CN112804871B

CN112804871B - Holding device, dividing device, and transplanting device and transplanting system using the holding device and dividing device

Info

Publication number: CN112804871B
Application number: CN201980065480.0A
Authority: CN
Inventors: 大桥一道; 铃木广树
Original assignee: Ohashi Co Ltd
Current assignee: Ohashi Co Ltd
Priority date: 2018-10-09
Filing date: 2019-10-09
Publication date: 2023-05-30
Anticipated expiration: 2039-10-09
Also published as: JP2020059077A; WO2020075786A1; CN112804871A; JP6865472B2

Abstract

The holding device (60) holds a seedbed slice (C3) transplanted with seedlings, and the holding device (60) comprises: at least one group of holding members (65) which are provided so as to be relatively movable in a first direction; and at least one group of distal end portions (66) provided at the distal ends of the group of holding members (65) and capable of holding at least two opposing side surfaces of the sheet (C3), wherein the group of distal end portions (66) can be kept in a state of equal distance from each other and can be brought close to and separated from each other throughout the entire length of the distal end portions (66) as the group of holding members (65) relatively move.

Description

Holding device, dividing device, and transplanting device and transplanting system using the holding device and dividing device

Technical Field

The present invention relates to a gripping device and a dividing device applied to a transplanting device for transplanting seedlings, and a transplanting device and a transplanting system using the same.

Background

In recent years, plant factories for growing plants in controlled environments such as indoors have been developed, and safe and stable food supply and environmental protection have been desired. Further developments and improvements in various devices utilized in plant factories are also desired. Patent document 1 discloses a seedbed holding unit, and patent document 2 discloses a transplanting hand.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication 2016-007686

Patent document 2: japanese patent application laid-open No. 2018-068234.

Disclosure of Invention

Problems to be solved by the invention

The various devices provided in the past are generally complicated in structure and operation, and may cause an increase in manufacturing cost of the devices, cultivation cost of plants, and the like, and their operation may adversely affect seedlings of plants.

Solution for solving the problem

The present invention relates to a technique which is simple in structure and contributes to efficient cultivation of seedlings.

The holding device of the present invention holds a seedbed slice in which seedlings are transplanted, and comprises: at least one group of holding members provided so as to be relatively movable in a first direction; and at least one group of distal end portions provided at distal ends of the group of holding members, which are capable of holding the sheet so as to sandwich at least two opposing side surfaces of the sheet, and which are capable of being kept in an equal distance from each other and being brought close to and separated from each other throughout the entire length of the distal end portions as the group of holding members are moved relative to each other.

The holding device of the present invention holds a seedbed slice in which seedlings are transplanted, and comprises: at least one group of holding members capable of approaching and separating from each other; and at least one group of distal end portions provided at distal ends of the group of holding members, the holding members being configured to hold only a part of the bottom surface of the seed bed sheet when the group of holding members approaches.

The transplanting device of the invention comprises: the holding device is arranged below the cultivation panel, and the group of holding members can pass through holes arranged on the cultivation panel and rise to the upper part of the cultivation panel; and a holding member for holding the seedbed slice above the cultivation panel.

The implantation system of the present invention comprises: the above-mentioned transplanting device; and a conveying device for conveying the seedbed net sheet including the plurality of seedbed sheets before division to the transplanting device.

The dividing apparatus according to the present invention divides a bed net sheet including a plurality of bed sheets into a plurality of bed sheets, and includes: a pressing device for pressing the seedbed net sheet; and a holding device having a plurality of holding members that hold the bed net sheet at a plurality of positions in a manner corresponding to the plurality of bed sheets to be divided, the plurality of holding members being relatively movable with respect to a direction in which the plurality of bed sheets to be divided are arranged.

The transplanting device of the invention comprises: the above-mentioned dividing device; and a holding device provided below the cultivating panel, wherein a group of holding members pass through holes provided in the cultivating panel and rise above the cultivating panel to hold the seedbed slices held by the holding members.

The transplanting device of the invention comprises: the above-mentioned transplanting device; and a conveying device for conveying the seedbed net sheet to the transplanting device.

Effects of the invention

According to the present invention, the bed net sheet can be divided and the bed sheet can be produced with a simple configuration, various costs can be suppressed, and deterioration of the quality of seedlings can be suppressed.

Drawings

Fig. 1 is a perspective view of one embodiment of the implant system of the present invention.

Fig. 2 shows an implant device in the implant system of fig. 1, fig. 2 (a) is a perspective view, and fig. 2 (b) is a front view.

Fig. 3 is an enlarged perspective view of a portion of an extrusion device of a delivery device incorporated into a graft system.

Fig. 4 is an enlarged perspective view of a part of the cutting device in the conveying device.

Fig. 5 is an enlarged side view showing a cutting process of the bed sheet by the cutting device, fig. 5 (a) is a first process, fig. 5 (b) is a second process, and fig. 5 (c) is a third process.

Fig. 6 is an enlarged perspective view of a portion of the extrusion device in the implant device.

Fig. 7 is an enlarged perspective view showing a pressing operation of the pressing device in the transplanting device, where fig. 7 (a) is a first step and fig. 7 (b) is a second step.

Fig. 8 is an enlarged perspective view showing a dividing operation of the holding device in the transplanting device, fig. 8 (a) is a first step, and fig. 8 (b) is a second step.

Fig. 9 is an enlarged perspective view of a holding member of the holding device, fig. 9 (a) is an enlarged perspective view from above, and fig. 9 (b) is an enlarged perspective view from below.

Fig. 10 is an enlarged side view showing a pressing operation of the holding member, fig. 10 (a) shows a first step, and fig. 10 (b) shows a second step.

Fig. 11 is a perspective view of a holding device according to the first embodiment of the implant device.

Fig. 12 is an enlarged perspective view of a part of a grip member in the grip device of the first embodiment.

Fig. 13 is an enlarged side view showing a gripping operation of the gripping member of fig. 12, where fig. 13 (a) is a first step and fig. 13 (b) is a second step.

Fig. 14 is an enlarged side view showing the gripping operation of the gripping member of fig. 12, fig. 14 (a) is a third step, fig. 14 (b) is a fourth step, and fig. 14 (c) is a plan view from above in fig. 14 (a) and 14 (b).

Fig. 15 is an enlarged side view showing the gripping operation of the gripping member of fig. 12, fig. 15 (a) is a fifth step, and fig. 15 (b) is a sixth step.

Fig. 16 is a perspective view of a holding device according to a second embodiment.

Fig. 17 is a front view of the holding device according to the second embodiment in a state where two holding pins are in proximity.

Fig. 18 is a front view of the holding device according to the second embodiment in a state in which two holding pins are separated.

Fig. 19 is an enlarged side view showing a gripping operation of the gripping member of fig. 16, fig. 19 (a) is a first step, fig. 19 (b) is a second step, and fig. 19 (c) is a plan view in the first step and the second step.

Fig. 20 is an enlarged side view showing the gripping operation of the gripping member of fig. 16, fig. 20 (a) is a third step, fig. 20 (b) is a fourth step, and fig. 20 (c) is a plan view in the third step and the fourth step.

Fig. 21 is an enlarged side view showing a gripping operation of the gripping member of fig. 16, fig. 21 (a) is a fifth step, fig. 21 (b) is a sixth step, and fig. 21 (c) is a plan view in the fifth step and the sixth step.

Fig. 22 is an enlarged side view showing a gripping operation of the gripping member of fig. 16, fig. 22 (a) is a seventh step, fig. 22 (b) is an eighth step, and fig. 22 (c) is a plan view in the seventh step and the eighth step.

Detailed Description

Specific embodiments of the holding device and the dividing device according to the present invention, and the transplanting device and the transplanting system using the same will be described in detail below with reference to the drawings.

Fig. 1 shows a perspective view of one embodiment of the implant system of the present invention. The transplanting system 1 includes a transplanting device 3 and a conveyor (loader) 5. Fig. 2 shows the transplanting device 3 in the transplanting system 1 of fig. 1, fig. 2 (a) shows a perspective view, and fig. 2 (b) shows a front view.

The transplanting system 1 is a system for transplanting seedlings of a plurality of plants embedded with a bed net sheet to a cultivation panel in order to cultivate plants in an environment-controlled plant factory or the like. The bed sheet C1 shown in fig. 1 is carried from the outside, placed on the conveyor 5 by a hand or the like, and subjected to predetermined processing in the conveyor 5 and the transplanting device 3, and finally divided into individual bed sheets C3 (see fig. 3 and the like) in which seedlings are embedded, and the bed sheets C3 are placed in the holes of the cultivating panel D. The various members of the implantation system 1 are made of metal such as stainless steel, but the material thereof is not particularly limited. The structures, shapes, positional relationships, and the like of the various members are not particularly limited.

For example, a bed sheet made of polyurethane foam or the like is used as the bed sheet C1, but the type thereof is not particularly limited. In the bed net sheet C1 of this example, a cut line is provided in advance so as to be easily divided into individual bed sheets C3, and a cut line is also provided at a cross mark at a center position on the upper surface so as to embed seedlings (not shown). Of course, the size and shape of the bed sheet C1 and the bed sheet C3, the pattern of the cut lines, and the like are not particularly limited.

For example, a cultivation panel made of polyurethane foam or the like is also used as the cultivation panel D, but the kind thereof is not particularly limited. A plurality of circular holes H (see fig. 13, etc.) are provided in the cultivation panel D, and the seedbed slices C3 are disposed in the holes H. The shape, number, etc. of the holes H are not particularly limited as long as the seedbed plate C3 can be disposed.

The conveying device 5 includes: a stand 11; a planar base 12 disposed on the stand 11; an extrusion device 13 that operates on the base 12; and a cutting device 14. The conveying device 5 performs a function of dividing the bed sheet C1 as the raw product into medium-sized bed sheets C1A at an intermediate stage and conveying them to the transplanting device 3.

The transplanting device 3 includes: a stand 20; a planar base 21 disposed on the stand 20; the extrusion device 22 is operated on the base 21 (see fig. 2 (a) and 3); a dividing device 70 including a pressing device 30 and a holding device 40 (refer to fig. 1); the gripping device 50 (see fig. 2 (b)). The transplanting device 3 finally divides the medium-sized bed net sheet C1A conveyed from the conveying device 5 into bed sheets C3 corresponding to one seedling, and disposes the bed sheets C3 in the holes of the cultivating panel D.

Fig. 3 shows an enlarged perspective view of a part of the extrusion device 13 in the conveyor 5. The extrusion device 13 comprises an elongated extrusion member 15 and an extrusion guide 16 fixed to the base 12. After the operator or the like disposes the bed sheet C1 on the base 12, the extruding means 15 advances in the direction of arrow P1 along the extruding rail 16 by an extruding mechanism, not shown, and the bed sheet C1 is extruded and conveyed to the cutting device 14.

Fig. 4 is an enlarged perspective view of a part of the cutting device 14 in the conveying device 5. The cutting device 14 includes a cutting blade 17 at its distal end to divide the large-sized bed sheet C1 into medium-sized bed sheets C1A. In this example, as shown in fig. 6, the cutting device 14 divides the bed sheet C1 into six rows to produce a medium-sized bed sheet C1A.

Fig. 5 is an enlarged side view showing a cutting process of the bed sheet C1 by the cutting device 14, fig. 5 (a) is an enlarged side view showing a first process, fig. 5 (b) is an enlarged side view showing a second process, and fig. 5 (C) is an enlarged side view showing a third process. The cutting device 14 stops at a position above the bed sheet C1 at a position corresponding to a predetermined cut mark of the bed sheet C1 (see fig. 5 (a)), lowers the cutting blade 17 to contact the bed sheet C1 (see fig. 5 (b)), lowers the cutting blade 17 to reach the bottom surface of the bed sheet C1 (see fig. 5 (C)), and divides the bed sheet C1 into medium-sized bed sheets C1A. The cutting device 14 presses the medium-sized bed sheet C1A to the right in the drawing, and conveys it to the transplanting device 3.

Fig. 6 is an enlarged perspective view of a part of the extrusion device 22 in the transplanting device 3. The extruding device 22 advances in the direction of arrow P2 along extruding guides 24 and 25 fixed to the base 21, and extrudes the medium-sized bed sheet C1A. The extrusion device 22 is provided with a plurality of adjustment grooves 23, and the width of the extrusion guides 24 and 25, that is, the number of the guided medium-sized seedbed net pieces C1A, can be changed by changing the adjustment grooves 23 that shift and engage the positions of the extrusion guides 25. In this example, the number of the seedbed slices C3 in one row in the width direction of the medium-sized seedbed net slice C1A is six, but the number can be adjusted.

Next, the pressing device 30 and the holding device 40 provided in the separating device 70 (see fig. 1) will be described. The dividing device 70 performs a function of dividing the medium-sized bed net sheet C1A including the plurality of bed sheets C3 into the plurality of bed sheets C3. Fig. 7 is an enlarged perspective view showing a pressing operation of the pressing device 30, where fig. 7 (a) shows a first step and fig. 7 (b) shows a second step. The pressing device 30 performs a function of pressing the medium-sized bed sheet C1A, and also performs a function of partially cutting in the present embodiment.

The pressing device 30 has a pressing member 31 penetrating from the surface of the medium-sized bed sheet C1A to a predetermined depth. As shown by a V portion surrounded by a broken line in fig. 7 (b), a plurality of penetration blades 31A and a plurality of spaces 31b are alternately arranged in the longitudinal direction along the surface of the medium-sized bed sheet C1A on the pressing member 31.

As shown in fig. 7 (a), the medium-sized bed sheet C1A conveyed by the extruding device 22 shown in fig. 6 is stopped at a predetermined position, and the pressing device 30 is stopped at a position above the medium-sized bed sheet C1A and corresponding to a predetermined cut mark of the medium-sized bed sheet C1A. Further, as shown in fig. 7 (b), when the pressing member 31 descends, the intrusion blade 31A enters the medium-sized bed sheet C1A. The penetration blade 31A has three tip portions 31C with tip ends, and is easy to enter from the surface of the medium-sized bed sheet C1A. The pressing member 31 produces a linear bed sheet C2 in which six bed sheets C3 are connected in a row with a cut line L (see fig. 7 (b)), and the linear bed sheet C is held by a holding device 40 described later.

In the longitudinal direction of the pressing member 31, the penetration blade 31a spans the adjacent seedbed pieces C3 across the cut line L, and enters a position that avoids the position T of the seedling that is the center position of each seedbed piece C3. That is, the penetration blade 31a penetrates both end portions of the bed sheet C3, and does not penetrate the center. On the other hand, since the space 31b is located at a position corresponding to the seedling position T which is the central position of each of the seedbed plates C3, the pressing member 31 is less likely to directly contact the seedling, and the possibility of damaging the seedling can be suppressed.

Fig. 8 is an enlarged perspective view showing a dividing operation of the holding device 40, fig. 8 (a) shows a first step, and fig. 8 (b) shows a second step. The holding device 40 includes: a support column 41 disposed at a predetermined position of the transplanting device 3; a beam 42 fixed to the support column 41; a guide rail 43 formed on the lower surface of the beam 42; a slide member 44 slidable on the guide rail 43 (see fig. 8 (b)); a connecting arm 46 connected to the slide member 44; and a plurality of holding members 45 connected to the connecting arms 46.

The holding member 45 is provided with: as indicated by a broken line in fig. 8 (a), the linear bed sheet C2 in fig. 7 (b) is held at a plurality of positions corresponding to the plurality of bed sheets C3 to be divided. When the slide member 44 (not visible in fig. 8 a) shown in fig. 8 b is moved in the direction of the arrow P3 by a driving mechanism (not shown) from the state of fig. 8 a, the connecting arm 46 connected to the slide member 44 is pulled, and the state of fig. 8 b is obtained. The plurality of holding members 45 can be relatively moved with respect to the direction in which the plurality of seedbed slices C3 to be divided are arranged by the action of the guide rail 43, the slide member 44 and the linking arm 46.

Fig. 9 is an enlarged perspective view of the holding member 45, fig. 9 (a) is an enlarged perspective view from above, and fig. 9 (b) is an enlarged perspective view from below. The holding member 45 includes: a support portion 47 as a portion fixed to the connecting arm 46 and supported; a claw 49 provided at the distal end; and a claw driving section 48 that drives the claw section 49.

Fig. 10 is an enlarged side view showing the pressing operation of the holding member 45 against the linear bed sheet C2 (and the bed sheet C3), where fig. 10 (a) shows a first step and fig. 10 (b) shows a second step. The claw portion 49 in the holding member 45 has a first claw 49a and a second claw 49b that are relatively movable. As shown by the broken line in fig. 10 (a), the first claw 49a presses the upper surface of the linear bed sheet C2 (bed sheet C3), and the second claw 49b presses the side surface of the linear bed sheet C2 (bed sheet C3). The first claw 49a disposed on the upper side can move downward along arrow P4, and the second claw 49b disposed on the lower side can move upward along arrow P5. Therefore, when the first claw 49a and the second claw 49b move in the directions of these arrows, as shown in fig. 10 (b), the first claw 49a and the second claw 49b are relatively close to each other, and a part of the linear bed sheet C2 (bed sheet C3), particularly the end portion of the upper surface, can be held.

The method of dividing the linear bed sheet C2 into the bed sheets C3 by the dividing device 70 is as follows. As shown in fig. 7 (b), in a state in which the pressing device 30 presses the linear bed sheet C2 (the medium-sized bed sheet C1A), as shown in fig. 8 (a), the holding device 40 approaches the linear bed sheet C2, and the state shown in fig. 10 (a) is set. In this state, the first claw 49a is not in contact with the upper surface of the seedbed slice C3.

From the state of fig. 8 (a) and 10 (a), the first claw 49a moves downward along the arrow P4, and the second claw 49b moves upward along the arrow P5. As a result, as shown in fig. 10 (b), the end of the upper surface of the linear bed sheet C2 is held by the first claw 49a and the second claw 49b, and the linear bed sheet C2 is held.

The holding device 40 moves (retreats) in the Y direction shown by the coordinate axis in fig. 8 (a) while maintaining the state shown in fig. 10 (b), and the linear bed sheet C2 is separated from the pressing device 30 in the state shown in fig. 7 (b). Thereafter, as the slide member 44 moves and the connecting arm 46 stretches, the holding member 45 moves in the direction P3 to divide the linear bed sheet C2, and as indicated by a broken line in fig. 10 (b), six bed sheets C3 are produced and each bed sheet C3 is held by the holding member 45.

As shown in fig. 9, the first claw 49a includes a first claw piece 49a1 and a second claw piece 49a2 which are divided into two in the horizontal direction and have the same size as each other, and a space S1 is formed between the first claw piece 49a1 and the second claw piece 49a 2. In the holding operation, the first claw 49a is arranged to contact the upper surface of the linear bed sheet C2 (bed sheet C3), and the space S1 corresponds to the center position of the bed sheet C3 where the seedling is located (see fig. 7 b). Therefore, the first claw piece 49a1 and the second claw piece 49a2 are less likely to directly contact the seedling, and the possibility of damaging the seedling can be suppressed.

The second claw 49b has a bent distal end portion 49b1 bent so as to approach the first claw 49a at the distal end. With such a shape, the first claw 49a and the second claw 49b can more reliably hold the linear bed sheet C2 (and the bed sheet C3).

In the dividing device 70 according to the embodiment, the linear bed sheet C2 can be held by the claw portion 49 of the holding member 45 while suppressing adverse effects on seedlings, and the linear bed sheet C2 can be divided into the plurality of bed sheets C3 by the movement of the slide member 44, so that the efficiency of the operation can be improved.

Fig. 11 is a perspective view of the holding device 50 according to the first embodiment in the implant device, and fig. 12 is an enlarged perspective view of a part of the holding member in the holding device 50 according to the present embodiment. The holding device 50 holds the seedbed slices C3 in which seedlings are transplanted and is disposed on the cultivation panel D, and as shown in fig. 2 (b), is disposed below the cultivation panel D placed on the stand 20. The gripping device 50 includes: a support plate 51 fixed to the stand 20; a telescopic mechanism 52 fixed to the support plate 51 and capable of extending and retracting in the up-down direction; a support table 53 fixed to the telescopic mechanism 52; and a holding member driving mechanism 54 and a set of holding members 55 disposed on the support base 53.

The support table 53, the holding member driving mechanism 54, and the holding member 55 can be moved in the up-down direction by the expansion and contraction of the expansion and contraction mechanism 52. As will be described later, in particular, the holding member 55 is configured to be capable of passing through a hole H (see fig. 13 to 15) provided in the cultivating panel D when the holding member is lifted.

The holding member driving mechanism 54 is configured to drive a pair of opposing holding members 55 so as to be able to approach and separate from each other in the Y-axis direction of the coordinate axes. Fig. 12 shows a state in which only the immediately preceding grip members 55 are brought close to each other for convenience, but in a real process, all the groups of grip members 55 are brought close to or separated from each other at the same time.

The holding member 55 further includes a distal end portion 56 provided at a distal end of the holding member 55. As described later, when the pair of holding members 55 approach, the pair of end portions 56 facing each other can hold the bed sheet C3 so as to hold only a part of the bottom surface thereof. The distal end portion 56 of the present embodiment is constituted by a grip claw 57 having a shape curved from the main body 55a of one grip member 55 toward the other grip member 55. The holding claw 57 is bent so as to extend obliquely upward from the main body 55 a.

Fig. 13 to 15 show a method in which the holding device 50 holds the seedbed slice C3 and is disposed on the cultivation panel D. The sequence of this method is described below. Fig. 13 is an enlarged side view showing a gripping operation of the gripping member of fig. 12, where fig. 13 (a) shows a first step and fig. 13 (b) shows a second step. In the first step of fig. 13 (a), a group of holding members 55 are positioned below the cultivating panel D, and the bed sheet C3 is held by the claw portions 49 of the holding members 45 above the cultivating panel D (the same state as in fig. 10 (b)). From this state, the telescopic mechanism 52 is pulled, the holding member 55 is lifted in the direction of arrow Z1, and passes through the hole H of the cultivating panel D, and the second step shown in fig. 13 (b) is performed, and the distal end portion 56 (holding claw 57) penetrates into the interior of the seed bed sheet C3 from the bottom surface of the seed bed sheet C3. Then, the holding member driving mechanism 54 drives the one set of holding members 55 in the directions of arrows Y1 and Y2, respectively, so that the one set of holding members 55 approaches.

Fig. 14 is an enlarged side view showing a gripping operation of the gripping member of fig. 12, fig. 14 (a) shows a third step, and fig. 14 (b) shows a fourth step. As shown in fig. 13 b, the pair of holding members 55 is brought close to each other, and as shown in the third step of fig. 14 a, the pair of distal ends 56 (holding claws 57) are brought into contact with each other. The bottom surface of the bed sheet C3 is held by the holding member 45 and is held by the pair of holding claws 57. The bed sheet C3 is slightly narrowed and made smaller in the radial direction by the gripping by the distal end portion 56 (gripping claw 57). From this state, the telescopic mechanism 52 is contracted, the holding member 55 is lowered in the direction of arrow Z2, the bed sheet C3 is positioned at substantially the same position as the hole H of the cultivating panel D in the up-down direction (Z direction), and the holding member 55 is temporarily stopped, and the fourth step shown in fig. 14 (b) is performed. Then, the holding member driving mechanism 54 drives the one set of holding members 55 in the directions indicated by the arrows Y3 and Y4, respectively, to separate the one set of holding members 55.

Fig. 14 (c) shows a top view from above in the state of fig. 14 (a) and 14 (b). The holding claw 57 includes a first holding claw piece 57a and a second holding claw piece 57b which are arranged in the horizontal direction and are equal in size to each other, and a space S2 in which diagonal hatching is applied is formed between the first holding claw piece 57a and the second holding claw piece 57 b. The first holding claw 57a and the second holding claw 57b have the same shape with the same dimensions such as length, width, height, etc., and the space S2 includes the center position of the bed sheet C3 where the seedling is located. Therefore, the holding claws 57 are less likely to come into direct contact with the seedlings, and the possibility of damaging the seedlings can be suppressed.

Fig. 15 is an enlarged side view showing a gripping operation of the gripping member of fig. 12, fig. 15 (a) shows a fifth step, and fig. 15 (b) shows a sixth step. As shown in fig. 14 (b), the pair of holding members 55 are separated, and as shown in the fifth step of fig. 15 (a), the pair of distal end portions 56 (holding claws 57) are separated. The holding member 55 is further lowered in the Z2 direction, and the holding of the bed sheet C3 by the distal end portion 56 (holding claw 57) is released, and as shown in the sixth step in fig. 15 b, the same original position as in fig. 13 a is returned, and a series of steps is terminated. The bed sheet C3 has an expanding elastic force, and thus expands along the wall of the hole H and becomes circular with release of the grip by the distal end portion 56 (grip claw 57) to be fixed in the hole H. After the seedbed sheets C3 are placed in all the holes H of the cultivating panel D, the cultivating panel D is removed from the transplanting system 1 by a human hand or the like and carried to the next step.

Fig. 16 is a perspective view of a holding device 60 according to the second embodiment. The holding device 60 is a device for holding the seedbed slice C3 in which seedlings are transplanted and is disposed on the cultivation panel D, and is disposed below the cultivation panel D placed on the stand 20 in an embodiment different from the holding device 50 shown in fig. 2 (b). The gripping device 50 includes: a support plate 61 fixed to the stand 20; a telescopic mechanism 62 fixed to the support plate 61 and capable of extending and retracting in the up-down direction; a support table 63 fixed to the telescopic mechanism 62; and a holding member driving mechanism 64 and a set of holding members 65 disposed on the support table 63.

By expanding and contracting the expansion mechanism 62, the support table 63, the holding member driving mechanism 64, and the holding member 65 can be moved in the up-down direction. As will be described later, in particular, the holding member 65 is configured to be capable of passing through a hole H (see fig. 19 to 22) provided in the cultivating panel D when it is lifted. The holding member driving mechanism 64 is composed of two opposing plates, and a pair of opposing holding members 65 are attached to each plate. The two sheets constituting the holding member driving mechanism 64 are relatively moved in the X-axis direction of the coordinate axis, and thereby, the one group of holding members 65 can be driven so as to be brought close to and apart from each other in the X-axis direction of the coordinate axis as the first direction.

The one group of holding members 65 is provided so as to be movable relative to each other in the X-axis direction as the first direction. The holding member 65 further includes: at least one group of distal end portions 66 provided at the distal ends of the holding members 65, and capable of holding the at least two opposing side surfaces of the seedbed slice C3. With the relative movement of the one group of holding members 65, the one group of distal end portions 66 can be kept in a state of being equal in distance from each other throughout the entire length of the distal end portions and can be brought close to and separated from each other. This point is described later.

The distal end portion 66 is provided on a curved portion 68 which is a portion curved with respect to the main body 65a of the grip member 65, and in the present embodiment, the distal end portion 66 is constituted by a linear grip pin 67 provided on the curved portion 68. Fig. 17 is a front view of the gripping device 60 in a state where the two gripping pins 67 are close to each other, and fig. 18 is a front view of the gripping device in a state where the two gripping pins 67 are separated from each other. Such a state of approaching and separating the two grip pins 67 is achieved by the action of the grip member driving mechanism 64.

The pair of holding members 65, in particular, the main bodies 65a thereof are disposed apart from each other at a predetermined distance in the Y-axis direction, which is a second direction intersecting the X-axis direction as the first direction, in particular, perpendicularly intersecting in the present embodiment. The details of the bent portion 68 are described herein with reference to fig. 19 (c) and the like. The curved portion 68 includes a first piece 68a extending from the main body 65a of the holding member 65 in a first direction (X-axis direction) and a second piece 68b extending from the first piece 68a in a second direction (Y-axis direction). The first piece 68a and the second piece 68b intersect each other perpendicularly in a horizontal plane (XY plane) in which the bent portion 18 has a substantially L shape, as shown in fig. 19 (c).

At an open end which is an open end of the second piece 68b (an end on the opposite side to the side to which the first piece 68a is connected), an end portion 66 (a holding pin 67) is provided so as to stand vertically with respect to the second piece 68 b. Therefore, the pair of distal end portions 66 (holding pins 67) can be brought close to and separated from each other on the M-M line, which is an aggregate of positions equidistant from the respective holding members 65 in the second direction (Y-axis direction).

Fig. 19 to 22 show a method in which the holding device 60 holds the seedbed slice C3 and the seedbed slice is disposed on the cultivation panel D. The sequence of this method is described below. Fig. 19 is an enlarged side view showing the gripping operation of the gripping member 65 of fig. 16, fig. 19 (a) shows a first process, fig. 19 (b) shows a second process, and fig. 19 (c) shows plan views in the first process and the second process. In the first step of fig. 19 (a), the pair of holding members 65 are still located below the cultivating panel D, and the bed sheet C3 is held by the claw portions 49 of the holding members 45 above the cultivating panel D (the same state as in fig. 10 (b)). However, in the present embodiment, unlike the case of fig. 13 and 14, the holding member 45 holds the seed bed sheet C3 in a state where the holding member 45 is oriented toward the back side of the paper surface, and therefore the holding member 45 is not shown. From this state, the telescopic mechanism 62 is pulled, the holding member 65 is lifted in the direction of arrow Z1, and passes through the hole H of the cultivating panel D, and the second step shown in fig. 19 b is performed, and the tip of the tip portion 66 (holding pin 67) is brought into contact with the bottom surface of the seed bed sheet C3. Further, the pair of distal end portions 66 (holding pins 67) are in the closest state to each other, and as shown in fig. 19 (c), the pair of substantially L-shaped bent portions 18 are engaged with each other. The group of distal end portions 66 (holding pins 67) are located at a short distance, and thus can pass through the holes H of the cultivating panel D.

The group of gripping members 65 in fig. 19 is divided into a first gripping member 65A on the left side and a second gripping member 65B on the right side. The first piece 68a of the first holding member and the first piece 68a of the second holding member 65B extend from the respective main bodies 65a in the first direction (X-axis direction) in a mutually opposite direction, and the second piece 68B extends from the first piece 68a in the vertical direction, i.e., the second direction (Y-axis direction) in the horizontal plane (XY-plane). A distal end portion 66 (holding pin 67) is provided at the open distal end portion of the second piece 68 b. That is, the first grip member 65A is positioned (on the main body 65A) on the left side, the second grip member 65B is positioned (on the main body 65A) on the right side, the distal end portion 66 (grip pin 67) of the first grip member 65A is positioned on the right side, and the distal end portion 66 (grip pin 67) of the second grip member 65B is positioned on the left side.

Fig. 20 is an enlarged side view showing a gripping operation of the gripping member 65 of fig. 16, fig. 20 (a) shows a third step, fig. 20 (b) shows a fourth step, and fig. 20 (c) shows a plan view in the third step and the fourth step. From the state of fig. 19 (b) in which the distal end portion 66 (the grip pin 67) and the bent portion 68 pass through the hole, the grip member driving mechanism 64 drives the pair of grip members 65 in the directions of arrows X1 and X2, respectively. As described above, as shown in fig. 20 (a), the positions of the one group of grip members 65 in the first direction (X-axis direction) are exchanged, that is, the left and right grip members 65 are exchanged. That is, the first grip member 65A is positioned (on the main body 65A) on the right side, the second grip member 65B is positioned (on the main body 65A) on the left side, the distal end portion 66 (grip pin 67) of the first grip member 65A is also positioned on the right side, and the distal end portion 66 (grip pin 67) of the second grip member 65B is also positioned on the left side. Then, the group of distal end portions 66 (holding pins 67) are in a state of maximum separation. When the telescopic mechanism 62 is further extended and the holding member 65 is lifted up in the direction of arrow Z1, the state of the fourth step shown in fig. 20 b is set to a state in which the distal end portion 66 (holding pin 67) approaches the side surface of the seed bed sheet C3.

Fig. 21 is an enlarged side view showing a gripping operation of the gripping member 65 of fig. 16, fig. 21 (a) shows a fifth step, fig. 21 (b) shows a sixth step, and fig. 21 (c) shows a plan view in the fifth and sixth steps. From the state of fig. 20 (b), the gripping member driving mechanism 64 drives the group of gripping members 65 in the directions of arrows X3 and X4, respectively. As described above, as shown in fig. 21 (a), the positions of the one group of holding members 65 in the first direction (X-axis direction) are exchanged again. Then, the one set of distal end portions 66 (holding pins 67) is restored to the closest state, that is, the state in fig. 19.

However, in this state, unlike fig. 19, a seed bed sheet C3 is present between a pair of end portions 66 (holding pins 67). Accordingly, with the relative movement of the one set of holding members 65, the one set of distal ends 66 (holding pins 67) partially press the side surface of the sheet C3 while penetrating into the inside of the sheet C3. In this movement, the pair of distal end portions 66 (holding pins 67) can be kept in an equal distance from each other and brought close to each other throughout the entire length of the distal end portions 66. That is, in the state of fig. 20 (a) and 20 (b), the distance R1 between the distal end portions 66 (the holding pins 67) is maintained over the entire length in the up-down direction, and the distance R decreases at a constant rate over the entire length of the distal end portions 66 (the holding pins 67) as the pair of distal end portions 66 (the holding pins 67) approach each other, thereby forming a distance R2 (R1 > R2) shown in fig. 21 (a) and 21 (b). The fact that the distance R decreases in this way means that the distal end portion 66 (the holding pin 67) does not hold in an inclined posture with respect to the sheet C3, and the distal end portion 66 (the holding pin 67) can hold the sheet C3 stably.

Then, finally, as shown in fig. 21 (C), in a state where the groove G having a substantially triangular shape with diagonal hatching is formed, the group of distal end portions 66 (holding pins 67) hold the bed sheet C3 while maintaining the closest state. From this state, the telescopic mechanism 62 is contracted, the holding member 65 is lowered in the direction of arrow Z2, the bed sheet C3 is positioned at substantially the same position as the hole H of the cultivating panel D in the up-down direction (Z direction), and the holding member 65 is temporarily stopped, and the sixth step shown in fig. 21 (b) is performed.

It is preferable that the height d1 of the side surface of the sheet C3 and the length d2 of the region where the distal end portion 66 (holding pin 67) contacts the side surface of the sheet C3 and holds the sheet are set to a state satisfying the relationship of d2.gtoreq.d1/2, and more preferable to a state satisfying the relationship of d2.gtoreq.2d1/3. By setting the length d2 to be equal to or larger than a predetermined ratio with respect to the height d1, the bed sheet C3 can be held more firmly.

The center of the side surface of the seed bed sheet C3 is gripped by the distal end portion 66 (gripping pin 67), and two groove portions G shown in fig. 21 (C) are formed in the seed bed sheet C3 in a state of being opposed to each other, and the seed bed sheet C3 is formed in a substantially circular shape as a whole, so as to be adapted to the shape of the hole H of the cultivating panel D. Therefore, when the seedbed slice C3 is placed in the hole H, the seedbed slice C3 is unlikely to interfere with the hole H, and the placement becomes smooth. Further, since the two distal end portions 66 (holding pins 67) are spaced apart by a predetermined distance, damage to seedlings disposed in the center is suppressed.

Fig. 22 is an enlarged side view showing a gripping operation of the gripping member 65 of fig. 16, fig. 22 (a) shows a seventh step, fig. 22 (b) shows an eighth step, and fig. 22 (c) shows plan views in the seventh step and the eighth step. From the state of fig. 21 (b), the gripping member driving mechanism 64 drives the group of gripping members 65 in the directions of arrows X1 and X2, respectively. As described above, as shown in the seventh step of fig. 22 (a), the positions of the one group of grip members 65 in the first direction (X-axis direction) are exchanged again, that is, the left and right grip members 65 are exchanged. Then, the pair of distal end portions 66 (holding pins 67) are separated by a distance R3 (R1 > R3 > R2) which is similar to that of fig. 20 but is not separated to a large extent from the state of fig. 20. The pair of distal end portions 66 (holding pins 67) are brought close to the wall of the hole H, and the holding of the bed sheet C3 is released. The bed sheet C3 has an expanding elastic force, and thus expands to a circular shape along the wall of the hole H as shown in fig. 21 (C), and is fixed in the hole H.

In this movement, the group of distal end portions 66 (holding pins 67) can be kept apart from each other while maintaining the same distance from each other throughout the entire length of the distal end portions 66. That is, in the state of fig. 21 a and 21 b, the distance R2 between the distal end portions 66 (the holding pins 67) is maintained over the entire length in the up-down direction, and the distance R increases at a constant rate over the entire length of the distal end portions 66 (the holding pins 67) as a group of distal end portions 66 (the holding pins 67) are separated, thereby forming a distance R3 (R3 > R2) shown in fig. 22 a. By increasing the distance R in this way, the distal end portion 66 (holding pin 67) can stably release the bed sheet C3.

From the state shown in fig. 22 (a), the telescopic mechanism 62 is further contracted, the holding member 65 is lowered in the direction of arrow Z2, and the state of the eighth step shown in fig. 22 (b) is obtained, and the holding member 65 is returned to the original position. The bed sheet C3 has an expanded elastic force, and thus expands to be fixed in the hole H along the wall of the hole H as shown in fig. 21 (C).

As described above, the holding device 60 according to the present embodiment holds the seedbed slice C3 in which the seedlings 1 are transplanted, and the holding device 60 includes: at least one group of holding members 65 provided so as to be relatively movable in the first direction; at least one group of distal end portions 66 provided at the distal ends of the group of holding members 65, capable of holding the at least two opposing side surfaces of the sheet C3 therebetween, and the group of distal end portions 66 can be kept close to and separated from each other while maintaining the same distance from each other throughout the entire length of the distal end portions 66 as the group of holding members 65 move relative to each other.

Thus, the gripping member of the gripping device can stably grip the sheet C3 without gripping in an inclined posture with respect to the sheet C3, and stably release the grip of the sheet C3, thereby suppressing adverse effects on seedlings.

As described above, in the holding device 60 according to the present embodiment, the distal end portions 66 are provided on the curved portions 68 which are portions curved with respect to the main body 65a of the holding member 65, the holding members 65 are arranged so as to be separated from each other by a predetermined distance in the second direction intersecting the first direction, the curved portions 68 include the first piece 68a extending from the main body in the first direction and the second piece 68b extending from the first piece 68a in the second direction, and the distal end portions 66 are provided so as to be vertically erected with respect to the second piece 68b at the open distal ends which are the open distal ends of the second piece 68b, and the distal end portions 66 are arranged so that they can approach each other and separate from each other on the M-M line which is an aggregate of positions equal in distance from the respective holding members 65 in the second direction. This allows a group of holding members 65 to be compactly arranged.

As described above, in the holding device 60 according to the present embodiment, the one set of holding members 65 includes the first holding member 65A and the second holding member 65B, the first piece 68a of the first holding member 65A and the first piece 68a of the second holding member 65B extend in the first direction in a mutually opposite direction, and the positions of the first holding member 65A and the second holding member 65B in the first direction are exchanged when the one set of distal end portions 66 approach and separate. This allows a group of holding members 65 to be compactly arranged.

As described above, in the grip device 60 of the present embodiment, the distal end portion 66 is constituted by the linear grip pin 67 provided on the bending portion 68 which is a portion bent with respect to the body of the grip member 65. Thereby, the bed sheet C3 can be held stably.

As described above, in the holding device 60 of the present embodiment, the height d1 of the side surface of the bed sheet C3 and the length d2 of the area where the distal end 66 contacts the side surface of the bed sheet C3 satisfy the relationship of d2+.d1/2. This makes it possible to more reliably hold the bed sheet C3.

As described above, the transplanting device 3 according to the present embodiment includes: the holding device 60 of the present embodiment is provided below the cultivating panel D, and a group of holding members 65 can pass through holes provided in the cultivating panel D and rise above the cultivating panel D; and a holding member 45 for holding the seedbed slice C3 above the cultivating panel D. Thus, a transplanting device which can efficiently perform transplanting operation while suppressing the influence on seedlings while suppressing the cost can be realized with a simple configuration.

As described above, the migration system 1 according to the present embodiment includes: the transplanting device 3 of the present embodiment; and a conveying device for conveying the seedbed net sheet C1 including the plurality of seedbed sheets C3 before division to the transplanting device. Thus, a transplanting system capable of efficiently performing transplanting operations while suppressing the influence on seedlings and suppressing the cost can be realized with a simple configuration.

As described above, the holding device 50 according to the present embodiment holds the seedbed slice C3 in which seedlings are transplanted, and the holding device 50 includes: at least one group of holding members 55 that can be moved toward and away from each other; and at least one group of distal end portions 56 provided at the distal ends of the group of holding members 55, and holding the group of holding members 55 so as to hold only a part of the bottom surface of the seed bed sheet when the group of holding members approaches.

Thus, the holding member of the holding device can hold the seedbed slice stably while suppressing adverse effects on the seedling.

As described above, in the holding device 50 of the present embodiment, the distal end portion 56 is formed of the holding claws 57 that are bent from the main body 55a of one holding member 55 toward the other holding member 55. Thus, the seedbed slice can be held more firmly.

As described above, in the holding device 50 of the present embodiment, the holding claws 57 are bent so as to extend obliquely upward from the main body 55 a. Thus, the seedbed slice can be held more firmly.

As described above, in the holding device 50 according to the present embodiment, the holding claws 57 include the first holding claw pieces 57a and the second holding claw pieces 57b which are arranged in the horizontal direction and have the same size, and the space S2 is formed between the first holding claw pieces 57a and the second holding claw pieces 57 b. Thus, adverse effects on seedlings can be suppressed.

As described above, the migration system 1 according to the present embodiment includes: the transplanting device 3 of the present embodiment; and a conveying device 5 for conveying the seedbed net sheet C1 including the plurality of seedbed sheets C3 before division to the transplanting device. Thus, a transplanting system can be realized with a simple configuration, which can suppress the cost and the influence on seedlings and can efficiently perform transplanting operations.

As described above, the dividing apparatus 70 according to the present embodiment divides the bed net sheet C2 including the plurality of bed sheets C3 into the plurality of bed sheets C3, and the dividing apparatus 70 includes: a pressing device 30 for pressing the seedbed net sheet C2; and a holding device 40 having a plurality of holding members 45 for holding the bed net sheet C2 at a plurality of positions in correspondence with the plurality of bed sheets C3 to be divided, the plurality of holding members 45 being relatively movable with respect to a direction in which the plurality of bed sheets C3 to be divided are arranged.

Thus, the bed net sheet is divided into a plurality of bed pieces while maintaining the bed pieces, while suppressing adverse effects on seedlings, and the operation efficiency can be improved.

As described above, in the dividing device 70 according to the present embodiment, the holding member 45 has the first claw 49a and the second claw 49b which are movable relative to each other, the first claw 49a presses the upper surface of the seed bed sheet C3, the second claw 49b presses the side surface of the seed bed sheet C3, and the first claw 49a and the second claw 49b are relatively close to each other to clamp a part of the seed bed sheet C3. Thus, the seedbed slice can be firmly held while suppressing adverse effects on the seedlings.

In view of the above, in the dividing device 70 of the present embodiment, the first claw 49a includes the first claw piece 49a1 and the second claw piece 49a2 that are divided into two in the horizontal direction and are equal in size to each other, and the space S1 is formed between the first claw piece 49a1 and the second claw piece 49a 2. Thus, adverse effects on seedlings can be suppressed.

As described above, in the dividing device 70 of the present embodiment, the second claw 49b has the bent distal end portion 49b1 bent so as to approach the first claw 49a at the distal end. Thus, the seedbed slice can be held more firmly.

As described above, in the dividing device 70 according to the present embodiment, the pressing device 30 includes the pressing members 31 that intrude from the surface of the bed sheet C2 to a predetermined depth, and the pressing members 31 are alternately arranged with the plurality of intruding blades 31a and the plurality of spaces 31b along the surface of the bed sheet C2. Thus, adverse effects on seedlings can be suppressed.

As described above, the transplanting device 3 according to the present embodiment includes: a dividing device 70; the holding device 50 (60) is provided below the cultivating panel D, and a pair of holding members 55 (65) pass through holes H provided in the cultivating panel D and rise above the cultivating panel D to hold the seedbed plate C3 held by the holding members 45. This makes it possible to realize a transplanting device with a simple structure, which can reduce the cost, and which can efficiently perform a transplanting operation while suppressing the influence on seedlings.

As described above, the migration system 1 according to the present embodiment includes: a transplanting device 3; and a conveying device 5 for conveying the seedbed net sheet C1 to the transplanting device 3. Thus, a transplanting system can be realized with a simple structure, which can suppress the influence on seedlings and can efficiently perform transplanting operations.

The present invention is not limited to the above-described embodiments, and may be appropriately modified or improved. The material, shape, size, numerical value, form, number, arrangement position, and the like of each component in the above-described embodiment are not limited as long as the present invention can be realized.

In the above description, the holding device 50 (60) is used for an operation of transferring the seedbed pieces separated from the seedbed net piece such as the polyurethane foam into which the seeds are initially planted to the planting plate. However, the holding device 50 (60) is used not only for such an operation, but also for an operation of transferring a seedbed piece of a plant seedling grown to some extent in one of the cultivation panels (first cultivation panel) to the other cultivation panel (second cultivation panel). "implantation" in this specification is meant to include such two operations. Therefore, the holding device 50 (60) can be applied to, for example, a transplanting device that transfers a seedbed sheet in one cultivating panel (first cultivating panel) to another cultivating panel (second cultivating panel).

The present invention has been described in detail with reference to specific embodiments, but it is apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope thereof.

The present application is based on japanese patent application (japanese patent application publication No. 2018-190774) filed on 10/9/2018, the contents of which are incorporated herein by reference.

Industrial applicability

According to the present invention, the effects of providing a holding device and a dividing device, which can suppress various costs and suppress degradation of seedling quality, and a transplanting device and a transplanting system using the holding device and the dividing device, can be achieved by dividing a bed net sheet and generating a bed sheet with a simple configuration. The present invention, which exhibits such effects, is useful for a gripping device and a dividing device applied to a transplanting device for transplanting seedlings, and a transplanting device and a transplanting system using the same.

Reference numerals illustrate:

1: a transplantation system;

3: a transplanting device;

5: conveyor (loader);

13: an extrusion device;

14: a cutting device;

22: an extrusion device;

30: a pressing device;

31: a pressing member;

40: a holding device;

45: a holding member;

49: a claw portion;

49a: a first jaw;

49b: a second jaw;

50: a holding device;

55: a holding member;

56: a distal end portion;

57: a holding claw;

60: a holding device;

65: a holding member;

66: a distal end portion;

67: a holding pin;

68: a bending portion;

C1: a seedbed net sheet;

C1A: medium-sized seedbed net sheets;

c2: a linear seedbed net sheet;

and C3: seedbed slices;

d: a cultivation panel.

Claims

1. A holding device for holding a seedbed slice in which seedlings are transplanted, the holding device comprising:

at least one group of holding members provided so as to be relatively movable in a first direction; and

at least one group of terminal parts provided at the terminal ends of the group of holding members, capable of holding the at least two opposite side surfaces of the seedbed slice,

with the relative movement of the one group of holding members, the one group of end portions can be kept constant and approaching and separating from each other with equal distances throughout the entire length of the end portions,

the distal end portion is provided on a bending portion which is a portion bent with respect to the body of the grip member,

the one group of holding members are arranged apart from each other at a distance in a second direction intersecting the first direction,

the bending portion includes a first piece extending from the main body in the first direction and a second piece extending from the first piece in the second direction,

at an open end, which is an open end of the second sheet, the end portion is provided to stand vertically with respect to the second sheet,

The group of distal end portions can be mutually approached and separated on a line which is an aggregate of positions equidistant from the respective holding members in the second direction.

2. A holding device for holding a seedbed slice in which seedlings are transplanted, the holding device comprising:

the set of gripping members includes a first gripping member and a second gripping member,

the first piece of the first gripping member and the first piece of the second gripping member extend in the first direction opposite to each other,

the positions of the first holding member and the second holding member in the first direction are exchanged when the group of distal end portions are approaching and separating.

3. The holding device according to claim 2, wherein,

The distal end portion is formed of a linear grip pin provided on a bending portion which is a portion bent with respect to the body of the grip member.

4. The holding device according to claim 2 or 3, wherein,

the height d1 of the side surface of the seedbed slice and the length d2 of the area where the terminal part is in contact with the side surface of the seedbed slice satisfy the relationship that d2 is larger than or equal to d 1/2.

5. A transplanting device is provided with:

a holding device according to claim 2 or 3, provided below the cultivating panel, wherein the group of holding members can pass through holes provided in the cultivating panel and rise above the cultivating panel; and

and a holding member for holding the seed bed sheet above the cultivation panel.

6. A transplant system is provided with:

the grafting device of claim 5; and

and a conveying device for conveying the seedbed net sheet including the plurality of seedbed slices before division to the transplanting device.