CN110036899A - Plant cultivation system and plant cultivation method - Google Patents
Plant cultivation system and plant cultivation method Download PDFInfo
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- CN110036899A CN110036899A CN201811592018.XA CN201811592018A CN110036899A CN 110036899 A CN110036899 A CN 110036899A CN 201811592018 A CN201811592018 A CN 201811592018A CN 110036899 A CN110036899 A CN 110036899A
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- Prior art keywords
- plant
- holder
- track
- cultivation
- shelf
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G31/00—Soilless cultivation, e.g. hydroponics
- A01G31/02—Special apparatus therefor
- A01G31/06—Hydroponic culture on racks or in stacked containers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
- Hydroponics (AREA)
Abstract
Plant cultivation system and plant cultivation method.Plant cultivation system can be improved to the carrying function of plant.The plant cultivation system (1) cultivated to plant (2) includes holder (3), keeps to the plant (2) as cultivation object；Track (4), it consists of and multiple holder (3) is supported to and can alongst be moved, whenever supplying holder (3) from the side on length direction, move multiple holder (3) accordingly with the holder (3) supplied towards the other side on length direction；It cultivates shelf (5a), being arranged side by side has multiple tracks (4)；And pressing parts (91) simultaneously, being pressed into simultaneously to the other side towards multiple holder (3) that the respective side of adjacent at least 1 group of track in multiple tracks (4) in cultivation shelf (5a) supplies moves them.
Description
Technical field
Disclosed embodiment is related to plant cultivation system and plant cultivation method.
Background technique
Patent document 1 describes the culturing apparatus in paddy such as flowering structure: will be planted respectively using multiple tracks arranged side by side
Object, which is supported to, individually to be moved.
Patent document 1: No. 5916189 bulletins of Japanese Patent No.
However, in the above prior art, when making plant carry out carrying mobile, plant is contacted with each other, accordingly, it is possible to make
Its commodity value reduces.
Summary of the invention
The present invention is completed in view of such problems point, and its purpose is to provide the carrying functions that can improve plant
Plant cultivation system and plant cultivation method.
In order to solve the above problems, a viewpoint according to the present invention is planted using the plant that a kind of pair of plant is cultivated
Training system, includes holder, keeps to the plant as cultivation object；Plant, which carries, uses track, consists of
Multiple holder, which are supported to, alongst to be moved, whenever from the length direction side supply institute
When stating holder, make the multiple holder towards the other side on the length direction and the retainer supplied
Tool accordingly moves；Shelf is cultivated, being arranged side by side there are multiple plant carrying tracks；And pressing parts simultaneously,
It is pressed into simultaneously to the other side towards adjacent at least 1 group in the multiple plant carrying track on the cultivation shelf
Multiple holder of the respective side supply of plant carrying track and move them.
In addition, another viewpoint according to the present invention executes following steps: right using a kind of plant cultivation method
The holder that plant as cultivation object is kept is supplied in multiple plant carrying tracks arranged side by side
Adjacent at least 1 group of plant carries in the state of the side on the respective length direction of track, while to the length direction
On the other side multiple holder for being supplied of indentation and move them.
Invention effect
In accordance with the invention it is possible to improve the carrying function of plant.
Detailed description of the invention
Fig. 1 is the system block diagram for showing the outline structure of plant cultivation system entirety of embodiment.
Fig. 2 is the perspective view for showing an example of lamination cultivation shelf.
Fig. 3 is the explanatory diagram for showing an example of configuration of the track on each cultivation shelf of lamination cultivation shelf.
Fig. 4 is the explanatory diagram for showing an example of configuration of the light source on each cultivation shelf of lamination cultivation shelf.
Fig. 5 is the perspective view for showing an example of structure of robot.
Fig. 6 is the perspective view for showing an example of structure of holder.
Fig. 7 is the cross-sectional view for showing an example of structure of track in the state of supporting holder.
Fig. 8 is the top view for showing an example of the track on cultivation shelf and the configuration relation between plant.
Fig. 9 is to show the configuration relation according to Fig. 8 when carrying out carrying mobile to plant respectively using individual track
The top view of the mutual contact interference of plant.
Figure 10 be show Fig. 8 configuration relation and it is corresponding while pressing parts top view.
Figure 11 is the top view shown carrying out configuration relation when indentation is carried using pressing parts simultaneously.
Figure 12 is shown by the solid of the overall appearance of pressing mechanism while pressing parts and supporting device are constituted simultaneously
Figure.
Figure 13 is the side view for illustrating the bearing position of pressing parts while when the lifting of plant is carried.
Figure 14 be arranged in the configuration spacing shown between the holder of interorbital dephased configuration relation with
And while corresponding pressing parts top view.
Figure 15 is the top view shown carrying out configuration relation when indentation is carried using pressing parts simultaneously.
Figure 16 is the top view for being provided with the cultivation shelf of separator circulation track.
Label declaration
1: plant cultivation system；2: plant；3: holder；4: track (plant, which carries, uses track)；5: lamination cultivation is put
Plate；5a: cultivation shelf；6: transfer robot；7: moving in conveyer；8: moving out conveyer；9: while pressing mechanism；10: carrying
Control unit；51: separator circulation uses track；91: while pressing parts；91a: comb teeth；92: supporting device.
Specific embodiment
Hereinafter, being illustrated on one side to an embodiment referring to attached drawing on one side.In addition, hereinafter, saying for convenience
The structure of bright plant cultivation system sometimes fits the direction definitions such as up, down, left, right, before and after for each direction shown in figure
Work as use.But do not limit the positional relationship of each structure of plant cultivation system.
The structure > of 1. plant cultivation system of <
Referring to Fig.1~Fig. 4 on one side on one side carries out integrally-built an example of the plant cultivation system of present embodiment 1
Explanation.It is cumbersome in order to avoid illustrating in Fig. 1, the structure of system entirety is only diagrammatically shown, for the detailed of each section
Structure is simplified and is schematically shown.
As depicted in figs. 1 and 2, plant cultivation system 1 is protected using 3 pairs of the holder plants 2 as cultivation object
It holds, makes the holder 3 is interior during the prescribed period to move along track 4, so that plant be made to carry out growth and development.Plant cultivation system
1 has lamination cultivation shelf 5, transfer robot 6, moves in conveyer 7, moves out conveyer 8, simultaneously pressing mechanism 9 and carry
Control unit 10.
(1-1. lamination cultivates shelf)
Shelf 5a is cultivated configured with multilayer (in this case, it is 8 layers) on lamination cultivation shelf 5, they are in the up-down direction
It is laminated in a manner of multilayer.In addition, " up and down direction " needs not be proper vertical direction, as long as substantive
Vertical direction.Therefore, " up and down direction " also includes the direction being slightly tilted relative to vertical direction.In addition, lamination is planted
The stacking direction for training the cultivation shelf 5a of shelf 5 is not limited to up and down direction, is also possible to tilt regulation angle relative to up and down direction
The direction of degree.
It is horizontally extended on each cultivation shelf 5a respectively along front-rear direction and is provided with multiple 4 (plant carrying use of tracks
Track).In addition, described " front-rear direction " is the flow direction of the plant 2 on each cultivation shelf 5a in the present embodiment,
Be track 4 length direction or extended direction.In addition, " horizontal direction " does not need to be proper level side
To as long as substantially horizontal direction.It therefore, also include the direction being slightly tilted relative to horizontal direction.Multiple tracks 4
It is arranged side by side on each cultivation shelf 5a along left and right directions, each track 4 substantially configures in parallel.In addition, in this implementation
Described " left and right directions " is the direction orthogonal with above-mentioned up and down direction and front-rear direction in mode.
Detailed construction is described below, multiple holder 3 are supported to and can alongst move by track 4.And
And be configured to, on track 4, by supplying holder 3, multiple holdings that others are supported from side in the front-back direction
The other side of utensil 3 to front-rear direction pushes and slides movement.
The number of plies of the cultivation shelf 5a of lamination cultivation shelf 5 is not particularly limited, and is in the present embodiment 8 with the number of plies
It is illustrated as an example of the case where layer.Hereinafter, for convenience of explanation, for the layer of the cultivation shelf 5a of lamination cultivation shelf 5, fitting
It is local to be known as A layers for undermost 1 layer, it is known as B layers for 1 layer of top layer, C layers will be referred to as from the 2nd layer~the 5th layer of upper number,
D layers will be referred to as from the 6th layer, the 7th layer of upper number.That is, as shown in Figure 1 to 4, A layers there are 1 5a, B layers of cultivation shelf to have 1
A cultivation shelf 5a, C layers there are 4 5a, D layers of cultivation shelf to have 2 cultivation shelf 5a.In the example shown in Fig. 3, A layers
Cultivation shelf 5a be provided with more (being 27 in the example in the figures) track 4.It is provided on B layers of cultivation shelf 5a
(be in the example in the figures 14) track 4 fewer than A layer number.It is provided on C layers of each cultivation shelf 5a than the B number of plies
Measure also few (being 9 in this example) track 4.Be provided on D layers of each cultivation shelf 5a it is identical with C layer number (
It is 9 in this example) track 4.
(1-2. running landing numbers)
Then, an example of the running landing numbers of the holder 3 of plant cultivation system 1 and plant 2 is illustrated.It moves in defeated
It send machine 7 to move in by stacking machine (not shown) from A layers of rear side and supplies holder 3 (details are described below), the holding
3 pairs of utensil keep by the plant 2 after planting in germination state.In addition, each layer for moving out conveyer 8 from D layers is cultivated
The holder 3 kept to the plant 2 for sufficiently growing the state after developing is moved out on rear side of shelf 5a.
Fig. 1, Fig. 3 show the carry direction of holder 3 and plant 2 on each cultivation shelf 5a.In addition, the void in Fig. 1
Line arrow indicates the carry direction of holder 3 and plant 2 on each cultivation shelf 5a.In addition, in the expression of label 101 of Fig. 3
It states in the front-back direction from the front side to the carry direction of the holder of rear side 3 and plant 2, label 102 indicates opposite from rear side
To the holder 3 of front side and the carry direction of plant 2.As shown in Figure 1, Figure 3, at A layers, on each track 4, holder 3
It is carried with plant 2 from rear side to front side.At B layers, on each track 4, lateral rear side is carried in the past for holder 3 and plant 2.?
C layers, on each track 4 of each layer, holder 3 and plant 2 are carried from rear side to front side.At D layers, in each rail of each layer
On road 4, holder 3 and plant 2 are all that lateral rear side is carried in the past.
Transfer robot 6 positioned at the front side of lamination cultivation shelf 5 be transported to holder 3 and plant 2 from A layers
The decline that D layers were carried and be transported to holder 3 and plant 2 from C layers to B layers of rising is carried.At this point, the carrying implement of front side
Device people 6 carries out the distribution of left and right directions, and also carries out the distribution of the up and down direction between different layers of C layers and D layers.Separately
Outside, the transfer robot 6 positioned at the rear side of lamination cultivation shelf 5 remove holder 3 and plant 2 from conveyer 7 is moved in
The horizontal decline carrying carried, holder 3 and plant 2 are transported to from B layer to C layers of transporting to A layers and by holder 3
The concentration carrying for moving out conveyer 8 is transported to from D layers with plant 2.At this point, the transfer robot 6 of front side carries out on left and right directions
Distribution, and also carry out the distribution in up and down direction between different layers of B layers and C layers.
In addition, as shown in figure 4, being provided with above the cultivation shelf 5a of lamination cultivation shelf 5 for the leaf to plant 2
The multiple light sources 15 of 2b (referring to aftermentioned Fig. 7) irradiation light.Each light source 15 is being divided with the posture setting extended along left and right directions
It is not set to the lower surface of the support plate 11 of the top of each cultivation shelf 5a.Each light source 15 is spaced according to the rules matches along the longitudinal direction
It sets.In addition, light source 15 is not particularly limited, LED or fluorescent lamp etc. can be used for example.
In above transport path, as the sequence according to A layers → B layers → C layers → D layers is carried, left and right directions
Orbital spacing gradually broaden.The nursery stage smaller than holder 3 in the whole size of plant 2 as a result, orbital spacing most
Narrow A layer is densely cultivated, and later, can be carried according to the sequence that orbital spacing broadens i.e. B layers → C layers → D layers.That is,
It can be gradually increased according to the entirety of each plant 2 and the stage of growth and development expands configuration space, be cultivated relative to the lamination
The whole setting area of shelf 5, can effectively utilize the cultivated area of plant 2.In the present embodiment, it will cultivate in this way
The transport operation of transfering plant 2, which is referred to as, between shelf 5a is colonized.
2. transfer robot > of <
Then, using Fig. 5, an example of the structure of transfer robot 6 is illustrated.In addition, being shown in Fig. 5 neutral body
It is configured in the transfer robot 6 of the front side of lamination cultivation shelf 5, X-axis positive direction is corresponding right, and X-axis negative direction is corresponding left, Y
After axis positive direction correspondence, before Y-axis negative direction is corresponding, in Z axis positive direction correspondence, under Z axis negative direction is corresponding.In addition, for being matched
The transfer robot 6 in the rear side of lamination cultivation shelf 5 is set, due to only making identical structure in X-axis, the positive negative direction of Y-axis
On the contrary, therefore, omitting its diagram.
Transfer robot 6 takes out holder 3 from the end of 1 track 4 and plant 2 is carried, to another track 4
End is pressed into and is supplied.In addition, in the example of present embodiment, transfer robot 6 also carry out using it is aftermentioned while
The indentation for the maintaining part 3 that pressing parts 91 carry out is carried and (indentation is carried, be described in detail later).As shown in figure 9, carrying implement
Device people 6 includes pedestal 16, is arranged on pedestal 16 gate supporting frame 17, the actuator 30 being arranged on supporting frame 17 and
Hand 21.
Supporting frame 17 includes a pair of of the branch being arranged in mode opposite in the X-axis direction along Z-direction on pedestal 16
Column 17a；And the approximate horizontal beam 17b set up in the upper end of a pair of posts 17a along X-direction.
Actuator 30 has X-axis unit 18, Z axis unit 19 and Y-axis unit 20.X-axis unit 18 has beam 18a, sliding block 18b
With X-axis motor 18c.Beam 18a is substantially horizontally erected between a pair of posts 17a in the X-axis direction.Sliding block 18b is moved along the x axis
It is dynamic to be supported on beam 18a freely.X-axis motor 18c is mounted on the left end of beam 18a, (not shown) on sliding block 18b via being assemblied in
Chain etc. and drive sliding block 18b along the x axis.
Z axis unit 19 has beam 19a, sliding block 19b and Z axis motor 19c.The upper end of beam 19a X-direction movably
It is supported on beam 17b, and is fixed on sliding block 18b.Sliding block 19b is movably supported on beam 19a along Z-direction.Z axis horse
It is mounted on the lower end of beam 19a up to 19c, drives sliding block along Z-direction via chain (not shown) being assemblied on sliding block 19b etc.
19b。
Y-axis unit 20 has beam 20a, sliding block 20b and Y-axis motor 20c.Sliding block 20b is fixed in sliding block 19b.The edge beam 20a
Y direction is movably supported on sliding block 20b.Y-axis motor 20c is mounted on the front end of beam 20a, via being assemblied in sliding block 20b
On chain (not shown) etc. and drive sliding block 20b along the y axis.
In actuator 30, when driving sliding block 18b in the X-axis direction using X-axis motor 18c, beam 19a is in the X-axis direction
Mobile, beam 20a is moved in the X-axis direction via sliding block 19b and sliding block 20b.In addition, in the Z-axis direction using Z axis motor 19c
When driving sliding block 19b, beam 20a is moved in the Z-axis direction via sliding block 19b and sliding block 20b.In addition, using Y-axis motor 20c in Y
When driving sliding block 20b in axis direction, beam 20a is moved in the Y-axis direction via sliding block 20b.In this way, actuator 30 can make beam
20a is moved in X-axis, Y-axis, Z axis these three axis directions.
Hand 21 is mounted on the end of the rear side of the beam 20a of actuator 30, holds holder 3.Actuator 30 is by making beam
20a is moved along three axis directions and can be moved hand 21 along three axis directions.That is, actuator 30 makes the (rail along the longitudinal direction of hand 21
The length direction in road 4) it is mobile.In addition, actuator 30 enables hand 21 along two sides vertical and orthogonal with front-rear direction
To, the i.e. left and right directions (direction arranged side by side of track 4.It is also general horizontal direction) and up and down direction (the stacking side of shelf portion 9
To.It is also short transverse) movement of the two directions.
3. holder > of <
Then, using Fig. 6 and Fig. 7, an example of the structure of holder 3 is illustrated.In addition, direction shown in fig. 6
Indicate the direction in the state that holder 3 is supported by track 4.
Holder 3 is the component that the plant 2 of the cultivation object as plant cultivation system 1 is kept according to every 1 plant.Separately
Outside, " 1 plant " mentioned here refers to 1 individual from single seed growth.For example, plant 2 as shown in Figure 7 like that, is led to
It crosses and multiple (being also possible to single) leaf 2b is supported by a stem 2a and the plant individual as 1 is 1 plant.In addition, even if
Such as stem is due to branch etc. and there are in the case where multiple, is one plant by the connection of its root plant individual as 1.
As shown in fig. 6, holder 3 have in above-below direction, it is left and right directions, mutually right in all directions in the front-back direction
The shape of title.Holder 3 is by the high material of sliding property (such as resin.It is also possible to metal etc.) it is integrally formed, it is configured to
Enough tracks 4 relative to bearing holder 3 slide.The two sides of holder 3 in above-below direction be respectively provided with protrusion 33a,
33b, two sides in the lateral direction are respectively provided with opposed portion 32,32.Protrusion 33a, 33b are by being accommodated in the guidance of track 4
It can be realized the moving along track 4 of holder 3 (referring to aftermentioned Fig. 7) in slot 43a, 43b.Opposed portion 32 is in upside under
Side has opposed faces 32a, 32b opposed with track 4, these opposed faces 32a, 32b and track 4 contact and slide.
Opposed portion 32 is the part of two sides substantially rectangular parallelepiped outstanding to the left and right, on the upside of face and the face of downside be flat
Capable above-mentioned opposed faces 32a, 32b.Holder 3 is respectively provided with to work as in the terminal part of the opposed portion 32 of left and right is handled upside down robot
The supporting part 35 that 6 hand 21 is supported when holding.In addition, protrusion 33a, 33b are to upper and lower two sides approximately cuboid outstanding
The part of shape, the substantially central portion on its front-rear direction are formed with hole portion 34 perforative along the vertical direction.In this example, hole
Portion 34 is, for example, circular hole, but can also be formed as the other shapes such as quadrangle.As shown in fig. 7, being filled with culture medium in hole portion 34
36, for keeping the plant 2 after the germination sowed from culture medium 36.As culture medium 36, fine jade can be used for example
Rouge isogel shape culture medium, also can be used the solid mediums such as polyurethane, asbestos.
Two positions on the front-rear direction of opposed faces 32a, 32b are formed with hole portion 37.It can be subtracted using the hole portion 37
The contact area (contact resistance) of few holder 3 and track 4, can be improved the sliding property between track 4.In addition, prominent
The two sides risen on the front-rear direction of the hole portion 34 of portion 33a, 33b are formed with hole portion 39.It can reduce retainer using the hole portion 39
The weight of tool 3, can further increase the sliding property between track 4.
In addition, the structure of holder 3 described above is an example, or structure other than the above.For example,
In above content, holder 3 is integrally formed, but holder 3 can also be constituted with multiple components.In addition, holder 3
Also it is configured to have wheel, it is mobile relative to track 4 using wheel.
In addition, in plant cultivation system 1, it is multiple by the way that separator 3s to be inserted into using separator as follows
Come the interval on the front-rear direction of regulation holder 3 between holder 3.Separator is by common with above-mentioned holder 3
Component is constituted.That is, using the holder 3 for the empty state for being not filled by culture medium 36 in hole portion 34 as separator 3s.Cause
This, in track 4, multiple separators also are supported to move along the longitudinal direction together with multiple holder 3.Also,
Whenever supplying separator from the side on front-rear direction on track 4, make supported holder 3 and separator towards separately
It is accordingly moved with the separator supplied side.
4. track > of <
Then, using Fig. 7, an example of the structure of track 4 is illustrated.In addition, direction shown in Fig. 7 is to indicate track
4 are arranged on the direction in the state of cultivating on shelf 5a.
As shown in fig. 7, track 4 has orbit portion 40 and sink portion 47.It is provided in pair of right and left and leads on orbit portion 40
To plate 41a, they are respectively provided with defined width in the lateral direction, and are extended in the longitudinal direction；And left and right
A pair of of lower guide plate 42a, they above-mentioned upper guide plate 41a lower position equally in the lateral direction have defined width
Degree, and be extended in the longitudinal direction.Be formed between upper guide plate 41a and lower guide plate 42a to holder 3 into
The space 44 of row storage.The guiding groove 43a of the protrusion 33a of receiving holder tool 3 is formed between guide plate in a pair.?
The guiding groove 43b of the protrusion 33b of receiving holder tool 3 is formed between a pair of of lower guide plate.
Sink portion 47 is the elongated sink of the open section in upside substantially U-shaped, and internal storage has culture solution 48.It utilizes
Such as the flow member appropriate such as pump, flow culture solution 48 forward and backward.
The holder 3 being inserted on track 4 is accommodated in the space 44 of orbit portion 40.Due to upper and lower protrusion 33a,
33b is accommodated in respectively in upper and lower guiding groove 43a, 43b, and therefore, holder 3 is supported to can be along the length of track 4
Direction is mobile.In addition, the opposed portion 32 of the left and right of holder 3 opposed faces 32a, 32b respectively slidably with a left side
The upper surface contact of the lower surface, the guide plate 42a in the lower railway portion 42 of left and right of the guide plate 41a in right upper rail portion 41.By
This, holder 3 is supported to smooth to move along the length direction of track 4.In this way, by being configured to utilize track 4
Upper rail portion 41 and lower railway portion 42 sandwich holder 3 respectively from above and below, the inclination of holder 3 can be prevented
With topple over.
In the hole portion 34 of holder 3 be filled with culture medium 36, holder 3 in culture medium 36 from the kind sowed
The stem 2a of plant 2 made of sub- growth and development is kept.The root 2c of plant 2 is sagging to be immersed in culture solution 48 downwards
In, and leaf 2b can be made to grow in the top of track 4.
< 5: the feature > of present embodiment
The plant cultivation system 1 of above structure, can be by the plant of leafy vegetable etc. by the process of sowing, nursery, field planting
Object 2 is largely cultivated in such a way that more plants are concentrated.It, as described above, can in order to realize in such plant cultivation system 1
Efficient activity of the strain number of the plant 2 of cultivation relative to its setting area carries out each individual with the growth with each plant 2
Cultivation occupied area the corresponding planting composition of increase change field planting the step of it is particularly significant.
As one of the structure that such field planting may be implemented, as the example of present embodiment, exist such as flowering structure:
Using the different multiple cultivation shelf 5a of the configuration space of plant 2, plant 2 is carried from the end of the side of each cultivation shelf 5a
To the other side end and it is each cultivation shelf 5a each end between transfering plant 2.But according to such cultivation shelf 5a
On track 4 and plant 2 configuration relation, sometimes when carrying plant 2, plant 2 is in contact with each other and causes to damage, to make quotient
Product value reduces (as explained further below described).
In this regard, in the present embodiment, above-mentioned while pressing mechanism 9 has pressing parts 91 simultaneously, it is somebody's turn to do press-in portion simultaneously
Part 91 is pressed into simultaneously towards adjacent at least 1 group of respective side of track in multiple tracks 4 on cultivation shelf 5a to the other side
Supply multiple holder 3 and move it.By using this, pressing parts 91 carry out indentation carrying simultaneously, no matter track 4
It is in which kind of configuration relation on cultivation shelf 5a with plant 2, the connecing to each other of plant 2 when carrying plant 2 can be avoided
Touching.Hereinafter, being successively illustrated to its structure.
< 6: field planting and the method carried and simultaneously pressing mechanism >
Using Fig. 8~Figure 13, press to the field planting and method for carrying on each cultivation shelf 5a of present embodiment and simultaneously
Enter mechanism 9 to be illustrated.Fig. 8 shows an example of the track 4 on cultivation shelf 5a and the configuration relation between plant 2, is illustrating
Example in be from top overlook lamination cultivation shelf 5 C layer on any one cultivate shelf 5a figure.In addition, in order to keep away
Exempt to illustrate cumbersome, transfer robot 6 shown in Fig. 8~Figure 13 is suitably changed according to the structure shown in above-mentioned Fig. 5, simplifiedly
Show detail section.
As described above, cultivation shelf 5a on be arranged side by side have multiple (they being 9 on C layer in the example in the figures) along
The track 4 of front-rear direction configuration is supplied from the side (being rear side on C layer in the example in the figures) of the length direction of each track 4
To the holder 3 for maintaining plant 2, makes the holder 3 mobile and pushing to it and be transported to length direction
The other side (on the C layer of example illustrated be rear side).On such cultivation shelf 5a, according to the growth step with plant 2
The cultivation occupied area of the corresponding each individual of section, to the plant 2 in the configuration space and each track 4 between each track 4
Interval is carried to be appropriately configured.Also, by the plant 2 taken out from cultivation shelf 5a according to its growth phase to being set as more closing
Other cultivations shelf 5a of suitable configuration space is shifted, and thus, it is possible to realize from nursery to saving during the entire process of factory
The cultivation of the white space of waste is gone.
Here, as shown in the enlarged drawing A in Fig. 8, the cultivation of the plant 2 of overlook view is occupied into region and is regarded as to keep
The circular shape of diameter D centered on the center P of the hole portion 34 of the utensil 3 i.e. stem 2a of the plant 2.In addition, until the plant 2
Until the growth phase of a certain fixation, the diameter D which occupies region increases as time goes by, in same cultivation
All plants 2 configured on shelf 5a, the diameter D for making their circle occupy region is consistent with maximum gauge and uniformly sets
At identical.At this point, in order to not contact each other neighbouring plant 2 and densely configure plant 2 as far as possible, it is only necessary to cultivate
On shelf 5a, it is arranged side-by-side each track 4 according to the diameter D for occupying region in its circle narrow configuration space W below, and
And the carrying interval T of the plant 2 on each track 4 is set to larger, so that it is occupied the diameter D or more in region in above-mentioned circle,
Keep the phase difference P of the configuration spacing of the plant 2 between 2 adjacent tracks 4 larger.
Specifically, in the example of present embodiment shown in Fig. 8, the holder 3 that kept to plant 2 and not
Carry direction length (the track for the separator 3s (being the component general with holder 3 in this example) that plant 2 is kept
Length on 4 length direction) it is identical, on 1 track 4, holder 3 and separator 3s alternately match in carry direction
It sets.That is, the carrying interval T-phase of the plant 2 (holder 3) on 1 track 4 is when in 23 (separators of holder
Length 3s), in other words, holder 3 and separator 3s are according to using the carrying interval T as the phase being alternately arranged in period
It is configured.Also, between 2 adjacent track 4, in the holder 3 and separator arranged in left-right direction
Between 3s, configuration spacing does not have phase difference, still, when only focusing on the holder 3 kept to plant 2, configures spacing
Phase difference P be configured to the length of 1 holder 3.That is, plant 2 is configured to so-called chessboard grid pattern
Form.By above configuration, even the case where being arranged side-by-side track 4 according to the narrow configuration space W of diameter group D
Under, the circle of the diameter D slightly bigger than the length of 1 holder 3 occupies each plant 2 in region each other also can be densely
Configuration, without contacting.
In addition, in fig. 8, cultivating the shadow region being shown respectively at the carry direction both ends of shelf 5a is conveying robot
6 pull of people simultaneously takes out holder 3 (separator 3s) or is pressed into and supplies the region of holder 3 (separator 3s).Also
It is to say, from each 4 pull of track and can takes out in the transfer robot 6 that has of front side of cultivation shelf 5a and be located at nearest shade
Holder 3 (separator 3s) in region.In addition, the transfer robot 6 that has of rear side in cultivation shelf 5a can be to each
Holder 3 (separator 3s) is pressed into nearest shadow region and supplied by track 4.
However, in above such planting composition, when as shown in figure 9, being supplied separately to retainer on individual track 4
When having 3 and carrying out pushing carrying, all plants 2 arranged in the track 4 and the plant 2 arranged in adjacent track 4
Contact.In the case where the contact of such plant 2 to each other can be repeated whenever to cultivation shelf 5a supply plant 2,
Damage be will cause to make commodity value reduce.
In order to avoid the interference contact of such plant 2 to each other, in the present embodiment, shown in the right side using Figure 10
While pressing parts 91 carry out plant indentation carry.Pressing parts 91 are the whole sizes with adequate thickness simultaneously for this
The substantially component of writing board shape, when vertical view (viewpoint from the top to the bottom) observation when, should simultaneously pressing parts 91 with the cultivation
On training shelf at the corresponding position of track that is arranged with quantity corresponding with the track towards pressing direction shape outstanding
Comb teeth 91a.In the example of present embodiment, each comb teeth 91a is uniformly with identical as the carry direction length of holder 3
Length, length i.e. identical with the nearest carry direction width dimensions of shade supply area, be inserted into each track 4
Left and right directions width in the space 44 of above-mentioned orbit portion 40 is formed.
Also, in the example of present embodiment, as shown in figure 11, to this, pressing parts 91 carry out transfer robot simultaneously
It holds, towards carrying in a manner of abutting each comb teeth 91a with the side of the holder 3 in the space 44 for being inserted into each track 4
Direction indentation.Each comb teeth 91a of pressing parts 91 can be by the holder 3 configured in each track 4 and isolation simultaneously as a result,
The column of part 3s are all uniformly pressed into the carry direction length of 1 holder 3 towards carry direction simultaneously and are carried.By
This, between by the way that pressing parts 91 are pressed into track 4 of holder 3 simultaneously simultaneously, in the configuration spacing for maintaining plant 2
Phase difference P in the state of carry out the carrying of whole plant 2.Therefore, even in these tracks 4 each other to occupy than circle
In the case that the diameter D in region narrow configuration space W is arranged side by side, the contact between plant 2 also can be avoided.
As long as above-mentioned while pressing parts 91 are arranged in identical as each track 4 in a manner of it can move in the longitudinal direction
At the position of height.Therefore, as shown in figure 12, while the left and right directions both ends of pressing parts 91 are by by pair of sliding mechanism
The supporting device 92 of composition supports, and by these, pressing parts 91 and supporting device 92 constitute above-mentioned while pressing mechanism 9 simultaneously.
As long as this simultaneously pressing mechanism 9 be provided only on it is each cultivation shelf 5a on plant 2 and holder 3 supply side end i.e.
It can.
In addition, when being somebody's turn to do from side near pressing mechanism 9 simultaneously, as shown in figure 13, in the end of cultivation shelf 5a
Near, it is carried by the lifting that transfer robot 6 carries out the plant 2 between cultivation shelf 5a.Horizontal extent B in the carrying region
Interior, the plant 2 that root 2c is taken out and exposed from track 4 is that lifting carrying, therefore, the plant 2 are carried out according to each holder 3
Root 2c and the nutrient solution 48 that drips from root 2c be easy to contact with pressing parts 91 simultaneously.Therefore, above-mentioned supporting device 92 is constituted
For that can make while pressing parts 91 are moved at the position of the offset of side backward than above-mentioned horizontal extent B.Therefore, carrying is being utilized
Before the lifting that robot 6 carries out the plant 2 between cultivation shelf 5a is carried, which needs will be disposed proximally
Pressing parts 91 pull at the position farthest away from cultivation shelf 5a simultaneously.
Above-mentioned control unit 10 shown in fig. 1 of carrying calculates the front side to lamination cultivation shelf 5 and the transfer robot 6 of rear side
The robot coordinate system being set separately in target control position, carry out mobile control towards the target control position and hand
21 drive control, in addition, also to it is such while pressing parts 91 mobile timing control.
The effect > of 7. embodiment of <
As described above, the plant cultivation system 1 of present embodiment has pressing parts 91 simultaneously, to another
Side (front side of the example in Fig. 8) is pressed into adjacent at least 1 group of track in multiple tracks 4 on cultivation shelf 5a simultaneously
Side (rear side of the example in Fig. 8) supply multiple holder 3 and move it.Passing through pressing parts simultaneously as a result,
91 are pressed into simultaneously between the track 4 of holder 3, maintain plant 2 configuration spacing phase difference P in the state of into
The carrying of the whole plant 2 of row.Therefore, even occupying the diameter in region with the circle than each plant 2 each other in these tracks 4
In the case that D narrow configuration space W is arranged side by side, the contact of plant 2 to each other also can be avoided.As a result, can improve
The carrying function to plant 2 of plant cultivation system 1.
In addition, in the present embodiment, especially, also including lamination cultivation shelf 5, being configured in the up-down direction
Multiple cultivation shelf 5a；And transfer robot 6, it carries and keeps between multiple cultivation shelf 5a of lamination cultivation shelf 5
Utensil 3, transfer robot 6 also carry out the push operation from a side to the other side of pressing parts 91 simultaneously.In this way, by using
Being arranged in the up-down direction has the lamination cultivation shelf 5 of multiple cultivation shelf 5a corresponding with the growth phase of plant 2, energy
Enough reduce the whole setting base area of the plant cultivation system 1.Also, plant 2 is carried out between multiple cultivation shelf 5a
The transfer robot 6 that lifting is carried also carries out the push operation of pressing parts 91 simultaneously, thus without other setting while pressing
Enter to operate dedicated driving actuator, so as to simplify the whole structure of the plant cultivation system 1, cuts down manufacturing cost.
In addition, in the present embodiment, especially, cultivation shelf 5a has supporting device 92, which will be same
When pressing parts 91 be supported to can alongst (carry direction) it is mobile, supporting device 92 can make while pressing parts
91 are moved to the horizontal extent B for carrying the region of holder 3 between multiple cultivation shelf 5a than transfer robot 6 by side
Position at.Thereby, it is possible to be supported to pressing parts 91 simultaneously to can be avoided in transfer robot 6 in multiple cultivation shelf 5a
Between carry out plant 2 lifting carry during the plant 2 root 2c and from root 2c nutrient solution to drip etc. be pressed into simultaneously
Component 91 contacts.
8. variation > of <
Disclosed embodiment is not limited to above content, can be in the range of not departing from its purport and its technical idea
Carry out various deformation.Hereinafter, being illustrated to such variation.
(the case where phase difference is arranged in 8-1. in the configuration spacing between the holder of interorbital)
In the above-described embodiment, between 2 adjacent track 4, the holder 3 that arranges in the lateral direction
Between separator 3s, it is not provided with phase difference in configuration spacing, but it is not limited to this.For example, as shown in Figure 14, Figure 15,
The configuration being also possible between the holder 3 for making to keep plant 2 between 2 adjacent track 4
Spacing has phase difference.In the example in the figures, on each track 4, it is not inserted into separator 3s, and is only serially configured to plant
The phase difference P of the configuration spacing of holder 3 between adjacent track 4 is set to half by 2 holder 3 kept
The length of a holder 3.
In this case, if by simultaneously pressing parts 91 each comb teeth 91a protrusion length be set to respectively with it is right
The corresponding prominent length of the phase difference of the configuration spacing for the holder 3 on track 4 answered.It is pressed while using such
Enter in the case that component 91 carries out indentation carrying, as shown in figure 15, matching for the holder 3 between each track 4 can maintained
It sets and is carried to whole in the state of the phase difference P of spacing.
As described above, while plant cultivation system 1 of this variation pressing parts 91 with multiple tracks 4
Multiple comb teeth 91a towards pressing direction shape outstanding are respectively provided at corresponding position, it is adjacent in multiple comb teeth 91a
The protrusion length of at least 1 group comb teeth is different.As a result, by the protrusion length between the comb teeth 91a of pressing parts 91 simultaneously
The difference difference of distance (be pressed into) is appropriately configured, such as even if between 1 group of adjacent track 4 in the longitudinal direction
In the case where supplying at same position and inserting holder 3, it is also able to carry out the plant for maintaining these tracks 4 to set to each other
The carrying of the phase difference P of the configuration spacing of object 2, whole plant 2.
(the case where separator is recycled with track is arranged in 8-2.)
In the above-described embodiment, the track 4 for carrying plant 2 is only provided on cultivation shelf 5a, but and unlimited
In this.For example, as shown in figure 16, being also possible to be arranged on cultivation shelf 5a for carrying on the direction opposite with plant 2
The dedicated separator circulation track 51 of separator 3s.In this case, the side (rear side in figure) of plant 2 is supplied
Transfer robot 6 takes out separator 3s with track 51 from separator circulation and supplies to the track 4 of other plant carrying, takes out
The transfer robot 6 of the side (front side in figure) of plant 2 by the separator 3s taken out from plant carrying track 4 supply to every
Off member circulation track 51 simultaneously carries out indentation carrying.
As described above, the plant cultivation system 1 of this variation also has separator 3s, by by the separator
Between 3s is inserted between multiple holder 3 of the track of 1 plant carrying on the length direction for carrying out regulation holder 3
Every, cultivation shelf 5a also there is separator circulation track 51, the separator circulation track 51 be configured to by it is multiple it is described every
Off member 3s, which is supported to, alongst to be moved, and whenever supplying separator 3s from the other side, make multiple separator 3s court
It is accordingly moved to side with the separator 3s supplied.Thereby, it is possible to the insert numbers according to separator 3s, are easily adjusted 1
Plant on the track 4 of a plant carrying carries interval, and can easily be handled using separator circulation with track 51
The multiple separator 3s used on shelf 5a are cultivated at 1.
In addition, in the above description, in the case where there is the record such as " vertical ", " parallel ", " plane ", the record is simultaneously
It is not proper " vertical ", " parallel ", " plane ".That is, above-mentioned " vertical ", " parallel ", " plane " mean permission
In design, the tolerance in manufacture, " substantial is vertical " of error, " substantial is parallel ", " substantial plane ".
In addition, in the above description, there are apparent size or the notes such as size " same ", " equal ", " difference "
In the case where load, which is not proper " same ", " equal ", " difference ".That is, above-mentioned " same ", " equal ",
" difference " means tolerance, " substantially same " of error, " being substantially equal ", " essence allowed in design, in manufacture
Upper difference ".
It, can also be by above embodiment and each variation in addition, other than content already stated above
Means carry out appropriately combined use.
Although in addition, without illustrated one by one, can in the range of not departing from purport, to above embodiment and
Each variation applies and implements numerous variations.
Claims (6)
1. a kind of plant cultivation system, cultivates plant, which is characterized in that the plant cultivation system includes
Holder keeps the plant as cultivation object；
Plant, which carries, uses track, consists of and is supported to multiple holder and can alongst move, whenever
When supplying the holder from the side on the length direction, make multiple holder towards on the length direction
The other side accordingly moved with the holder supplied；
Shelf is cultivated, being arranged side by side there are multiple plant carrying tracks；And
Pressing parts simultaneously are pressed into simultaneously towards multiple plant carrying rails on the cultivation shelf to the other side
Multiple holder of the respective side supply of adjacent at least 1 group of plant carrying track in road and make them
It is mobile.
2. plant cultivation system according to claim 1, which is characterized in that
Described while pressing parts are respectively provided at position corresponding with track with multiple plant carryings towards pressing direction
Multiple comb teeth of shape outstanding,
The protrusion length of at least 1 group adjacent comb teeth in the multiple comb teeth is different.
3. plant cultivation system according to claim 1 or 2, which is characterized in that
The plant cultivation system also has separator, by the way that the separator is inserted into the more of 1 plant carrying track
The interval on the length direction of the holder is provided between a holder,
The cultivation shelf also has separator circulation track, which is configured to track by multiple isolation
Part, which is supported to, to be moved along the length direction, whenever supplying the separator from the other side, made multiple described
Separator is accordingly moved towards the side with the separator supplied.
4. plant cultivation system according to claim 1 or 2, which is characterized in that
The plant cultivation system also includes
Lamination cultivates shelf, is configured with multiple cultivation shelves in the up-down direction；And
Transfer robot carries the holder between multiple cultivation shelves on lamination cultivation shelf,
The transfer robot also carries out the push operation from a side to the other side of the pressing parts simultaneously.
5. plant cultivation system according to claim 4, which is characterized in that
The cultivation shelf has supporting device, which is supported to described while pressing parts can be along the length
It is mobile to spend direction,
Described in the supporting device can make while pressing parts are moved to and put than the transfer robot in multiple cultivations
The horizontal extent in the region of the holder is carried between plate at the position of the side.
6. a kind of plant cultivation method, which is characterized in that execute following steps:
Multiple plants arranged side by side, which are supplied to, in the holder kept to the plant as cultivation object carries use
Adjacent at least 1 group of plant in track carries in the state of the side on the respective length direction of track, while to described
The other side on length direction is pressed into the multiple holder supplied and moves them.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| JP2018004874A JP6713132B2 (en) | 2018-01-16 | 2018-01-16 | Plant cultivation system and plant cultivation method |
| JP2018-004874 | 2018-01-16 |
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| CN (1) | CN110036899B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111328694A (en) * | 2020-04-09 | 2020-06-26 | 吉林大学 | Atomization culture tank for unitized potato breeder seeds |
| CN112293238A (en) * | 2019-07-29 | 2021-02-02 | 株式会社安川电机 | Plant cultivation system |
| CN114258795A (en) * | 2020-09-14 | 2022-04-01 | 株式会社安川电机 | Plant cultivation system and plant cultivation method |
| CN114514837A (en) * | 2020-11-16 | 2022-05-20 | 株式会社安川电机 | Plant separation device, plant cultivation system, and plant separation method |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6713132B2 (en) | 2020-06-24 |
| JP2019122297A (en) | 2019-07-25 |
| CN110036899B (en) | 2021-06-15 |
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