• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
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  • 优先权
    • 专利摘要:
    Plant handling device, comprising at least one plant storage, a feeding device which for simultaneous handling of several plants is provided with two or more grippers next to each other, each gripper being arranged to both close and open, and transfer devices with which the feeding device is connected and which are arranged to transfer the feeding device to the plant store and to position the feeding device at the plants, and to transfer the feeding device to a position where the plants are handed over either one at a time or simultaneously. At least one of the said plant stores is a movable plant store that is arranged to move in the vertical direction. According to one example, the device is placed in a planting machine with planting devices, which move a plant to a planting point and place it there. According to one example, the planting machine is connected to a controllable crane in a working machine which is a mobile vehicle in a terrain. (Fig. S)
    公开号:SE1450423A1
    申请号:SE1450423
    申请日:2014-04-07
    公开日:2014-10-09
    发明作者:Jussi Aikala
    申请人:Upm Kymmene Corp；
    IPC主号:
    专利说明:

    The capacity of the above-mentioned planting machines is limited. The planting work must be interrupted when the tree seedlings run out in the planting machine, and it must be loaded manually with new tree plants in order to be able to resume the planting work. The charge with tree plants can take up to 15-20% of the total working time. To increase capacity, attempts have been made to increase the number of plants that can be stored in the planting machine, e.g. in a manner presented in WO 96/04775. However, the planting device becomes large and complicated.
    A known solution for the planting machine is presented in the source http://wvvw.voutube.com/watch v=vPOpQXABFLk and published 2012-08-28. Said planting machine comprises a device with several plant stores and a feeding device which is provided with grippers for simultaneous handling of several plants. The device comprises transfer devices needed to move the feeding device and to transfer the plants to a feed cassette which acts as an intermediate storage. From the feed cassette, the plants are dropped one at a time into a planting tube.
    Brief Summary of the Invention The inventive solution for a planting machine is presented in claim 1. The inventive solution for a working machine is presented in claim 7. The inventive solution for a device for handling plants is presented in claim 8.
    It is a planting machine comprising planting devices adapted to move a plant to a planting point and to place it there, at least one plant storage, in which several plants can be placed next to each other, and a feeding device. The feeding device is provided with two or more grippers next to each other for simultaneous handling of several plants, each gripper being adapted to both close to grip the plant and to open to release the plant from the gripper. The planting machine further comprises transfer devices, with which the feeding device is connected and which are adapted to transfer the feeding device to the plant store and to place the feeding device of the plants to be retrieved. The transfer devices are also adapted to move the feeding device to a predetermined place, where the plants can be handed over either one at a time or several plants at the same time. At least one of said plant stores is a movable plant store which is arranged movable in the vertical direction.
    With the help of mobile plant storage, different advantages are achieved in comparison with known solutions.
    When many, ie two or more plants are transported simultaneously, the function of the planting machine becomes faster compared to the fact that the plants would be transported one at a time. The grippers are suitable for handling plants, and they can be used to grip the plant.
    According to a special example, the plants in the plant store are placed in a fixed order for the feeding device. The plants can then be placed in one or more plant boxes or similar storage or transport packaging.
    When whole planters are used as plant storage, manual handling of individual plants is avoided. When the same plant boxes are also used for transporting seedlings from the nursery to the planting site, manual handling of individual seedlings in connection with both transport and filling of the plant storage, and also at the planting site, is avoided. Damage to plants and their root clumps decreases as the number of times they are handled manually decreases.
    According to an example, the planting machine comprises a shelf or a tray, a base or a support structure which functions as a shelf, for the plant storage. For example, a planter can be placed on the shelf.
    With the aid of a movable plant store, the movement of the feeding device in the vertical direction can be arranged shorter than in the case that the plant store is not movable.
    In this case, the transfer movement of the feeding device is faster and more stable, and in addition the size and weight of the planting machine can be reduced. A further advantage is that the distance between plant stores on top of each other can be arranged flexibly and suitable for the plants. According to an example, the plant stores are placed so that the tops of the plants can support themselves against e.g. the lower surface of a plant storage, a shelf, a canopy or an enclosure on top of them, which reduces the oscillation of the plants. The height required by the plants is usually less than the height required by the feeding device, since the feeding device must enter between plant stores and be able to raise a plant out of e.g. a planter. With the help of movable plant storage, the height of the planting machine will be lower than in an alternative, in which the distances between plant storage are not variable and there must always be sufficient space for the feeding device.
    According to one example, the planting machine is further provided with transfer devices which are arranged to move the movable plant supply at least in the vertical direction.
    According to a particular example, when the movable plant supply is at a predetermined height, the transfer means of the feeding device are arranged to move the feeding device to the moving plant supply and to place the feeding device at the plants to be retrieved. On the other hand, when the movable plant storage is lifted higher than said height, the permissible length of movement of the feeding device transfer devices is so limited that the feeding device cannot be moved to the moving plant storage. However, the movable plant supply can be lowered and brought within reach of the feeding device, and the movement of the feeding device can be kept short, which b | .a. speeds up the operation of the feeder.
    According to one example, there are at least two above-mentioned plant stores on top of each other. The lowest plant store is immobile, and the upper plant stores, one or more, are movable and movable in the vertical direction.
    According to an example, the upper plant storage can be placed on the lowest plant storage when the lowest plant storage is empty.
    According to one example, the distances between the grippers can be increased and decreased to a predetermined length. The transfer devices and the moving means comprise fastening parts, joints, guides, screws, slides, gear beams, sledges, bearings and actuators and, if necessary, also e.g. electric, pneumatic or hydraulic actuators performing functions of the transmission devices and means. In one embodiment, the planting machine also comprises at least one intermediate storage, in which several plants can be placed and which is arranged to carry plants one at a time to the planting devices. The intermediate layer is placed in a predetermined position, i.e. a place to which the feeding device for the plants and the feeding device is further arranged to hand over several plants at the same time to the intermediate layer, in order to fill it.
    According to one example, the intermediate storage is a movable magazine for plants. The magazine is placed in a predetermined position, ie a place to which the feeding device for the plants and also hands them over to the magazine.
    In the case of an embodiment in which several plants are both transported and transferred to planting devices simultaneously, the function of the planting machine becomes more efficient. The feeder can pick up new plants for the intermediate storage when the planting is in progress, so that no delays occur by picking up plants during planting.
    According to another example, the planting devices are located in a predetermined place, to which the feeding device supplies the plants, and the feeding device is further arranged to hand over plants one at a time to the planting devices.
    In the case of another embodiment, in which the plants are transferred one at a time from the feeding device to the planting devices, the structure of the device can be simplified and a special intermediate storage is dispensed with, since the feeding device functions as a kind of intermediate storage.
    According to an example, the planting machine comprises at least two plant stores next to each other, in which plants for the planting machine are stored by using e.g. planters. According to another example, the planting machine comprises plant storage both on top and next to each other. The planting machine can comprise both movable and immovable plant storage. The transfer devices of the feeding device are arranged to move the feeding device to each plant store, if it is at a suitable height. Increasing the number of plant stocks and seedlings increases the proportion used for planting the total working time. The efficiency of the planting machine also increases, as a larger number of seedlings is sufficient for planting for a longer period of time. A planting machine with several plant stores must be filled with new plants less often than a planting machine that is equipped with a plant store.
    In comparison with the prior art, the total working time used for planting decreases. This also reduces the time used for storing seedlings to be planted as well as seedlings at the planting site, whereby drying of seedlings is avoided and watering of seedlings can be carried out less often.
    In one example, the feeding device is connected to the transfer devices of the feeding device through a joint so that the feeding device with the grippers can rotate about a vertical axis of rotation. The rotational movement of the feeding device enables a more flexible placement of plant stores and diversifies the ways in which the feeding device handles the plants. According to an example, the feeding device is located between two plant stores that are located next to each other.
    According to another example, the feeding device is further provided with several grippers as pairs so that they are placed one after the other and directed in opposite directions, whereby the successive grippers are arranged to pick plants from opposite sides of the feeding device. The feeding device is located e.g. between two adjacent plant stores.
    In this case, the feeding device can handle several plants simultaneously or the rotational movement of the feeding device is not necessary, whereby the feeding device can be constructed lower than in the variant in which the feeding device comprises a joint. In one example, the planting machine also comprises cultivating devices for cultivating the soil surface for planting a plant, packing devices for packing the soil surface around the planted plant, and fasteners for coupling the planting device to a controllable crane on a work machine. 10 15 20 25 30 35 It is a question of e.g. processing devices which are particularly suitable for staining. Alternatively, the tillage of the soil surface is carried out in a special step or with a special device. Alternatively, the packaging is carried out in a special step or with a special device.
    The fasteners enable the attachment of the planting machine to, for example, the crane of the work machine.
    According to one example, this is a particular planting machine whose planting devices comprise a vertical planting tube. The planting tube penetrates in a controlled manner into a planting point, processes a hole for the plant in the planting point, drops the plant into the planting point and retracts to a standby position, in which it can receive a new plant to be planted.
    The solution presented also includes a work machine which is a vehicle moving in the terrain and comprises a steerable crane. The work machine also comprises the planting machine presented above mounted on the crane.
    The use of a work machine enables efficient use of the planting machine. The device is connected to the control system of the work machine, by means of which i.a. the planter of the planter is controlled. The device utilizes e.g. the hydraulic system of the work machine. The work machine is a work machine that is based on a tractor, a harvester, a loader or an excavator.
    The tractor can be equipped with a crane, on the head of which the planting machine is connected. In a harvester and a loader, the planting machine is mounted instead of a harvester head or a timber grab on the crane. In an excavator, the planting machine is placed on the crane instead of the bucket. In an excavator, the planting machine can be placed together with the bucket on the crane, whereby the bucket can be used as processing devices.
    With the help of a planting machine according to the presented solution, one can diversify the use of said work machines. When the device is further arranged so that it can be mounted on cranes in existing work machines, the use of a specially built crane is avoided.
    The solution presented also includes a plant handling device, which comprises at least one plant storage, in which several plants can be placed next to each other, and a feeding device. The feeding device is provided with two or more grippers next to each other for simultaneous handling of several plants, each gripper being adapted to both close to grip the plant and to open to release the plant from the gripper. The device further comprises transfer devices, with which the feeder is connected and which are adapted to move the feeder to the plant store and to place the feeder of the plants to be retrieved. The transfer devices are also adapted to move the feeding device to a predetermined place, where the plants can be handed over either one at a time or several plants at the same time.
    At least one of said plant stores is a movable plant store which is arranged movable in the vertical direction.
    The device comprises e.g. means of movement arranged to move the movable plant supply at least in the vertical direction.
    The device described above can be arranged in different planting machines, which comprise planting devices which are arranged to bring a plant brought to a said place to a planting point and to place it there.
    The planting machine presented above can also be placed in various work machines which are vehicles moving in the terrain. The planting machine may be coupled to the work machine, or it may be a free-standing, towable or sliding planting machine which is provided with devices which enable a movement, such as wheels, which are coupled to the body of the planting machine.
    The planting machine and the device according to the presented solutions are suitable especially for plants with root clumps. This is especially a case of a plant of pine or spruce. Description of drawings In the following description the presented solutions will be illustrated in more detail with reference to the accompanying figures, where figure 1 shows from the side an example, in which a device according to the solution is arranged in a planting machine, figure 2 shows the planting machine and the device according to figure 1, seen from the end and in its position of use, figure 3 shows the planting machine and the device according to figure 1, seen from above, figure 4 shows the feeding device of the device according to figure 1 in detail and seen from above, and figure 5 shows another example which relates to plant storage and which can be applied in the planting machine and the device according to figure 1.
    DESCRIPTION OF THE INVENTION IN DETAILS In Figures 1-5, the same parts are marked with the same number in different shapes.
    Figure 1 shows an example of a planting machine 10 according to the solution, which is in particular a planting machine to be attached to a crane in a work machine. Said planting machine comprises a device 11 according to the solution, intended for handling plants.
    In the example of Figure 1, the planting machine 10 can be mounted on a crane in a work machine. The planting machine 10 is connected to the crane with fasteners 12, and it is a question of e.g. a quick-release fastening or a demountable fastening with e.g. bolts. The work machine is movable in varying terrain, and the planting machine 10 is controlled by the work machine operator in the work machine driver's cab or by remote control from elsewhere. The planting machine 10 comprises a frame 13, in which the device 11, the fasteners 12 and other devices are fastened and which constitute the supporting structure.
    Attaching devices 14 for cultivating the soil surface for planting a plant have been attached to the frame 13. In this example, the machining devices 14 comprise a machining disc which is further tiltable by an actuator (eg a cylinder). With the aid of movements of the processing devices 14 and the body 13 of the planting machine, a mound is formed, in which the plant is to be planted. The movements are accomplished by a crane. These are processing devices that are particularly suitable for stain removal.
    With the frame 13 are also connected packing devices 15 for packing the soil surface around the planted plant. In this example, the packing devices are 15 feet for stepping on the ground by means of an actuator (eg a cylinder), preferably two feet placed on two opposite sides of the plant. Additionally or alternatively, the lower surface of the frame 13 can also function as a packing device, when the planting machine lowers or is pressed against the ground.
    The frame 13 is also provided with planting devices 17 which move the plant down to the planting point 18 and place it there. The planting point is e.g. in a mound formed in the soil for planting. In the example of Figure 1, the planting devices 17 use gravity to coax the plant and comprise a vertical planting tube. The planting tube penetrates by means of the actuator (eg a cylinder) in a controlled manner into the planting point 18 and makes a hole for the plant there. In this example, the lower end of the planting tube is provided with a lid 16 which closes the planting tube and which can be opened with an actuator (eg a cylinder). In this example, the planting tube releases the plant into the planting point by opening the lid 16, through which the plant can be completed e.g. on the lid. The planting tube then pulls back up to its standby position and leaves the plant in place. In the standby position, when the lid 16 is closed, the planting tube can receive a new plant to be planted. In some examples the planting tube comprises several parts and operates in a telescopic manner, as in the example of figure 1. The planting devices 17 receive a new plant from a predetermined place, i.e. a place 19, which is in the planting machine and to which the device 11 picks up the plant. In the example of Figure 1, the planting device 17 belonging to the planting tube and its upper part is in position 19 and receives the new plant.
    The device 11 which is placed in the planting machine 10 comprises at least one plant store 21. In the example of figure 1 there are several plant stores 21, i.e. two or more, next to and on top of each other. Preferably, there are several plants next to each other in each plant store so that several plants can be handled simultaneously. Preferably, the plants in each plant store are also placed in a fixed order, e.g. in a matrix of several plants next to and one after the other in straight rows.
    Each plant storage 21 consists of e.g. one or more planters with several plants.
    Preferably it is a plant with a root ball 31 (see figure 4).
    The device 11 comprises e.g. a shelf 30 or a tray, a base or a support structure acting as a shelf, on which a plant storage 21, e.g. a planter, can be placed. The plant storage 21 is placed in a storage frame 20, which is e.g. a frame on which one or more shelves 30 are supported. Other means of the device 11 can also be attached to the storage frame 20, and the storage frame 20 can be mounted on the planting machine 10.
    As a plant storage can also function a space that is located e.g. on a shelf or on a tray, a base or a support structure acted as a shelf. Into said space can be placed e.g. a plant box or a frame, a stand or a holder acting as a plant box, on which several plants are supported in a fixed order, e.g. in a matrix. Said space and plant box together, or separately, form a plant store. In the examples of Figures 1 and 5, a plant box is considered as a plant store, but e.g. in the example of figure 5 you can see several spaces that are reserved for planters and placed on shelves.
    In the example of figure 1, the device 11 comprises six shelves 30. In this example, each shelf holds four planters of a size of approx. 600> <10 15 20 25 30 35 12 400 mm and comprising a matrix of 12> <8 plants. In the example of figure 1, there are three shelves 30 on top of each other and two next to each other (seen from the end of the device, see figure 2), so that the device 11 holds a total of 24 plant boxes and 2304 seedlings.
    In the second example of Figure 5, there are four shelves 30 for plant stores 21, of which one shelf is laid on another shelf. In this example, two planters can be placed on each shelf 30. In said example, there are two shelves 30 on top of each other and two next to each other (seen from the end of the device) so that the device 11 holds a total of 8 planters and 768 seedlings.
    The plant store 21 can be stationary or movable. Preferably, the plant supply has a vertical movement, and in addition the plant supply can, if necessary, have a horizontal movement. The vertical movement of the plant store 21 is realized with the aid of e.g. a movable shelf 30. In the example of figure 1, all plant stores 21 and the shelves 30 are immobile. In the examples of Figure 5, part of the plant stores 21 and the shelves 30 are movable.
    Preferably, the lowest plant store is immobile and the upper plant stores, one or more, are movable when there are plant stores on top of each other in the device. In the example of Figure 5, the lowest plant store 21a is immobile and the upper plant store 21b is movable. In the example of Figure 1, the lowest plant supply 21a is immobile and the upper plant stores 21b, 21c can be arranged movable.
    According to a third example, all plant storage and shelves are movable. According to said examples, the lowest plant stores 21a of the device in Figure 1 or Figure 5 are movable. In the examples of Figures 1 and 5, the plant stores located at different ends on the sides of the storage body 20 function according to the same principle. According to one example, it is so arranged that the plant stores located at different ends of the storage body 20 function in different ways, e.g. so that all plant stores at one end are movable and at least some of the plant stores at the other end are immobile. For the movements of plant stores at each end, principles presented in various examples of this description can be applied. When plant stocks are located at both opposite ends of the stock body 20 but 20 20, the feeding device 22 can move up and down between the plant stocks around the center of the stock body.
    According to a fourth example, the lowest plant store 21a has only one horizontal movement and the upper plant store 21b has at least one vertical movement.
    According to some examples, the purpose of the vertical movement of the plant storage is to bring plants downwards, within reach of the feeding device, whereby the vertical movement of the feeding device can be limited to become shorter than in the case that the plant storage is not movable. In this case, the movement of the feeding device can be kept short, and the feeding device can not rise on the movable plant storage, which is at a predetermined height, e.g. in its highest position. In this case, the movement of the transfer devices 24 is also limited, and e.g. guide 27 can be kept short.
    The vertical movement of the plant store is shorter than its horizontal movement, which can be used e.g. for the precise placement of a plant store, a plant box or a plant. The horizontal movement of the plant store is realized with the help of e.g. a movable shelf. The direction of the above-mentioned vertical movement, when the device 11 is in its position of use, can be either completely vertical, almost vertical, or oblique. In the case of an oblique movement, the vertical guide of the moving means 29 is oblique, and if necessary, the vertical guide 27 is also oblique.
    The device 11 can be provided with a protective roof or an enclosure to protect the plants. The device 11 can also be provided with devices for watering the plants in the plant store 21 or for accessing water to the root clumps. According to one example, an underwater mat is placed under the plants, e.g. in the planter or on the shelf.
    The device 11 further comprises a feeding device 22, with which several plants can be moved simultaneously. By means of the feeding device 22, seedlings are transported to a place 19.
    The feeding device 22 is provided with several, i.e. two or more, grippers 23 next to each other. Each gripper 23 can both close to grip the plant 10 and open to release the plant from the gripper. The opening and closing are controlled by means of e.g. a common actuator (eg a cylinder) and a mechanism, or by means of an actuator (an electric, pneumatic or hydraulic actuator) in each gripper. The gripper 23 is preferably a pair of jaws which grip the vertical stem of the plant. The jaw pair is provided with e.g. a stop so as not to damage the plant. The jaw pair consists of e.g. two horizontal arms. In the example of Figure 11, the grippers 23 operate simultaneously, i.e. they open and close simultaneously and thus handle several plants simultaneously; in other words, the function is during arrest, transport and handover at the same time.
    Several plants at a time moved to place 19.
    The device 11 is provided with transfer devices 24, to which the feeding device 22 is connected. The transfer devices 24 consist of devices and components which move the feeding device to the plant and further to the position 19, and back. The transfer devices 24 make it possible for plants to be permanently accessible to the planting devices 17. The transfer devices 24 comprise fastening parts, joints, guides, screws, slides, gear beams, sleds, bearings and actuators and, if necessary, also e.g. electrical, pneumatic or hydraulic controls for functions of the transfer devices 24, and the feed device 22 is controlled by means of e.g. horizontal and / or vertical movements, e.g. rectilinear movements. The transfer devices 24 move the feeding device 22 to the plant store 21 and place the feeding device 22 at the plants to be retrieved. The plant supply 21 and the plants become immobile, and the feeding device 22 moves towards them. In the case of a movable plant store with a vertical movement, the plant store 21 is moved in advance to a predetermined height, after which the feeding device 22 moves to the plants. Said height is considered relative to e.g. the body 13 or the parts of the device 11. During the movement of the plant store 21, the feeding device 22 is placed in a place with no danger that the plant store could encounter the feeding device 22. In addition, the transfer devices 24 move the feeding device 22 to the place 19 where the plants are handed over, either several plants simultaneously, as in the variant of Figure 1. time. In the example of Figure 5, the principles of which can also be applied in the example of Figure 1, the plant supply drops to a predetermined level. In the example of Figure 5, it is further the case that the upper plant supply 21b can sink on top of the lowest plant supply 21a, when the lower plant supply 21a is empty. The lowest plant storage 21a, e.g. a planter, is empty, if all its seedlings have been used for planting.
    In the example of Figure 1, the feeding device 22 hands over several plants at the same time to the place 19, where there is an intermediate storage 28 belonging to the device 11 and in which several plants can be placed. In the example of Figure 1, an elongated magazine functions as the intermediate storage. Preferably, the magazine holds all the plants contained in the feeding device 22, or a plurality of them. According to another example, the device 11 includes two or more independently functioning intermediate storage, e.g. elongated magazines. Each intermediate storage feeds a plant to the above-mentioned position or to the planting devices, e.g. to the planting tube. In the example of figure 1, there are 12 grippers and 12 places for plants next to each other in the intermediate storage 28.
    In the example of Figure 1, the places for plants in the intermediate store 28 are sparser than the places for plants in the plant store 21. The feeding device 22 comprises e.g. a common actuator (eg a cylinder) or several special actuators, with which the distances between the grippers 23 can be increased and decreased by a predetermined length. Preferably, all the distances between the grippers 23 change by the same length. The mutual position of the grippers 23 in the feeding device can be changed to correspond to the spaces of the plants used in the plant storage 21 and the intermediate storage 28. The change in the mutual distances between the grippers 23 makes it possible to use plant boxes of different types or alternative spaces plantor. According to another example, the space between places for plants in both the plant store 21 and the intermediate store 28 corresponds to the mutual position of the grippers 23 in the feeding device 22, which is immutable. 10 15 20 25 30 35 16 The intermediate storage 28 guides the plants one at a time to the stand 19 and from there to the planting devices 17. In the example of figure 1, the intermediate storage 28 and the magazine acting as the intermediate storage move back and forth by means of an actuator (e.g. a cylinder). Position 19 comprises, for example, an opening, to which the plant is moved by means of the intermediate storage 28 and through which the plant is dropped into the planting tube. Instead of 19 or in the planting device, there may also be controllable lids, hatches or other devices with which the access of the plant to the planting devices 17 or its passage in the planting devices 17 can be controlled, e.g. its fall to the planting point 18.
    The feeding device 22 according to the example of figure 1 fills the intermediate storage 28 with new plants, when the intermediate storage 28 has become empty and preferably also restored to e.g. their emergency position. In another alternative to the solution presented, the grippers 23 can, if necessary, function at different times at least during the handover, ie they open and, if necessary, also close individually, and in this case they handle several plants at different times; in other words, they function at different times during the handover and, if necessary, also during the arrest. However, several plants are moved to place 19 at the same time.
    Said other alternatives correspond to the device 11 and the planting machine 10 of figure 1, but the intermediate storage 28 is not necessary in this case. In this case, the feeding device 22 leaves plants one at a time to the planting devices 17, and other plants of the feeding device 22 are kept in the grippers 23. Preferably, each gripper 23 feeds one plant at a time to the stand 19.
    In the position 19 or in the planting devices 17 there may also be controllable lids, hatches or other devices with which the access of the plant to the planting devices 17 or its passage in the planting devices 17 can be controlled, e.g. its fall to the planting point 18. Preferably, the gripper 23 feeds a plant to the position 19, after which the planting devices 17 receive the plant, plant it, and after planting are ready to receive the next plant from the next gripper 23, for the next new plantings 10 15 20 25 30 35 17. According to one example, the gripper 23 feeds a plant directly to a planting tube which functions as the planting devices 17.
    According to one example, pairs of grippers 23 are attached to the feeding device 22, each pair comprising two grippers one after the other and directed in opposite directions. In this case, there are at least four grippers, preferably a total of either 16 or 24 in two rows. There are either 8 or 12 grippers in each row. Preferably, the successive grippers of each pair of seedlings take from opposite sides of the feeding device 22. The grippers function as presented in various alternatives above, e.g. in terms of functioning simultaneously or at different times.
    Figure 2 shows the planting machine 10 and the device 11 seen from the front.
    Figure 2 shows in particular plant stores 21 on top of and next to each other. The storage body 20 of Figure 5 can be placed in the planting machine 10 and the device 11 in a manner corresponding to Figure 1. The storage body 20 of Figure 5 can be placed in the planting machine 10 and the device 11 in a manner corresponding to Figure 1. In the example of Figure 2 the horizontal movements of the feeding device 22 are performed by a horizontal guide 26 belonging to the transfer devices 24, and the vertical movements of the feeding device 22 are performed by a vertical guide 27 belonging to the transfer devices 24. hearing horizontal guide. Said horizontal guide lies transversely, preferably perpendicularly, to the guide 26. In this example, the guide 27 moves along the guide 26, and the horizontal guide of said feeding device moves with the guide 27.
    The feeding device 22 is connected to the transfer devices 24 through a joint 25, and the feeding device 22 with its grippers can rotate about a vertical axis of rotation. This is particularly useful in a situation in which the feeding device 22 is placed between two plant stores 21. The grippers 23 can be rotated towards the plant storage from which the plants are to be retrieved, and the grippers are placed next to the plants. In the example of the device 11, in which the feeding device comprises grippers both next to and one after the other, said rotation or a joint 25 is not necessary.
    The movable plant store is connected to the device 11 by means of moving devices 29, e.g. so that the moving means 29 are connected between the shelf body 20 and the shelf 30 which supports the plant store 21. In the example of figure 5 the vertical movements of the movable plant store 21 are performed by a moving guide 29 belonging to vertical guide consisting of e.g. a linear guide equipped with a ball screw and driven by a motor. In a corresponding manner, the horizontal guide 26 and / or the vertical guide 27 of the transfer devices 24 for the feeding device 22 can also consist of e.g. a linear guide equipped with a ball screw and driven by a motor.
    Figure 3 shows the planting machine 10 and the device 11 seen from above. In Figure 3, one can see in particular plant stores 21 next to each other and the location of the intermediate store 28 between plant stores 21. The total width of plant stores 21 is typically larger than the width of the frame 13. In the intermediate store 28 there are places for plants next to each other so that a queue of plants is formed.
    The intermediate storage can also comprise several, ie two or more queues, to which the feeding device 22 picks up plants or fills the intermediate storage. The magazine comprises e.g. two queues, each with space for 8 or 12 plants. In this case, in addition to a movement in the longitudinal direction, the intermediate storage 28 also has a movement in the transverse direction so that it can lead all plants from the intermediate storage one at a time to the position 19.
    The feeding device 22 fills the intermediate storage 28 by using either one or more collection passages in the plant storage 21. In Figure 3, the feeding device 22 is moved by means of the guide 26 of the transfer devices to the planting storage, and the grippers 23 have gripped seedlings. Then the feeding device 22 is lifted up, e.g. by a vertical movement of the guide 27, to lift the plants out of the plant box and to enable their movement. Figure 15 shows a more detailed example of a feeding device 22 used in the planting machine 10 and the device 11. The grippers 23 of the feeding device 22 are controlled with a common actuator so that all grippers 23 operate simultaneously, ie open and open. at the same time. Therefore, they grab the plants, move the plants and hand over the plants at the same time. The feeding device 22 moves in the horizontal guide of the transfer devices 24, to which it is connected through a joint 25.
    According to an example, cylinders and motors are used as actuators. The actuators are connected to a control circuit which consists of e.g. electrical devices and / or a source of pressure medium, channels for the medium, valves and controls. The control of the control circuit is performed either manually or by using an electrical control system which is e.g. programmable. The control machine's electrical, hydraulic or pneumatic system can be used as the control circuit. As controls, you can use controls that belong to the work machine. Some of the components of the control circuit can be placed in a housing which is attached to the planting machine 10 or the device 11. The electrical control system can also be provided with automatic functions for the operation of the planting machine 10 and the device 11.
    Various embodiments of the solution according to the invention are not limited only to the examples presented in the accompanying drawings or which are specifically described in the description above, or to which reference is made in the description.
    The special properties of the solution presented above can also be interconnected and carried out in various combinations which are not found in the examples given above. These combinations are in accordance with the appended claims.
    权利要求:
    Claims (10)
    [1]
    A planting machine for planting seedlings, the planting machine comprising: - planting devices arranged to move a plant to a planting point and to place it there, - at least one plant store in which several plants can be placed next to each other, - a feeding device which simultaneous handling of several plants is provided with two or more grippers next to each other, each gripper being adapted to both close to grip the plant and to open to release the plant from the gripper, - transfer devices, with which the feeding device is connected and which are adapted to transfer the feeding device to the plant store and to position the feeding device at the plants to be retrieved, and to move the feeding device to a predetermined position, where the plants can be handed over either one at a time or several plants simultaneously, characterized in that: movable plant storage which is arranged to exp move in the vertical direction.
    [2]
    The planting machine according to claim 1, wherein the planting machine also comprises moving means adapted to move the movable planting stock at least in the vertical direction.
    [3]
    Planting machine according to claim 1 or 2, wherein there are at least two said plant stores on top of each other, of which the lowest plant store is immobile and the upper plant stores, one or more, are movable and movable in the vertical direction.
    [4]
    A planting machine according to claim 3, wherein the upper plant store can be laid on top of the lowest plant store when the bottom plant store is empty.
    [5]
    Planting machine according to any one of claims 1-4, wherein said transfer devices are arranged to move the feeding device to the movable plant supply and to place the feeding device at the plants to be retrieved, when the movable plant supply is at a predetermined level. height, and the permissible length of movement of the transfer devices is so limited that the feeding device cannot be moved to the movable plant store, when the movable plant store is in place higher than the predetermined height.
    [6]
    A planting machine according to any one of claims 1-5, wherein the planting machine comprises a shelf or a tray, a base or a support structure which functions as a shelf, for the plant storage.
    [7]
    A work machine which is a vehicle movable in the terrain and comprises a steerable crane, on the head of which a planting machine according to any one of claims 1-6 is coupled, the work machine being a work machine based on a tractor, a harvester, a loader or a excavator.
    [8]
    Device for handling seedlings, the device comprising: - at least one plant store, in which several seedlings can be placed next to each other, - a feeding device, which for simultaneous handling of several seedlings is provided with two or more grippers next to each other, each gripper is adapted to both close to grip the plant and to open to release the plant from the gripper, and - transfer devices, with which the feeding device is connected and which are adapted to transfer the feeding device to the plant store and to position the feeding device at the plants to be retrieved. , and to move the feeding device to a predetermined position, where the plants can be handed over either one at a time or several plants at the same time, characterized in that: - at least one of said plant stores is a movable plant store which is arranged to move in the vertical direction.
    [9]
    Device according to claim 8, wherein there are at least two above-mentioned plant stores on top of each other, of which the lowest plant store is immobile and the upper plant stores, one or more, are movable and movable in the vertical direction. 22
    [10]
    Device according to claim 8 or 9, wherein the device is arranged in a planting machine with planting devices, which are arranged to bring a planted plant to said predetermined position to a planting point and to put it in the planting point.
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    同族专利:
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    SE538777C2|2016-11-15|
    FI20135338A|2014-10-09|
    FI125903B|2016-03-31|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    FI20135338A|FI125903B|2013-04-08|2013-04-08|Planting machine and plant handling equipment|
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