor receivers 206 are positioned on the outer support of the E. The transmitters 205 and receivers 206 are used to confirm that a plant ball 185 is present, grasped by the grabbers 188 and 190, during the cycle, and that there is sufficient root growth for planting. This operation will be described later.

[0057] Figure 16 shows a rear view of the mechanical transplanter 180 with grabbers 188 and 190 in the same position as in Figure 14. In this figure, the sensor plate 204, sensor transmitter 205, and sensor receiver 206 are more clearly shown. In this figure, it can be seen that grabber 188 passes between the central support of the sensor plate 204 and the arm housing the left sensor receiver 206. It can also be seen that the trigger 218 is engaged with the lever 216 located near the top of the left grabber 188.

[0058] Figure 17 shows a front view of the mechanical transplanter 180 with grabbers 188 and 190 in the same position as in Figure 14. In this figure, the control box 174 is clearly shown on top of the moving mechanism 210, and plant balls 185 placed in the tray 178 of the feeder 176 are visible.

[0059] Figure 18 shows a bottom view of the mechanical transplanter 180, with the grabbers 188 and 190 in the same positions as in Figure 14. The right grabber 190 can be seen grasping a plant ball 185 from the tray 178 of the feeder 176.

[0060] Figure 19 shows a top view of the mechanical transplanter 180 with grabbers 188 and 190 in the same position as in Figure 14. In this figure, the grab motor 192 that drives the moving mechanism 210 and the grab controller 191 that connects the feed motor 177 of the feeder 176 and the control box 174 are visible. The control box 174 controls the logical control and operation of the mechanical and electrical elements of the device.

[0061] Figure 20 shows an upper front perspective view of a mechanical transplanter 180 with grabbers 188 and 190 in the same position as in Figure 14. The housing 168 has a left frame 172 and a right frame 170.

[0062] Figure 21 shows a lower right perspective view of the mechanical transplanting machine 180. The left grabber 188 and the sensor plate 204 and sensor receiver 206 for the right grabber 190 are visible.

[0063] Figure 22 shows a left-front perspective view of the mechanical transplanting machine 180. The left side of the left grabber 188 is visible.

[0064] Figure 23 shows a right side view of the mechanical transplanter 180. In this figure, the left grabber 188 is discharging plant balls 185 and is nearly empty. The right grabber 190 has been reloaded with plant balls 185 and is aligned between the sensor transmitters 205. The sensor transmitter 205 is located on the central support of the sensor plate 204, and the sensor receiver 206 is located on the support closest to the right frame 170 of the sensor plate 204. When the right grabber 190 is indexed, a signal is transmitted from the sensor transmitter 205 towards the sensor receiver 206 in the direction of the right frame 170. If the signal is interrupted, this indicates that plant balls 185 are loaded. If the signal is not nearly interrupted, this may indicate that there are defective plant balls 185 or that plant balls 185 are not present. The logic in the control box 174 recognizes that when the right grabber 190 is indexed to the discharge position, this position should be skipped, so that good quality plant balls 185 are discharged at the planting position.

[0065] Figure 24 shows a left side view of the mechanical transplanter 180. In this figure, the left grabber 188 is discharging the plant balls 185 into the funnel 194 and then to the ground 225. The right grabber 190 has been reloaded with plant balls 185 and is in a waiting state for discharge.

[0066] Figure 25 shows a right-hand perspective view of the mechanical transplanter 180. In this figure, the left grabber is discharging the plant balls 185 into the funnel 194 and then onto the ground 225. The right grabber 190 has been reloaded with plant balls 185 and is in a waiting state for discharge.

[0067] Figure 26 shows a left perspective view of the mechanical transplanter 180. In this figure, the left grabber 188 is discharging plant balls 185, and the right grabber 190 has already been loaded with plant balls 185 and is ready to begin distributing or discharging them.

[0068] Figure 27 shows a right side view of the mechanical transplanter 180. In this figure, the left grabber 188 has completely discharged the plant ball 185 and is moving towards the rear of the transplanter 180 via the moving mechanism 210. As can be seen from the figure, the left grabber 188 rotates and moves while engaging with the plant ball 185 and removing it from the tray 178 of the feeder 176. The right grabber 190 is indexed upwards to the funnel 194 via the moving mechanism 210 and begins to forcibly discharge the plant ball 185 into the funnel. This plants the plant ball in the ground 225.

[0069] Figure 28 shows a left side view of the mechanical transplanter 180. The left and right grabbers 188 and 190 are positioned in the same locations as in Figure 27. In this figure, it can be seen that the plant ball 185 is ejected into the funnel 194 for planting in the ground 225. The left grabber 188 is also seen to have moved to the position for loading the plant ball 185 and is in the process of cocking or loading the spring 215 of the ejector 219. The ejector 219 is a spring-loaded mechanism and has a lever 216 near the top and a fork or claw 211 near the bottom. A pin 217 engages with the lever 216 and loads the spring 215 of the ejector 219. When the plant ball 185 is ejected, the trigger mechanism 220 moves the trigger 218 and operates the lever 216. This disengages the pin 217 from the lever 216 and returns the spring 215 to its untensioned position. This action causes the plant ball 185 to be ejected from the ejector 219 and fall into the funnel 194. This is clearly illustrated in Figures 34 and 35.

[0070] In this embodiment, a mechanical spring system is used to acquire and discharge the plant ball 185, but it should be understood that several other types of systems, such as an electrical system or a pneumatic system, could also be used.

[0071] Figure 29 shows a rear view of the mechanical transplanter 180. Grabbers 188 and 190 are in the same positions as in Figure 27.

[0072] Figure 30 shows a front view of the mechanical transplanter 180. Grabbers 188 and 190 are in the same positions as in Figure 27.

[0073] Figure 31 shows an upper front perspective view of the mechanical transplanter 180. Grabbers 188 and 190 are in the same positions as in Figure 27.

[0074] Figure 32 shows a lower right perspective view of the mechanical transplanting machine 180.

[0075] Graba 188 and 190 are in the same positions as those in Figure 27.

[0076] Figure 33 shows a left-front perspective view of the mechanical transplanter 180. Grabbers 188 and 190 are in the same positions as in Figure 27.

[0077] Figure 34 shows a first side detail view of the left grabber 188. In this embodiment, the operation of the device is explained using the left grabber 188, but it should be understood that the right grabber 190 is a mirror image of the left grabber 188.

[0078] Figure 34 shows the plant ball 185 fixed to the ejector 219. The ejector 219 is fixed to the left grabber 188. Figure 34 shows that two plant balls 185 have been ejected and a third plant ball 185 is being ejected by the ejector 219.

[0079] Figure 35 shows the opposite side of the left grabber 188 in Figure 34. As can be seen in the figure, as the spring 215 is released from the lever 216 near the top of the left grabber 188, the plant ball 185 is almost ejected from the ejector 219. In this figure, the spring 215 on the right side of the grabber 188 is shown in a relaxed (or slack) state. This indicates that the springs 215 for these ejectors 219 have been released and the plant ball 185 has been completely ejected. In this figure, the third ejector 219 from the right is only partially released, and the plant ball 185 has also only been partially ejected.

[0080] The spring 215 to the left of the partially ejected plant ball 185 is fully extended or loaded, fixed to a pin 217, and held by a lever 216. To move from the loaded spring 215 position to the unloaded spring 215 position, the trigger 218 of the trigger mechanism 220 must engage with the lever 216 and rotate the lever. This disengages the pin 217 from the lever 216. The pin 217 holds one end of the spring 215. When the lever 216 is rotated by the trigger 218, the pin 217 is released, and the spring 215 gains the freedom to be compressed or uncompressed. This ejects the plant ball 185 from the claw 211 of the ejector 219 and is forcefully driven into the ground 225 via the funnel 194 and shoe 200.

[0081] Figure 36 shows one side of the left grabber 188, where the interaction of the pin 217, spring 215, and lever 216 can be seen more clearly. The two springs 215 on the right are fully relaxed, and the third spring 215 from the right is partially relaxed. It should also be noted that the spring 215 to the left of the third spring from the right is fully extended, i.e., under load.

[0082] Figure 37 is a side view showing an example of the left grabber 188 and its interaction with the trigger mechanism 220 and trigger 218. Note that only the leftmost spring 215 is in a partially released position, while the springs 215 to the right of it are fully extended, i.e., under load.

[0083] As can be seen in the diagram, the ejector 219 works as follows: the trigger 218 pushes the lever 216, releasing the pin 217 from the lever 216; the lever 216 rotates, releasing the pin 217, which in turn compresses the spring 215, ejecting the plant ball 185 from the claw 211 of the ejector 219 into the funnel 194. Some elements are not shown in this diagram.

[0084] Figure 38 is an identical side view showing an example of the left grabber 188 with the trigger 218 in the clearance position. The clearance position is used when the grabber 188 is fully loaded and passes through the arm of the sensor plate 204. This allows the sensor transmitter 205 and sensor receiver 206 to "read" whether the plant ball 185 is loaded before being discharged into the funnel 194.

[0085] Figure 39 is a detailed side view of one embodiment of the trigger mechanism 220 in the unloaded position.

[0086] Figure 40 is a detailed side view of one embodiment of the trigger mechanism 220 with the trigger 219 in the released position.

[0087] Figure 41 shows a lateral cross-sectional view of the left grabber 188 and its interaction with the sensor plate 205, sensor transmitter 205, moving mechanism 210, trigger mechanism 220, and trigger 219. In this figure, the grabber 188 has completed the operation of forcibly discharging the plant ball 185 into the funnel 194 and has returned to the loading position adjacent to the feeder 176 (not shown).

[0088] Figure 42A shows a side cross-sectional view of the left grabber 188 as it begins to rotate from its initial vertical position to a horizontal position.

[0089] Figure 42B shows a side cross-sectional view of the left grabber 188 approaching a horizontal position near feeder 176.

[0090] Figure 43 is a side cross-sectional view showing the left grabber 188 engaged with the feeder 176 to grasp the plant ball 185. When the left grabber 188 is pressed against the tray 178, the claws 211 engage with the root balls of the plant ball 185, and at the same time the ejectors 219 are pushed into the grabber 188. This causes the pins 217 of each ejector 219 to move to the levers 216, which rotate the levers 216 to engage the pins 217 with the levers 216. At this point, the springs 215 are extended or in the loaded position. Once this operation is complete, the claws 211 of the ejectors 219 engage with the plant ball 185, the pins 217 engage with the levers 216, and the grabber 188 is ready to rotate and move back towards the funnel 194 to eject the plant ball 185.

[0091] Figure 44 shows the position in which the grabber 188 is fully engaged, which loads the plant ball 185 into the ejector 219 and fully extends the spring 215.

[0092] Figure 45 shows the grabber 188 moving from near the feeder 176. Figure 46 shows the grabber 188 at a location further away from the feeder 176.

[0093] Figure 47A shows the grabber 188 beginning to rotate from a horizontal position to a vertical position.

[0094] Figure 47B shows the grabber 188 approaching the vertical position.

[0095] Figure 48 shows the grabber 188 in a completely vertical position, approaching the sensor plate 204. This allows the sensor transmitter 205 and sensor receiver 206 to detect whether they have engaged the plant ball 185 and report this to the control box 174.

[0096] Figure 49 shows the grabber 188 and plant ball 185 passing between the sensor transmitter 205 and sensor receiver 206 of the sensor plate 204, inspecting the complete engagement of the plant ball 185.

[0097] Figure 50 shows the grabber 188 and plant ball 185 after inspection by the sensor transmitter 205 and sensor receiver 206. At this position, the logic recognizes whether the plant ball 185 is on the claws 211 of the ejector 219 and adjusts the position of the grabber 188 relative to the funnel 194. This ensures that the plant ball 185 is ejected from the ejector 219 at the appropriate time and then forcefully ejected into the funnel 194 and the ground 225.

[0098] Figure 51 shows the grabber 188 and plant ball 185 moving toward the funnel 194, with the trigger 218 approaching the position where it engages with the lever 216 of the ejector 219. When the trigger 218 engages with the lever 216, the lever 216 rotates, and the pin 217 disengages from the lever 216. This releases the spring 215, and the plant ball 185 is ejected from the ejector 219 into the funnel 194 and the ground 225.

[0099] Figure 52 shows that the grabber 188 has already discharged two plant balls 185 and is continuing its indexing operation via the transfer mechanism 210 to forcibly discharge more plant balls 185 into the funnel 194.

[0100] Figure 53 shows the Grabber 188 in a completely empty, unloaded state, and the plant ball 185 ready for reloading.

[0101] Figure 54A shows a right-hand perspective view of another embodiment of the plant distribution unit 237. Those skilled in the art will understand that, while the term “unit” is used herein to refer to a unit in which various unit components and elements function in coordination as a whole, this planting “unit” can also be considered a planting system, i.e., one composed of multiple coordinated elements, modules, and / or devices.

[0102] The distribution unit 237 includes a distribution unit frame 542 to which other distribution unit elements are connected. In some embodiments, the distribution unit frame 542 is connected to a flat feeder 251 (see Figures 61A to 61D). This distribution unit 237 has a pair of drive rails 241 on both sides of the unit 237. Two ejector drive systems 239 are located on top of the unit 237. The ejector drive systems 239 are interconnected with ejector assemblies 243, with one ejector drive system 239 driving one ejector assembly 243. The ejector assembly 243 moves along the drive rails 241 from a first position to a second position. The ejector assembly 243 has multiple parts and is used to grasp plants (seedlings) from the tray as described above, rotate and move them to the appropriate position, and eject or eject them for planting. Also shown is a release bar trigger 240 that indicates when the ejector assembly 243 ejects the plant ball 185. The release bar trigger 240 includes a fixed / stationary trigger tab 540 which works in conjunction with the release tab 249 of each ejector to release a spring 246 and eject the plant ball 185.

[0103] This embodiment also shows a camera 277 equipped with a sensor 278. The camera 277 and sensor 278 can be used in combination with an IR light source (not shown). The IR light source informs the camera 277 and sensor 278 of the presence of a plant ball 185 on the claws 108 of the fork 92. When sensor 278 indicates a plant ball 185, ejector 267 forcibly ejects the plant ball 185 into the funnel 264 of the funnel assembly 268 of the planting shoe mechanism 263, and finally ejects it into the soil or ground. If the IR light source and sensor 278 do not detect the presence of a plant ball 185, the unit rapidly indexes until sensor 278 receives a positive IR signal indicating the presence of a plant ball 185. By confirming the presence of a plant ball 185, unit 237 can rapidly index to the position of the next plant ball, so that the next plant ball 185 can be ejected quickly enough to save time so that the next plant ball 185 can be planted at the next regularly scheduled time. In other words, instead of ejecting without a plant ball 185 using the normal timing and shoe drive system 265, the ejector 267 activates the kicker assembly 652 at a set time, but if there is no plant ball 185 to plant, the ejector drive system 239 rapidly indexes the ejector assembly 243, quickly passing through the empty ejector position(s) and moving to the position of the next ejector 267 holding the plant ball 185. This ensures that the next ejector 267 holding the plant ball 185 reaches its ejection position at the next set time. Thus, the shoe drive system 265 still activates the kicker assembly 652 and plants the plant ball 185 at the set time. The ejector assembly 243, sensor system, ejector drive system 239, and control system 6805 are configured to pass through up to four empty ejectors 267 so that the next ejector 267 holding the plant ball 185 is positioned at the next normal set time.Therefore, the ability to detect missing plant balls 185, transmit that information to the control system 6805, change the speed of the ejector assembly 243, and move the ejector assembly 243 at a very high speed is advantageous in increasing the number of plant balls 185 that can be ejected within a given time and significantly improving efficiency.

[0104] This embodiment simplifies the number of parts and improves accuracy and speed when plants are grasped from the tray and forcibly discharged into the funnel 264 of the shoe 200, and ultimately into the ground / soil (not shown).

[0105] Figures 54B and 54C show additional diagrams of the embodiment shown in Figure 54A.

[0106] Figure 55A shows another right-hand perspective view of the distribution unit 237. The ejector assembly 243 can be seen in two positions, one of which is shown in Figure 55B and the other in Figure 55C.

[0107] This embodiment also shows a camera 277 equipped with a sensor 278. The camera 277 and sensor 278 can be used in combination with an IR light source (not shown). The IR light source informs the camera 277 and sensor 278 of the presence of a plant ball 185 on the claws 108 of the fork 92. If the sensor 278 detects a plant ball 185, the ejector 267 forcibly ejects the plant ball 185 into the funnel 264 of the funnel assembly 268 of the planting shoe mechanism 263, and finally ejects it into the soil or ground. If the IR light source and sensor 278 do not detect the presence of a plant ball 185, the unit rapidly indexes until the sensor 278 receives a positive IR signal indicating the presence of a plant ball 185. By confirming the presence of a plant ball 185, the unit can save time by avoiding ejection in locations where no plant balls 185 are present. By indexing to the next plant ball location and ejecting the plant ball 185 more quickly, the number of plant balls 185 that can be ejected in a given time is increased, significantly improving efficiency.

[0108] The embodiments shown in these figures have the advantage of using only one ejector drive system 239 for each ejector assembly 243. Each ejector drive system 239 can precisely and quickly control the movement of a single ejector assembly 243. This embodiment makes it possible to index the plant balls 185 to a position near the funnel 264. Once the plant balls 185 are indexed to a predetermined position, they are forcibly ejected into the funnel 264 and, consequently, to the ground (not shown).

[0109] Figure 56A shows an upper perspective view of the ejector drive system 239 and the connection between the ejector drive system 239 and related components in another embodiment. Figures 56A to 56D show various diagrams of the ejector drive system 239 and its components, as well as their interconnected configurations. In some embodiments, the ejector drive system 239 includes an electric motor and a drive unit. In some embodiments, the electric motor is a servo motor. In some embodiments, the ejector drive system 239 includes an integrated encoder.

[0110] Figure 57A shows a perspective view of the drive rail 241 to which the ejector assembly 243 is attached. To obtain the plant balls 185 for discharge, the claws 108 of the forks 92 of the ejector assembly 243 are inserted into the plant balls 185 in the tray 43 of the flat feeder 251. Once a complete row of plant balls 185 has been obtained, it is moved horizontally from the flat feeder 251 to the discharge point near the funnel 264, where it is ejected by force into the planting shoe mechanism 263 and ultimately into the ground. Each plant ball 185 is ejected by force at the exact same position within the funnel 264.

[0111] An infrared laser (IR) and sensor 278 are used to verify that the plant ball 185 is contained in the claw 108 of the fork 92 of the ejector assembly 243. If the plant ball 185 is not contained in claw 108, no indexing operation to that position occurs, and the system skips to the next position in which the plant ball 185 is contained in claw 108.

[0112] Figures 58A and 58B show two diagrams of the ejector housing assembly 244 and related components. The ejector assembly 243 introduces the plants into the ground as quickly and accurately as possible by forcibly ejecting them into the funnel 264. The tines 108 of the fork 92 hold the plant ball 185 from the tray and are loaded by a spring 246.

[0113] Figures 59A and 59B show two diagrams of the ejector assembly 243 and related components fixed to the arm 248. The arm 248 interconnects with components connected to the ejector drive system 239 and drive rail 241. These exploded views also show other components of the ejector housing assembly 244 and their interconnections.

[0114] Figures 60A and 60B show different views of an arm 248 connected to a single plant ejector 267, showing some of the components that make up the single ejector 267, including a fork 92 with claws 108, a plunger housing 245, a spring 246, and a shaft 247. Also shown are the release tab 249 and the claws 108 of the fork 92.

[0115] The ejector release mechanism for each plant ejector 267 is shown in Figures 59A, 59B, 60A, and 60B. The plant ejector has a shaft 247 covered with a spring 246. The upper ends of the shaft 247 and the spring 246 are fixed by an ejector housing assembly 244. The lower end of each shaft 247 is connected to a beam 304. A release tab 249 is rotatably connected to the shaft 247 at its upper end.

[0116] The plunger housing 245 includes a bracket 300 extending outward from the front of the ejector 267. The plunger housing 245 is connected to the shaft 247 so as to be movable along its longitudinal axis. The bracket 300 includes a bracket projection 312 configured to hold the lower end of the spring 246. The bracket 300 also includes a lower surface 302. The bracket 300 and the spring 246 are thus integrated to push the plunger housing 245 downward until the downward movement of the lower end of the spring 246 reaches full extension of the spring 246 or the downward movement of the plunger housing 245 stops (which also stops further extension of the spring 246). In some embodiments, the downward movement of the plunger housing 245 is stopped by the lower surface 302 contacting the upper surface of the beam 304.

[0117] The release assembly 306 shown in Figures 60A and 60B includes a body 308, a release tab 249, and a projection 310. The upper end of the body 308 is rotatably connected to the upper end of the shaft 247. The projection 310 is located near the lower end of the body 308, and the lower surface 302 of the plunger housing 245 is configured to seat on and be supported by the projection 310. This holds the plunger housing 245 in the upper position and the spring 246 in the compressed position.

[0118] The release tab 249 is configured to interact with the trigger tab 540 of the release bar trigger 240 (see Figures 54A to 54B). This causes the indexing motion of the ejector assembly 243 to cause the release tab 249 of the next ejector 267 to contact the stationary trigger tab 540 (relative to the plant distribution unit 237). The indexing motion of the ejector assembly 243 to the next ejector, due to the angle of the trigger tab 540, causes the release bar assembly to gradually rotate outward and away from the shaft 247. This outward rotation moves the projection 310 outward enough to disengage from its support from the bracket housing 245 and releases the compressed spring 246. The release of the compressed spring 246 pushes the bracket housing 245 downward at high speed along the shaft 247. This causes the feet 314 of the plunger housing 245 to forcefully and rapidly push the plant ball 185 away from the claw 108, and the plant ball 185 is ejected by force from the claw 108.

[0119] Since the funnel 264 and the release bar trigger 240 / trigger tab 540 are fixed in place to the plant distribution unit 237, when the spring 246 is released using the stationary trigger tab 540, each plant ball 185 is ejected into the funnel 264 at the same position. This improves planting accuracy because each plant ball 185 loaded into the ejector assembly 243 enters the funnel 264 at nearly the same position, along nearly the same trajectory, and with nearly the same force.

[0120] Those skilled in the art will understand that, in place of the compression spring 246 shown in Figures 60A to 60B, other biasing means for providing discharge force can be used.

[0121] Figure 61A is a perspective view showing one embodiment of the flat feeder 251. Figures 61B to 61E show the flat feeder 251 from various angles with other components, such as the distribution unit 237, fixed in place. In the figures, along with the flat feeder 251, one tray 43 is shown in which an ejector assembly 243 is positioned to grasp plant balls 185 from the cells of the tray 43. The flat feeder 251 has a cover 255 in which a viewing slot 253 is provided in the vertical component. The vertical component is also provided with a brake slot 254. The brake slot 254 houses a brake wheel 252 for controlling the descent speed of a newly loaded tray 43 filled with plant balls 185 (not shown).

[0122] Figure 61D shows the ejector assembly 243 positioned to grip the plant balls 185 from the tray cells of the tray loaded into the flat feeder 251. The ejector assembly 243 is indexed towards the entire row of plant balls in the tray 43 within the flat feeder 251, where the claws 108 of the fork 92 (not shown) grip the plant balls 185.

[0123] Figure 61C shows the ejector assembly 243 in the process of discharging the plant ball 185 into the funnel 264 in this embodiment.

[0124] Figures 61A to 61E show various diagrams of the combined unit of the distribution unit 237 and the flat feeder 251.

[0125] Figures 62A to 62E show various elements and diagrams of the flat feeder 251 to which the tray supply system 257 and brake system 620 are fixed.

[0126] The brake system 620 includes brake wheels 252 and a passive brake mechanism 622. A portion of each brake wheel 252 passes through one brake slot 254. This causes the brake wheels 252 to engage with the new tray 43 as it drops over the top of the cover 255. The engagement of the tray with the brake wheels 252 activates the passive brake mechanism 622, delaying the uncontrolled fall of the new tray 43.

[0127] Brake control allows multiple trays 43 to be loaded sequentially into the flat feeder 251. This allows trays to be distributed without damaging the trays below by new trays falling from the top of the flat feeder 251 (where height is necessary to load multiple trays simultaneously). In some embodiments, two, three, four, or five trays 43 can be loaded into the flat feeder 251, so that all trays 43 are placed in the flat feeder at the same time.

[0128] Figures 63A to 63F show various diagrams of the tray supply system 257 and its attached components.

[0129] Figures 64A to 64D show the internal components of the tray feeding system 257 and their interconnections.

[0130] The tray feeding system 257 includes a feed system cover 600 that houses the drive components of the tray feeding system 257. The drive components include a tray feeding drive system 258, a drive shaft 259, and an indexing gear / wheel 260. As shown in Figures 63A, 63B, and 64D, the tray feeding drive system 258 is coupled to the drive shaft 259, which rotates it operationally. The indexing gear 260 is mounted on the drive shaft 259. The tray feeding system 257 interacts with the rear surface 43 of the tray by components that protrude through the corresponding tray feeding slot 624 of the flat feeder cover 255, controlling the indexing motion of the tray. When the wheel is indexed, these components index the tray downwards.

[0131] In some embodiments, the tray supply drive system 258 includes an electric motor and a drive device. In some embodiments, the electric motor is a servo motor. In some embodiments, the tray supply drive system 258 includes an integrated encoder.

[0132] Figure 65A shows a partial cross-sectional view of another embodiment of the planting shoe mechanism 263. Figures 65B to 65D show various views of the shoe mechanism 263 combined with the funnel assembly 268. The shoe mechanism 263 is used for preparing the soil and for receiving the plant balls 185 that are ejected by force. This embodiment uses a single shoe drive system 265. This single shoe drive system 265 electrically interconnects the various elements of the planting shoe mechanism 263 that prepare the soil for the plant balls 185. The presence of this shoe drive system 265 connected to the shoe mechanism 263 allows for more precise and faster control of the mechanical parts. The shoe drive system 265 is electronically interconnected to one or more controllers that interconnect to other controllers that control other elements of the distribution unit 237, thereby enabling the rapid and precise ejection and planting of the plant balls 185.

[0133] In some embodiments, the shoe drive system 265 includes an electric motor and a drive unit. In some embodiments, the electric motor is a servo motor. In some embodiments, the shoe drive system 265 includes an integrated encoder.

[0134] As previously described, the shoe mechanism includes skis 198 and shoe 200. Skis 198, shoe 200, and funnel 264 are mounted on shoe frame 650. Shoe frame 650 is positioned relative to ejector assembly 243 so that ejected plant balls are directly received by funnel 264. In some embodiments, shoe frame 650 is directly connected to distribution unit frame 542. In other embodiments, shoe frame 650 is connected to distribution unit frame 542 via at least one intermediate frame / element. As previously disclosed herein, skis 198 slide across the soil surface, smoothing it for planting preparation. Shoe 200 includes a front section that digs a narrow groove in the soil and a rear section with two vertically inclined plates. The gap between these two plates allows the front section of shoe 200 to pass through the groove dug by the front section and simultaneously receive the plant balls 185 supplied from funnel 264.

[0135] The kicker assembly 652 shown in Figure 65A has an arm 654 and a hammer 656. The kicker assembly 652 is actuated by a shoe drive system 265. The kicker assembly 652 is movably connected to the shoe frame 650 and is operationally controlled by the shoe drive system 265, moving in the longitudinal direction (relative to the direction of travel of the tractor, i.e., the direction of travel of the tractor is forward). During operation, the plant ball 185 is forcibly ejected from one ejector 267, moves downward through a funnel 264, and is guided by the rear of the shoe 200 into a groove below. The shoe drive system 265 moves the hammer 656 from a forward position to a rear position. This causes the hammer 656 to contact the plant ball 185 and push the plant ball 185 backward. Thus, as the distribution unit moves forward, the plant ball 185 is ejected from the rear end of the shoe 200 and fed into the groove. Subsequently, the shoe drive system 265 quickly moves the kicker assembly 652, and the hammer 656 is moved to a forward position. This ensures that the hammer 656 is positioned to plant the next plant ball 185 before the next plant ball 185 is ejected.

[0136] Figure 66A shows a perspective view of the funnel assembly 268. The funnel assembly 268 includes a funnel 264 and also includes a structure for assembly to other parts. The funnel 264 has an input section 270 for receiving discharged plant balls 185 (not shown) and an output section 271 for guiding the discharged plant balls 185 to the ground. Figures 66B and 66C show diagrams representing the height of the funnel assembly 268.

[0137] As shown in Figure 66A, the funnel 264 has an elongated (elliptical) upper perimeter 660 and a circular lower perimeter 662. The elliptical shape of the upper perimeter 660 is positioned so that the major axis of the ellipse is approximately perpendicular to the direction of movement of the plant distribution unit 237. This allows the plant balls 185 discharged from both sides of the plant distribution unit 237 to enter the input section 270. The lower perimeter 662 of the funnel is connected to a tube 664 that is oriented vertically. The guide tab 667 is connected to the front surface 668 of the tube 664 (the side facing the direction of travel) and extends downward from there. As shown in Figure 65B, the tube 664 is connected to a support section 669 for attachment to the shoe frame 650. As shown in Figure 66B, the guide tab 667 is inclined from the vertical toward the support section 669.

[0138] During operation, the plant ball 185 is forcibly ejected from the ejector to the top of the funnel, causing it to enter the funnel, then the tube, and exit from the bottom of the tube. The guide tab guides the plant ball downwards, so that as the plant ball enters the soil below, it is positioned appropriately relative to the hammer of the shoe mechanism, allowing the hammer to push the plant ball into the groove.

[0139] Because an electronic control unit and motor are used, and many elements comprising the distribution unit 237, flat feeder 251, and shoe mechanism 263 are electronically interconnected, these elements can be electronically optimized compared to other embodiments of similar mechanical devices for planting balls in the ground. Electronic control and interconnectivity are used in many of the disclosed elements, thereby improving the planting function and speed.

[0140] Due to the accuracy and speed disclosed in these embodiments, the funnel 264 is optimized in position and design to help the plant balls 185 be forcefully discharged into the ground. The disclosed elements increase the speed and accuracy of the discharge of the plant balls 185 into the ground, thereby allowing for a reduction in the size of the funnel 264 and, as accuracy improves, reducing the travel time of the plant balls 185. In other words, because other elements of this device are optimized by the controller, interconnectivity, and electronics, and their operation is coordinated, it became possible to optimize the funnel 264, thereby improving the accuracy and speed of planting the plant balls 185. Not only is the discharge time reduced, but accuracy is also improved.

[0141] The improvements in speed, accuracy, and automation in this improved embodiment enhance planting efficiency and contribute to the realization of a more efficient and cost-effective mechanical transplanter.

[0142] Figure 67 is a flowchart showing one example of a method for distributing plants.

[0143] In step 6710, (a) move a pair of ejectors of the plant distribution unit to a plant ball engagement position. Here, each ejector has a fork configured to engage plant balls in a row of plant balls in a tray having multiple rows, and is further configured to hold the engaged plant balls on the fork. Each ejector has an ejector release mechanism with a biasing means configured to eject the engaged plant balls by force, and each ejector further has a release assembly configured to lock, load, and release the ejector release mechanism.

[0144] In step 6720, (b) move a pair of ejectors to engage each plant ball in the row of plant balls on the forks of the corresponding ejectors. This engages each plant ball on the ejectors, thereby loading and locking the ejector release mechanism.

[0145] In step 6730, (c) move a pair of ejectors to the plant ball discharge position. This positions the first ejector near the funnel of the plant distribution unit.

[0146] In step 6740, (d) in response to the movement of a pair of ejectors, the release assembly releases the ejector release mechanism. This causes the biasing force of the ejector release mechanism to forcibly eject the plant ball into the funnel. The ejected plant ball is sent through the funnel to the shoe of the plant distribution unit, where it is placed in the shoe for planting in the soil.

[0147] In step 6750, (e) an ejector pair is indexed to a second ejector that has not yet been placed, and the second ejector that has not yet been placed is placed near the funnel. This causes the release assembly to release the ejector release mechanism of the second ejector. This causes the biasing force of the ejector release mechanism of the second ejector to act, and the plant ball is ejected into the funnel by force. The ejected plant ball is then sent through the funnel to the planting position of the shoe and finally to the ground.

[0148] In step 6760, (f) repeat step (e) until all plant balls have been ejected.

[0149] Referring next to Figure 68, a schematic diagram of the control system 6800 of the plant distribution unit is shown.

[0150] The control system 6805 includes at least one processor, non-volatile memory, and code. The control system 6805 is connected to the user interface 6835.

[0151] The control system 6800 coordinates the shoe drive system 6810, the tray supply drive system 6815, the first ejector drive system 6820, and the second ejector drive system 6825. The control system 6800 adjusts the timing and other aspects of the drive systems 6810, 6815, 6820, and 6825 to synchronize the different planting unit mechanisms for distributing and planting plant balls. The control system 6800 also coordinates the first ejector drive system 6820 and the second ejector drive system 6825 so that they alternately eject the plant balls 185 into the funnel 264, preventing the plant balls 185 from being ejected into the funnel simultaneously.

[0152] The optional sensor 6830 is connected to the control system to transmit information as described above about whether the plant ball 185 is engaged with the ejector fork 92.

[0153] These electronic controls and motors are used in many elements that make up the distribution unit 237, the flat feeder 251, and the shoe mechanism 263, and are electronically interconnected, so that these elements are electronically optimized compared to other embodiments of similar mechanical devices for planting balls in the ground. Electronic control and interconnectivity are used in many of the disclosed elements, thereby improving the planting function and speed.

[0154] Further aspects of this disclosure are provided by the following topics:

[0155] Item 1. A plant distribution unit for planting plants, comprising: a frame including a release bar; an ejector assembly connected to the frame, the ejector assembly comprising: an ejector assembly housing; a pair of ejectors mounted in a row in the ejector assembly housing, each ejector having a fork configured to engage with plant balls in rows of plant balls in a tray having multiple rows, and to hold the engaged plant balls on the fork; each ejector having an ejector release mechanism with a biasing means configured to eject the engaged plant balls by force; and a release assembly configured to load, lock, and release the ejector release mechanism; and moving the pair of ejectors horizontally and vertically between a plant ball engagement position and a plant ball discharge position. An ejector assembly having an ejector drive system configured to move and index a set of ejectors to eject each engaged plant ball into a funnel; a funnel assembly spaced apart from the frame, including a funnel configured to receive ejected plant balls and guide them to a shoe; a shoe assembly spaced apart from the frame, the shoe assembly having: a shoe configured to receive plant balls ejected from the funnel and place the plant balls in a position for planting; a shoe mechanism configured to plant the placed plant balls in the soil; and a shoe drive system configured to operationally control the shoe mechanism for planting the plant balls in the soil;A control system connected to an ejector drive system and a shoe drive system, for operationally adjusting the operation of a plant distribution unit, the plant distribution unit is configured to perform the following operations: (a) move a pair of ejectors to a plant ball engagement position; (b) move a pair of ejectors to engage each plant ball in a row of plant balls onto the forks of the corresponding ejectors, thereby loading and locking the ejector release mechanism with the engagement of each plant ball to the corresponding ejector; (c) move a pair of ejectors to a plant ball discharge position, thereby placing the first ejector near the funnel; and (d) in response to the movement of a pair of ejectors, the release assembly releases the ejector release mechanism. (e) For a second ejector that has not yet been placed, a pair of ejectors are indexed to place the second ejector near the funnel, thereby releasing the ejector release mechanism of the second ejector, thereby releasing the ejector release mechanism of the second ejector, thereby releasing the ejector release mechanism of the second ejector, thereby releasing the ejector release mechanism of the second ejector, thereby releasing the plant ball into the funnel, thereby sending the plant ball through the funnel to the planting position of the shoe, and finally into the soil, (f) step (e) is repeated until all plant balls have been ejected.

[0156] Item 2. The plant distribution unit of Item 1, wherein the shoe mechanism further has a kicker arm having a hammer at one end which is movably connected to a frame and at the free end which the hammer is configured to move between a forward position and a rearward position, and when a plant ball is placed in the shoe for planting, the hammer moves backward to make contact with the plant ball, thereby planting the plant ball in the soil.

[0157] Item 3. The shoe drive system is configured to operate the kicker arm, thereby moving the plant distribution unit of Item 2 forward at a speed faster than the speed at which the hammer moves backward.

[0158] Item 4. The plant distribution unit further comprises a sensor connected to a frame and configured to confirm that an ejector has engaged with a plant ball (seedling), wherein the plant distribution unit is further configured as follows: each ejector is placed near the funnel but before ejection, the sensor is used to determine whether the placed ejector has engaged with a plant ball; and in steps (d) and (e), the ejector mechanism is released only if it is determined that the placed ejector has engaged with a plant ball, the plant distribution unit of item 1.

[0159] Item 5. The plant distribution unit of Item 4, wherein the sensor is an infrared sensor and the plant distribution unit further comprises an infrared laser.

[0160] Item 6. The plant distribution unit of Item 1, wherein the funnel further has an elliptical upper periphery and a circular lower periphery, and the funnel further has a tube connected to the lower periphery.

[0161] Item 7. The plant distribution unit of Item 6, further comprising a funnel having a guide tab extending downward from the front of the lower end of the tube.

[0162] Item 8. A plant distribution unit of Item 1, further comprising a flat feeder connected to a frame and configured to index the tray of plant balls to engage each row of plant balls in the tray.

[0163] Item 9. The plant distribution unit of Item 8, the flat feeder having a tray feeding system, the tray feeding system having a drive component configured to index the tray of plant balls, and a tray feeding drive system configured to operate the drive component, the tray feeding drive system being connected to a control system.

[0164] Item 10. The plant distribution unit of Item 8, further comprising a flat feeder with a braking system configured to slow the descent speed of the tray loaded into the flat feeder.

[0165] Item 11. Plant distribution unit of Item 1, wherein the ejector drive system and the shoe drive system each have an electric motor and a drive device.

[0166] Item 12. When the ejector is placed near the funnel, the release bar engages with the release assembly, thereby releasing the locked release assembly and releasing the biasing means of the ejector mechanism, in the plant distribution unit of Item 1.

[0167] Item 13. (a) Moving a pair of ejectors of the plant distribution unit to a plant ball engagement position, where each ejector has a fork configured to engage a plant ball in a row of plant balls in a tray having multiple rows, and the fork is further configured to hold the engaged plant ball on the fork, where each ejector has an ejector release mechanism with a biasing means configured to eject the engaged plant ball by force, and each ejector further includes a release assembly configured to lock, load, and release the ejector release mechanism; (b) Moving a pair of ejectors to engage each plant ball in a row of plant balls on the fork of the corresponding ejector, thereby loading and locking the ejector release mechanism upon engagement of each plant ball to the ejector; (c) Moving a pair of ejectors to a plant ball discharge position, thereby placing the first ejector near the funnel of the plant distribution unit. (d) In response to the movement of one set of ejectors, the release assembly releases the ejector release mechanism, thereby allowing the biasing force of the ejector release mechanism to act, forcing the plant balls into the funnel, which are then sent through the funnel to the shoe of the plant distribution unit, where they are placed in the shoe and planted in the soil; (e) For a second ejector that has not yet been placed, the set of ejectors is indexed to place the second ejector that has not yet been placed near the funnel, thereby causing the release assembly to release the ejector release mechanism of the second ejector, thereby allowing the biasing force of the ejector release mechanism of the second ejector to act, forcing the plant balls into the funnel, which are then sent through the funnel to the planting position on the shoe, and finally into the soil; (f) Step (e) is repeated until all plant balls have been ejected.

[0168] Item 14. The plant distribution method of Item 13, further comprising the step of activating a kicker arm of a plant distribution unit to push each plant ball placed in the shoe backward, thereby planting the plant ball in the soil.

[0169] Item 15. The method for distributing plants according to Item 14, further comprising the steps of: operating the kicker arm to push the plant ball backward, and then moving the kicker arm forward to reset the position of the kicker arm.

[0170] Item 16. A method for distributing plants according to Item 13, further comprising the steps of: determining whether a placed ejector has engaged with a plant ball using a sensor of the plant distribution unit when each ejector has been placed near a funnel before discharge; and releasing the ejector mechanism only if it has been determined in steps (d) and (e) that a placed ejector has engaged with a plant ball.

[0171] Item 17. The method for distributing plants according to Item 16, wherein the sensor is an infrared sensor and the plant distribution unit further includes an infrared laser.

[0172] Item 18. A method for distributing plants according to Item 13, further comprising the step of activating the tray feeding system of a plant distribution unit to index and operate the next row for engagement when all plant balls in a row are engaged by an ejector.

[0173] Item 19. The release assembly releases the ejector release mechanism, further comprising the plant distribution unit of Item 1, wherein when the ejector is placed near the funnel, the locked release assembly is released by a release bar that engages with the release assembly, thereby releasing the biasing means of the ejector mechanism.

[0174] While the inventions disclosed herein have been described by specific embodiments, examples, and applications, those skilled in the art can make numerous modifications and variations without departing from the scope of the claimed inventions.

Claims

1. A plant distribution unit for planting plants, Frame including the release bar; An ejector assembly connected to a frame, wherein the ejector assembly comprises: Ejector assembly housing; A set of ejectors mounted in a row in an ejector assembly housing, each ejector having a fork configured to engage with plant balls in rows of plant balls in a tray having multiple rows, and to hold the engaged plant balls on the fork, each ejector having an ejector release mechanism with a biasing means configured to eject the engaged plant balls by force, and a release assembly configured to load, lock, and release the ejector release mechanism; and, The ejector assembly comprises an ejector drive system configured to move the set of ejectors horizontally and vertically between a plant ball engagement position and a plant ball discharge position, and to index the set of ejectors to discharge each engaged plant ball into a funnel; A funnel assembly positioned at a distance from the frame, including a funnel configured to receive discharged plant balls and guide them to a shoe, A shoe assembly positioned at a distance from the frame, wherein the shoe assembly comprises: A shoe configured to receive the plant ball discharged from the funnel and to place the plant ball in a position for planting; A shoe mechanism configured to plant the aforementioned plant ball in the soil; A shoe assembly having a shoe drive system configured to operationally control the shoe mechanism for planting the plant ball in the soil; and The system comprises a control system connected to the ejector drive system and the shoe drive system, which is for operationally adjusting the operation of the plant distribution unit, The aforementioned plant distribution unit is (a) Move the set of ejectors to the plant ball engagement position, (b) Move the set of ejectors to engage each plant ball in the plant ball row onto the fork of the corresponding ejector, thereby loading and locking the ejector release mechanism with the engagement of each plant ball to the corresponding ejector. (c) Move the set of ejectors to the plant ball discharge position, thereby positioning the first ejector near the funnel. (d) In response to the movement of the set of ejectors, the release assembly releases the ejector release mechanism, thereby allowing the biasing force of the ejector release mechanism to act, and the plant ball is forcibly ejected into the funnel, and the ejected plant ball is sent through the funnel to the planting position for planting on the shoe, and finally into the soil, (e) With respect to the second ejector that has not yet been placed, the pair of ejectors is indexed to place the second ejector that has not yet been placed near the funnel, thereby the release assembly releases the ejector release mechanism of the second ejector, thereby the biasing force of the ejector release mechanism of the second ejector acts on the plant ball, and the plant ball is ejected into the funnel by force, thereby the ejected plant ball is sent through the funnel to the planting position of the shoe and finally to the soil. (f) Repeat step (e) until all plant balls are ejected. A plant distribution unit configured to perform an operation.

2. The shoe mechanism further includes a kicker arm having one end movably connected to the frame and a hammer at its free end, The hammer is configured to be movable between a forward position and a rearward position. When the plant ball is placed inside the shoe for planting, the hammer moves backward and makes contact with the plant ball. The plant distribution unit according to claim 1, wherein the plant ball is planted in the soil.

3. The plant dispensing unit according to claim 2, wherein the shoe drive system is configured to operate the kicker arm so that the hammer moves forward at a speed faster than the speed at which the hammer moves backward.

4. The frame further comprises a sensor connected to the frame and configured to confirm that the ejector has engaged with the plant ball, Each ejector is located near the funnel, but before discharge, the sensor is used to determine whether the placed ejector has engaged with the plant ball, and The plant distribution unit according to claim 1, wherein the ejector release mechanism is released only if it is determined that the placed ejector has engaged with the plant ball during the period of steps (d) and (e).

5. The plant distribution unit according to claim 4, wherein the sensor is an infrared sensor and further comprises an infrared laser.

6. The plant distribution unit according to claim 1, wherein the funnel further has an elliptical upper periphery and a circular lower periphery, and the funnel further has a tube connected to the lower periphery.

7. The plant distribution unit according to claim 6, wherein the funnel further has a guide tab extending downward from the front side of the lower end of the tube.

8. The plant distribution unit according to claim 1, further comprising a flat feeder connected to the frame and configured to index the tray of plant balls in order to engage each row of plant balls in the tray.

9. The flat feeder has a tray supply system, The tray supply system is A drive component configured to index the tray of plant balls, and A tray supply drive system configured to operate the aforementioned drive components, and a tray supply drive system connected to a control system, A plant distribution unit according to claim 8, having the following features.

10. The plant distribution unit according to claim 8, further comprising a brake system configured to slow the downward movement speed of a tray loaded into the flat feeder.

11. The plant distribution unit according to claim 1, wherein the ejector drive system and the shoe drive system each have an electric motor and a drive device.

12. The plant dispensing unit according to claim 1, wherein the release assembly is released when the ejector is positioned near the funnel by the release bar engaging with the ejector release assembly, thereby releasing the biasing means of the ejector release mechanism.

13. (a) A step of moving a set of ejectors of a plant distribution unit to a plant ball engagement position, wherein each ejector has a fork configured to engage plant balls in a row of plant balls in a tray having a plurality of rows, the fork is further configured to hold the engaged plant balls on the fork, each ejector has an ejector release mechanism with a biasing means configured to eject the engaged plant balls by force, and each ejector further has a release assembly configured to lock, load, and release the ejector release mechanism, (b) Moving the set of ejectors to engage with each plant ball in the row of plant balls on the forks of the corresponding ejectors, so that the engagement of each plant ball on the ejector loads and locks the ejector release mechanism, (c) Moving the set of ejectors to the plant ball discharge position, thereby positioning the first ejector near the funnel of the plant distribution unit, (d) In response to moving the set of ejectors, the release assembly releases the ejector release mechanism, thereby the biasing force of the ejector release mechanism forcibly ejects the plant ball into the funnel, thereby sending the ejected plant ball through the funnel to the shoe of the plant distribution unit, and the plant ball is placed on the shoe for planting in the soil, (e) With respect to the second ejector that has not yet been placed, the pair of ejectors are indexed to place the second ejector that has not yet been placed near the funnel, the release assembly is released from the ejector release mechanism of the second ejector, thereby the biasing force of the ejector release mechanism of the second ejector forcibly ejects the plant ball into the funnel, the ejected plant ball is sent through the funnel to the planting position of the shoe and finally reaches the soil, (f) Repeat step (e) until all plant balls are ejected, A method for distributing plants, having [a certain characteristic].

14. The method for distributing plants according to claim 13, further comprising the step of operating the kicker arm of the plant distribution unit to push each plant ball placed in the shoe backward, thereby planting the plant ball in the soil.

15. A method for distributing plants according to claim 14, further comprising the step of moving the kicker arm forward to reset the position of the kicker arm after operating the kicker arm to push the plant ball backward.

16. The steps include: determining whether the placed ejector engaged with the plant ball using the sensor of the plant distribution unit when each ejector is placed near the funnel before discharge; A method for distributing plants according to claim 13, further comprising the step of releasing the ejector release mechanism only if it is determined in step (d) and step (e) that the placed ejector has engaged with the plant ball.

17. The method for distributing plants according to claim 16, wherein the sensor is an infrared sensor, and the plant distribution unit further comprises an infrared laser.

18. The plant dispensing method according to claim 13, further comprising the step of operating the tray supply system of the plant dispensing unit to index the next row for engagement when all plant balls in a row are engaged with the ejector.

19. The release assembly releases the ejector release mechanism. The plant distribution unit according to claim 1, further comprising: the locked release assembly being released by a release bar that engages with the release assembly when the ejector is in the vicinity of the funnel, thereby releasing the biasing means of the ejector release mechanism.

Images