JP2015173611A - Work apparatus for elevated type cultivation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work apparatus for elevated type cultivation which can smoothly perform work by preventing a work machine from interfering with an outer frame of a planter when the work is continuously performed by the work machine onto a plurality of planters arranged adjacent to each other in a longitudinal direction.SOLUTION: A conveyance carriage 5 includes position detection parts 132, 133 for detecting an outer frame of a planter 2. When the position detection parts 132, 133 detect an outer frame of a planter 2 in movement of the conveyance carriage 5, a lifting device 94 moves a work machine 4 further upward than a top edge of the outer frame of the planter 2. When the work machine 4 passes above the outer frame of the planter 2, the lifting device 94 moves the work machine 4 down to the planter 2.

Description

  The present invention relates to a working device that performs various operations such as tillage on a planter, and in particular, an upright cultivation work that can be used in a mobile cultivation device that can grow fruit vegetables such as vegetables and flower buds in a densely planted state. Relates to the device.

  Conventionally, techniques for cultivating fruit vegetables and the like using a plurality of horizontally long cultivation benches are well known. For example, Patent Document 1 discloses a closed-loop mobile cultivation apparatus that circulates and conveys a plurality of cultivation benches. This mobile cultivation apparatus employs a tall cultivation floor, and a cultivation bench moves on a high place such as on a guide rail or a conveyor belt.

  Moreover, in the mobile cultivation device, after harvesting the fruit vegetables grown on the planter in the cultivation bench, cultivation of the cultivation soil in the planter is carried out in order to transplant new seedlings to the cultivation bench. There were many. However, since the planting work of this planter was heavy labor, mechanization has been promoted in recent years. And the cultivation apparatus which cultivates the cultivation soil of the planter in the mobile cultivation apparatus which employ | adopted the high-arrangement type cultivation floor corresponding to recent mechanization promotion is disclosed (refer patent document 2).

JP 2010-57448 A JP 2001-352801 A

  By the way, the tilling device of the elevated cultivation floor disclosed in Patent Document 2 is configured such that the tilling device is mounted on a movable carriage that is movably framed across the cultivation bench. Therefore, when the mobile cultivation apparatus which assembles the cultivation apparatus disclosed in Patent Document 2 has a closed loop configuration disclosed in Patent Document 1, it is necessary to install the cultivation apparatus so as to straddle the transport conveyor that conveys the cultivation bench. There is. Therefore, when assembling the above cultivation device to a mobile cultivation device having a closed loop configuration, it is necessary to disassemble and assemble either the cultivation device or the movable cultivation device, and the assembling work is complicated.

  Moreover, since the assembly of such a cultivation device is necessary only for the cultivation after harvesting fruit vegetables and the like, it is desirable to remove the cultivation device during cultivation in the mobile cultivation device. However, as described above, for a mobile cultivation apparatus having a closed loop configuration, as well as difficulty in assembling the cultivation apparatus, the removal of the cultivation apparatus becomes complicated. Furthermore, a complicated mechanism is required for a work carriage such as a tillage device to move in a stable posture when performing work on a planter on a tall cultivation floor.

  Moreover, about the control of the cultivation work by the cultivation apparatus, it is necessary to confirm the positional relationship between the cultivation apparatus and the cultivation bench visually. Therefore, when there is a misconception about the distance between the movement amounts of the tilling device, the tilling device may be brought into contact with the outer frame of the planter while continuing the tilling work, which may cause damage to the planter. . Furthermore, since it does not have a configuration that displaces the height position of the cultivating sword of the cultivator, when cultivating the cultivation bench with a plurality of planters arranged, the outer frame of the adjacent planter becomes a movement obstacle. It is difficult to perform tillage work continuously.

  This invention is made | formed as a technical subject to provide the working device for high-arrangement cultivation which considered the above present conditions and aimed at the improvement.

  The invention according to claim 1 is a carriage for carrying a work machine arranged and operated above a cultivation bench in a tall cultivation floor, and a carriage guide rail for moving the carriage along the longitudinal direction of the cultivation bench. And the transport carriage has a lifting device that lifts and lowers the work implement, and a position detection unit that detects an outer frame of a planter mounted on the cultivation bench, and at the time of movement of the transport carriage When the position detecting unit detects the outer frame of the planter, the lifting device moves the working machine above the upper end of the outer frame of the planter, while the working machine passes above the outer frame of the planter. The lifting device lowers the working machine with respect to the planter.

  According to a second aspect of the present invention, in the work device for upright cultivation according to the first aspect, when the work machine is lowered and the transport carriage is moved, the position detecting unit is an outer frame of the planter. Is detected, the operation of the working machine is stopped.

  The invention of claim 3 is the work device for upright cultivation according to claim 1 or 2, wherein the transport cart is a travel unit that moves the cart guide rail, and a travel drive source that drives the travel unit. And arranging the carriage guide rail so that the conveyance carriage slides on the side of the cultivation bench, and moving the conveyance carriage along the carriage guide rail, thereby cultivating the working machine. It slides right above the bench.

  The invention of claim 4 is the working apparatus for uplifting cultivation according to claim 3, wherein the transport carriage has a first frame that moves on the carriage guide rail as a traveling part at the bottom, and It has a configuration in which a second wheel for moving the outer frame of the cultivation bench is provided at the bottom and a gripping gantry for gripping the working machine via the lifting device is provided so that the movable gantry is the cart. By moving on the guide rail, the gripping platform moves on the cultivation bench.

  According to the invention of the present application, there is provided a transport carriage mounted with a working machine disposed above the cultivation bench in the elevated cultivation floor, and a carriage guide rail for moving the conveyance carriage along the longitudinal direction of the cultivation bench. The transport carriage has a lifting device that lifts and lowers the work implement, and a position detection unit that detects an outer frame of a planter mounted on the cultivation bench, and at the time of movement of the transport carriage, When the position detection unit detects the outer frame of the planter, the lifting device moves the work implement above the upper end of the outer frame of the planter, while the work implement passes above the outer frame of the planter, Since the lifting device lowers the working machine with respect to the planter, the work by the working machine is continuously performed on the plurality of planters arranged adjacent to each other in the longitudinal direction. When running, by automatically lifting is at the lifting device the working machine to prevent interference with the outer frame of the planter, can be executed smoothly work.

  Further, according to the present invention, when the position detector detects the outer frame of the planter when the work machine is lowered and the transport carriage is moved, the operation of the work machine is stopped. Therefore, even when the work machine is working, it is possible to detect the position of the outer frame of the planter, stop the work of the work machine, and prevent the planter from being damaged.

  Moreover, according to this invention, the said conveyance trolley is equipped with the driving | running | working part which moves the said trolley | bogie guide rail, and the driving | running | working drive source which drives this driving | running | working part, The said conveyance trolley slides by the side of the said cultivation bench. The carriage guide rail is arranged as described above, and the work carriage is slid directly on the cultivation bench by moving the carriage carriage along the carriage guide rail. While having the structure which grips the said working machine on the outer side of a guide rail, it can be set as the structure which lays the said cart | rail guide rail along the said cultivation bench. Therefore, it is not only possible to easily assemble the carriage guide rail and the conveyance carriage later, even for a closed-loop mobile cultivation apparatus without installing the conveyance carriage so as to straddle the cultivation bench. It can be configured to be detachable.

  Moreover, according to this invention, the said conveyance trolley has the 1st wheel which moves on the said trolley | bogie guide rail as a traveling part in the bottom part, and the 2nd wheel which moves the outer frame of the said cultivation bench in the bottom part. And a gripping gantry for holding the work implement via the lifting device so as to be movable up and down. The moving gantry moves on the carriage guide rail so that the gripping gantry is cultivated. Since it moves on a bench, each of the moving platform and the gripping platform of the transport cart can be supported on the cart guide rail and the cultivation bench, respectively, and the transport cart is moved in a stable posture. Can do. In addition, when continuously performing the work by the work machine on the plurality of planters arranged adjacent to each other in the longitudinal direction, the work machine is lifted and lowered by an all-air lift device to remove the planter from the planter. Interference with the frame can be prevented and work can be performed smoothly.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic perspective view of a height-cultivating working device for an embodiment of the present invention (first embodiment). It is an enlarged view of the working apparatus for upright cultivation of FIG. It is a top view of the conveyance trolley in the working device for high-arrangement cultivation of FIG. It is a front view of the conveyance cart. It is a bottom view of the conveyance cart. It is a side view of the conveyance cart. It is a front view which shows the structure of the working machine mounted in the same conveyance trolley. It is a side view which shows the structure of the working machine. It is a perspective view of the working machine. It is a disassembled perspective view of the working machine. It is a figure which shows the gear structure inside the housing | casing of the working machine. It is a side view of the working device for high-arrangement cultivation when the working machine is lowered. It is a control block diagram of the working device for upright cultivation. It is a schematic plan view of the mobile cultivation apparatus incorporating the working apparatus for upright cultivation. It is a partially expanded plan view of the mobile cultivation apparatus. It is a side view of the mobile cultivation apparatus. It is a perspective view of the mobile cultivation apparatus. It is a partially expanded perspective view of the mobile cultivation apparatus. It is a side view which shows the structure of a connection part periphery with the working apparatus for tall installation cultivations in the said mobile cultivation apparatus. It is a perspective view of a cultivation bench. It is a top view of a drawing-in apparatus. It is a perspective view of a drawing-in apparatus. It is a partially cutaway perspective view of an engaging claw body and an engagement / disengagement actuator. It is a side view which shows the state before the engagement by a drawing-in apparatus. It is a side view which shows the engagement state of a drawing-in apparatus. It is a side view which shows the drawing completion state of a drawing-in apparatus. It is a side view which shows the engagement cancellation | release state of a drawing-in apparatus. It is a bottom view of the conveyance trolley in the working device for high installation type cultivation in another embodiment (2nd embodiment) of the present invention. It is a side view of the conveyance cart. It is a side view when the working machine in the conveyance cart is lowered. It is a control block diagram of the working device for upright cultivation. It is a side view of the mobile cultivation apparatus incorporating the working apparatus for upright cultivation.

  Hereinafter, an embodiment (first embodiment) embodying the present invention will be described with reference to the drawings.

  First, the structure of the working device 3 for upright cultivation will be described with reference to FIGS. In the following description, when using terms indicating specific directions and positions as necessary (for example, “left and right”, “up and down”, etc.), the direction perpendicular to the paper surface in FIGS. Is the front-rear direction or the vertical direction (may be referred to as the column direction), and the left-right direction on the paper is the left-right direction or the horizontal direction (may be referred to as the row direction). These terms are used for convenience of explanation, and do not limit the technical scope of the present invention.

  As shown in FIG.1 and FIG.2, the working apparatus 3 for an upright type cultivation is arrange | positioned above the cultivation bench 10 mentioned later, the work machine 4 which works, the conveyance trolley 5 which mounts the work machine 4, and conveyance A plurality of (two in this embodiment) carriage guide rails 6 for moving the carriage 5 along the longitudinal direction (left and right direction) of the cultivation bench 10 are provided. A cart standby unit 7 for waiting for a transport cart (work cart) 5 is provided on one end side of the cart guide rail 6 in the tall cultivation work device 3.

  The plurality of carriage guide rails 6 have a V-shaped cross section and are connected to a later-described mobile cultivation apparatus 1 (see FIG. 14) via a rail fixing bracket 25 so as to extend in parallel with each other. It is supported from below by the support stay 8. The rail support stays 8 are installed at a plurality of locations (five locations in the present embodiment) at equal intervals from one end of the carriage guide rail 6 toward the other end. The rail support stay 8 includes a column frame 26 configured to extend in the vertical direction, a beam frame 27 configured to extend in the front-rear direction connected to the upper end of the column frame 26, and one end connected to the column frame 26 and a beam frame. 27 and an oblique frame 28 having the other end connected thereto.

  Each of the plurality of carriage guide rails 6 is connected to a rail support stay (rail support portion) 8 via rail fixing brackets 25 at the lower ends of both ends thereof. A beam frame 27 of the rail support stay 8 that supports both ends of the carriage guide rail 6 is connected to a carriage regulating member 29 on its side surface. The carriage restricting member 29 has a configuration extending upward from below the carriage guide rail 6 so as to block both ends of the carriage guide rail 6 so that the transport carriage 5 moves within the range of the carriage guide rail 6. To regulate. That is, since the transport carriage 5 comes into contact with the carriage restriction member 29 at both end positions of the carriage guide rail 6, it is possible to prevent the transport carriage 5 from falling off the carriage guide rail 6.

  When the tall cultivation work device 3 is fixed to the mobile cultivation device 1 described later (see FIG. 12), the support frame 26 of the rail support stay 8 is connected to the movable cultivation device 1. The support frame 26 of the rail support stay 8 has connection brackets 49 a to 49 d fixed to three side surfaces (left and right side surfaces and front side surface) other than the side surfaces connected to the oblique frame 28. That is, the connection brackets 49a and 49b are disposed at the same height on the left and right side surfaces of the support frame 26, respectively. Further, on the front side surface of the support frame 26, the connecting bracket 49c is arranged at a position above the connecting brackets 49a and 49b, and the connecting bracket 49d is below the connecting brackets 49a and 49b. It is arranged at the position.

  The work device 3 for high-arrangement cultivation has a plurality of rail support portions 8 that support the carriage guide rail 6, and the rail support portion 8 is a conveyor frame 47 (see FIG. 14) of a transfer conveyor 40 </ b> A (see FIG. 14) described later. It connects so that attachment or detachment is possible with respect to the positioning frame 48 (refer FIG. 16) used as the connection member provided in FIG. That is, when the connection brackets 49a to 49d in the rail support portion 8 are fastened to the positioning frame 48, the high-arrangement cultivation work device 3 is attached to the mobile cultivation device 1 (see FIG. 12). Further, the connecting brackets 49a to 49d are detachable from the positioning frame 48, and the height-cultivating working device 3 is movable cultivation device 1 only when a cultivation work or the like by the working machine 4 is required. It can be connected to.

  The cart standby portion 7 provided on one end side of the cart guide rail 6 includes a plurality of column frames 36 extending in parallel with the column frame 26 of the rail support stay 8 and a plurality of bridge frames that bridge the upper ends of the column frames 26 and 36. The beam frame 37 and a plurality of carriage standby rails 38 that bridge the upper surface of the beam frame 37 that are in parallel with each other. And the beam frame 37 connected with the support | pillar frame 26 has connected the trolley | bogie control member 39 to the side surface. The cart standby unit 7 is composed of a part on one end (left end) side of the cart guide rail 6 and a cart standby rail 38, and the transport cart 5 that is retracted from the mobile cultivation device 1 (see FIG. 14), It is supported by a carriage guide rail 6 and a carriage standby rail 38.

  In the example of the present embodiment, there are three support frame 36, and one support frame 36 is arranged apart from the support frame 26 on the right side of the carriage guide rail 6, and the remaining two support frames 36. Are arranged apart from the front side of the support frame 26, 36 installed along the carriage guide rail 6 (the side away from the carriage guide rail 6). In addition, one of the two beam frames 37 is installed at the upper ends of the two column frames 26 and 36 arranged in the front and rear, and the remaining one beam frame 37 is arranged in the two columns arranged in the front and rear. It is installed at the upper end of the frame 36. Further, the two carriage standby rails 38 are installed on the upper side of the two beam frames 37 so as to extend in parallel with the carriage guide rail 6. It has the groove part 38a of the same length. The carriage standby rail 38 is disposed above the carriage guide rail 6.

  Further, like the carriage restriction member 29 connected to the rail support stay 8, the carriage restriction member 39 has a configuration extending upward from below the carriage standby rail 38, so that one end of the carriage standby rail 38 is provided. (Left end) is closed and the carriage 5 is regulated so as to move within the range of the carriage guide rail 6. That is, since the transport cart 5 abuts on the cart regulating members 29 and 39 at one end (left end) position of the cart guide rail 6, the transport cart 5 is prevented from falling off the cart guide rail 6 and the cart standby rail 38. it can.

  As shown in FIGS. 3 to 8, the transport carriage 5 moves on the outer frame of the planter 2, and the moving frame 76 having a moving wheel (first wheel) 77 moving on the carriage guide rail 6 at the bottom. A holding stand 78 having a support wheel (second wheel) 79 at the bottom and holding the work machine 4 so as to be movable up and down is provided side by side. At this time, the lowest point of the moving wheel 77 in the moving frame 76 is lower than the lowest point of the supporting wheel 79 in the holding frame 78 according to the vertical position relationship between the carriage guide rail 6 and the carriage standby rail 38. To position. As a result, as shown in FIG. 3, when the transport carriage 5 is placed on the cart standby section 7, the rear moving carriage 76 of the transport carriage 5 engages the carriage guide rail 6 with the moving wheel 77. Then, while being supported on the cart guide rail 6, the gripping stand 78 on the front side of the transport cart 5 is supported on the cart standby rail 38 by fitting the support wheels 79 to the cart standby rail 38. The

  In addition, each of the moving gantry 76 and the gripping gantry 78 has the grip handles 80a and 80b in the horizontal direction on the lower side (side closer to the bottom surface) of both side surfaces (left and right side surfaces) perpendicular to the moving direction of the transport carriage. It is extended. Accordingly, since the two workers can lift the transport cart 5 with the handle portions 80a and 80b, the transport cart 5 can be easily lifted and lowered with respect to the cart standby unit 7. Moreover, since the cart standby unit 7 is disposed at a position where the transport cart 5 is retracted from the mobile cultivation device 1 (see FIG. 14), the high-cultivation working device 3 is incorporated into the mobile cultivation device 1. Even if it exists, the operator can easily place the transport cart 5 on the cart standby section 7.

  The moving pedestal 76 has a conveyance handle 80c extending in the vertical direction below the side surface (the back surface of the conveyance carriage 5) that is parallel to the conveyance carriage movement direction. The transport handle portions 80c are provided at the left and right ends of the side surface of the movable mount 76, and one operator holds the two handle portions 80c with both hands, and moves the transport cart 5 along the cart guide rail 6. To move. In addition, as shown in FIG. 4, the handle portion 80 c has a portion that is gripped by the operator on the left and right outer sides of the transport carriage 5, and a position where the operator can easily apply force when transporting the transport carriage 5. It can be gripped with. Therefore, during work by the work machine 4 such as tillage work, it is possible to reduce the load on the worker due to the transport of the transport cart 5. In addition, the movable frame 76 includes a controller 130 that controls the lifting and lowering of the work machine 4 and the rotation of the drive motor 114.

  A work machine switch 131 for raising and lowering the work machine 4 is disposed in the transport handle 80c. The operator can easily operate the work machine switch 131 while holding the transport handle 80c and moving the transport carriage 5. Therefore, the worker can confirm the positional relationship between the planter 2 and the work implement 4 while moving the transport carriage 5 and can operate the work implement switch 131. Therefore, the worker can accurately perform the lifting operation of the work machine 4 and can prevent the work machine 4 from contacting the planter 2.

  As shown in FIG. 5, the transport carriage 5 has two wheel support brackets 92 for the moving mount 76 and two wheel support brackets 93 for the holding mount 78 fastened to the lower surface of the bottom frame 91. Yes. The wheel support bracket 92 for the moving gantry 76 has a shape extending in the moving direction of the transport carriage 5, and a plurality of (two in the present embodiment) casters are fixed to the bottom surface as the moving wheels 77. Yes. The wheel support bracket 93 for the gripping gantry 78 has a shape extending in the moving direction of the transport carriage 5, and a plurality of (four in the present embodiment) support wheels 79 are rotated on one side surface of the support carriage 79. A pulley is constructed by pivoting as much as possible.

  In the present embodiment, the supporting wheel 79 configured by a single collar wheel is installed such that the collar portion is located outside the outer frame of the planter 2. Therefore, as long as the supporting wheels 79 on both the front and rear sides are in contact with both upper ends of the outer frame of the planter 2, the holding frame 78 is not limited to the size of the front and rear width of the planter 2, and the posture of the holding stand 78 does not collapse on the planter 2. The transport cart 5 can be moved. In addition, it is good also as what is installed so that a collar part may be located in the outer frame outer side of the planter 2, and it is good also considering the support wheel 79 as a both collar wheel.

  As shown in FIGS. 7 and 8, the gripping platform 78 grips both sides of the work machine 4 (in this embodiment, the left and right sides) so that the work machine 4 is sandwiched between the two air cylinders 94. The work machine 4 is arranged so as to be movable up and down within the gripping frame 78. The gripping stand 78 has an air cylinder 94 fixed to each of two side plates 95 provided so as to face each other through upper and lower cylinder support brackets 96a and 96b. That is, the cylinder support bracket 96 a having an L-shaped cross section is coupled to the upper end of the air cylinder 94 and is fastened to the upper side of the side plate 95. Further, a cylinder support bracket 96b having an L-shaped cross section holds the lower side of the air cylinder 94 and is fastened to the lower side of the side plate 95.

  The air cylinder 94 has a piston rod 97 inserted from the lower end side thereof, and a connecting portion 97 a at the lower end of the piston rod 97 is fastened to the connecting member 98 of the work machine 4. As a result, the piston rod 97 expands and contracts up and down with respect to the fixed air cylinder 94 to move the working machine 4 up and down. A coil spring 99 into which the piston rod 97 is inserted connects the lower portion of the air cylinder 94 and the upper portion of the connecting portion 97a of the piston rod 97. Accordingly, since the elastic force of the coil spring 99 works to position the working machine 4 upward, the working machine 4 applied to the air cylinder 94 when the working machine 4 is positioned upward with the piston rod 97 contracted. The weight burden can be reduced. The air cylinder 94 and the piston rod 97 constitute a lifting device that lifts and lowers the work machine 4.

  The holding base 78 has a guide bar (guide bar) 111 extending in the vertical direction on each of two opposing side surfaces that are different from the installation side surface of the air cylinder 94 (front and rear side surfaces in this embodiment). The guide bar 111 is erected vertically from the upper surface of the wheel support bracket 93 provided at the bottom of the gripping gantry 78, and is connected to the lower surface of the horizontal beam frame 112 in the central region of the gripping gantry 78. In other words, the guide frame 111 is installed between the wheel support bracket 93 and the crosspiece frame 112 in the gripping stand 78. The two guide rods 111 fixed to the housing frame of the gripping gantry 78 are respectively inserted into cylindrical guide members 110 provided on both sides of the work machine 4. Therefore, when the piston rod 97 is expanded and contracted, the position of the guide member 110 is regulated by the guide rod 111, so that the work implement 4 moves up and down without shifting back and forth and from side to side.

  As shown in FIGS. 4 to 8, the gripping platform 78 is adjacent to the planter 2 before and after the work machine 4 along the moving direction of the transport carriage 5 (in this embodiment, the left and right side positions of the work machine 4). Position detecting units 132 and 133 for detecting positions are provided. In the present embodiment, an example in which a non-contact type sensor such as an optical distance measuring sensor is used as the position detection units 132 and 133 is shown. The position detectors 132 and 133 may be any one that can detect the position of the outer frame of the planter 2 before and after the moving direction with respect to the work machine 4, and a contact type sensor such as a touch sensor may be used.

  The distance measuring sensors 132 and 133 which are position detection units are attached to the lower side of the connection member 98 of the work machine 4 via the sensor support bracket 134. That is, the distance measuring sensor 132 disposed on the front side in the movement direction is fixed to the lower side of the connecting member 98 connected to the piston rod 97 on the right side of the work machine 4 via the sensor support bracket 134. A distance measuring sensor 133 disposed on the rear side in the movement direction is fixed to the lower side of the connecting member 98 connected to the piston rod 97 on the left side of the work machine 4 via a sensor support bracket 134.

  As shown in FIGS. 7 to 11, the working machine 4 is a soil reclaiming device, which is connected to the tips of the piston rods 97 of the two air cylinders 94 and is supported by the holding frame 78 in a suspended manner. A drive motor (stirring drive source) 114 and two stirring screws 115 and 116 are arranged above and below. The work machine 4 has a connecting member 98 outside the two side plates 113a and 113b facing each other of the housing 113, and the connecting member 98 is fastened to a connecting portion 97a at the tip of the piston rod 97. Cylindrical guide members 110 are installed outside the two opposite side plates 113c and 113d of the housing 113, and are fixed to the holding frame 78 in through holes in the guide member 110 in the vertical direction. The guide rod 111 is inserted. That is, the connection member 98 connected to the piston rod 97 and the guide member 110 fitted to the guide rod 111 are alternately arranged on the outer peripheral surface of the housing 113.

  The housing 113 has a drive motor 114 mounted on the upper surface of the lid plate 113e. The motor rotation shaft 114a of the drive motor 114 is inserted into the housing 113 through the through hole 113g of the lid plate 113e. Inside the housing 113, the motor rotation shaft 114 a of the drive motor 114 is connected to the motor side hub 117 a of the shaft coupling (coupling) 117. In the coupling 117, a gear-shaped spacer 117c is sandwiched between a motor-side hub 117a having a protrusion on the lower surface and a screw-side hub 117b having a protrusion on the upper surface. The coupling 117 meshes the protrusions of the hubs 117a and 117b with the gears of the spacer 117c.

  In the housing 113, the screw shafts 115a and 116a of the two stirring screws 115 and 116 are inserted through the two through holes 113h of the bottom plate 113f. The upper end side of the screw shaft 115 a of the stirring screw 115 is connected to the screw side hub 117 b of the coupling 117. That is, the screw shaft 115 a of the stirring screw 115 is connected to the motor rotating shaft 114 a of the drive motor 114 via the coupling 117. In the housing 113, a gear box 118 is placed on the upper surface of the bottom plate 113f, and the two through holes 113h of the bottom plate 113f are covered by the gear box 118.

  The gear box 118 has two through holes 118a on the upper surface, and two bearings 119 are fixed on the upper surface of the gear box 118 so as to cover the two through holes 118a. Each of the two bearings 119 is configured by a ball bearing or the like, and supports the screw shafts 115a and 116a of the stirring screws 115 and 116 that pass through the through hole 118a of the gear box 118. Further, on the lower side of the upper surface of the gear box 118, screw shafts 115a and 116a of the stirring screws 115 and 116 are inserted into two gears 120 to be engaged with each other. That is, a gear mechanism including two gears 120 into which the screw shafts 115a and 116a are inserted is installed in a space formed by the bottom plate 113f of the housing 113 and the gear box 118.

  The casing 113 has a mudguard sheet 121 suspended from the lower surface of the bottom plate 113f. A part of the sheet 121 can be bolted to the gear box 118 with the bottom plate 113f interposed therebetween, thereby reducing the number of parts. The agitation screws 115 and 116 each have two screw blades 122 at the lower ends of the screw shafts 115a and 116a. By rotating the screw blades 122, the soil in the planter 2 is agitated and cultivated. .

  The work machine 4 configured in this manner rotates the drive motor 114, thereby rotating the stirring screw 115 coaxial with the motor shaft 114a, and simultaneously rotating the stirring screw 116 via the gear 120 in the gear box 118. Rotate at the same time. Further, since the work implement 4 moves up and down with respect to the gripping gantry 78 by expansion and contraction of the piston rod 97, when the work rod 4 is lowered by extending the piston rod 97, as shown in FIG. Rotate the stirring screws 115 and 116 to cultivate the cultivated soil in the planter 2.

  Therefore, as shown in FIG. 5, the agitation screws 115 and 116 are arranged at positions where the rotation trajectory of the screw blade 122 is drawn in an area surrounded by the bottom frame 91 and the wheel support bracket 93. Further, the sheet 121 that surrounds the outside of the screw blade 122 of the stirring screws 115 and 116 is also disposed in a region surrounded by the bottom frame 91 and the wheel support bracket 93. The height width (vertical length) of the sheet 121 is set so that the lower end of the sheet 121 is positioned in the vicinity of the upper end of the planter 2 when the work implement 4 is lowered. Thereby, as shown in FIG. 12, when the working machine 4 is lowered and the cultivation culture of the soil by rotating the stirring screws 115 and 116 is performed, the sheet 121 and the planter 2 surrounding the outside of the stirring screws 115 and 116, It can prevent scattering of the agitated soil.

  The transport carriage 5 has a moving stand 76 that moves to the side of the planter 2 with the first wheels 77 at the bottom, and has a second wheel 79 that engages with the outer frame of the planter 2 at the bottom and the work implement 4. A gripping gantry 78 that grips up and down is also provided. Since each of the moving frame 76 and the holding frame 77 of the transport cart 5 is supported by the side of the outer frame of the planter 2 and on the outer frame, the transport cart 5 can be moved without breaking the balance. When work by the work machine 4 is continuously performed on a plurality of planters 2 arranged adjacent to each other in the longitudinal direction, the work machine 4 is moved up and down to prevent interference with the outer frame of the planter 2 and smooth Can perform work on

  Two cylinders 94 are fixed to the gripping stand 78, and piston rods 97 that extend and contract with respect to the two cylinders 94 are connected to both sides of the work implement 4, and the work stand 4 is held by the expansion and contraction of the piston rod 94. Raise and lower with respect to 78. Since the work implement 4 is sandwiched by the two cylinders 94 with respect to the gripping stand 78, the work implement 4 can be raised and lowered without breaking the balance.

  The work machine 4 includes a guide member 110 provided with vertical holes on two side surfaces orthogonal to the two side surfaces connected to the piston rod 97, and the guide rod 111 inserted into the vertical hole of the guide member 110 is attached to the gripping stand 78. It is fixed. Since the two cylinders 94 are connected to the two side surfaces of the work machine 4, and the two guide bars 111 support the remaining two side surfaces of the work machine 4, the gripping stand 78 is provided with the cylinder 94 and the guide bar. The four side surfaces of the work machine 4 are supported via 111. Therefore, the working machine 4 can not only move up and down without losing the balance, but also can suppress displacement of the relative position of the working machine 4 with respect to the planter 2 at the time of raising and lowering.

  The movable gantry 76 includes two handle portions 80 c on both edges of the side surface opposite to the gripping gantry 78, and the first wheel 77 of the movable gantry 76 is located on the side of the planter 2 in the longitudinal direction of the planter 2. It travels on a cart guide rail 6 extending in the direction. The transport cart 5 is supported on the cart guide rail 6 and the planter 2 respectively, and the operator can move the transport cart 5 without breaking the balance. By providing the handle 80c on the gripping pedestal 76, the operator can easily confirm the positional relationship between the planter 2 and the work implement 4 when holding the handle 80c and moving the transport carriage 5. The lifting / lowering operation of the machine 4 can be optimally controlled.

  As shown in FIG. 13, the controller 130 receives the pulse signal from the work machine switch 131 fixed to the conveyance handle 80 c, controls the supply of high-pressure air to the air cylinder 94, and moves the piston rod 97. Stretch the top and bottom. The controller 130 which is a control unit of the working device 3 for upright cultivation is connected to a power source outside the device via an electric wiring, and is supplied with power from the external power source. The pneumatic circuit 136 that extends and contracts the piston rod 97 in the air cylinder 94 includes a compressor 137 that supplies high-pressure air to the air cylinder 94 and an air cylinder 94 that constitutes a lifting device of the work machine 4.

  The compressor 137 and the air cylinder 94 are connected via a 5-port 3-position switching type direction switching electromagnetic valve 138. The direction switching electromagnetic valve 138 has a pair of electromagnetic solenoids 139 electrically connected to a controller 130 as control means. The direction switching electromagnetic valve 138 includes an extension position for extending the piston rod 97 of the air cylinder 94 by excitation of each electromagnetic solenoid 139 based on a command from the controller 137, a stop position for stopping the operation of the piston rod 97, and a piston. The rod 97 is configured to be switched to a shortened position where the rod 97 is shortened. The compressor 137 is installed outside the working device 3 for upright cultivation, and is connected to a direction switching electromagnetic valve 138 installed in the transport cart 5 via an air pipe (hose).

  The controller 130 outputs a control signal to a motor driver 135 that rotates and drives a drive motor 114 that is a stirring drive source, and receives measurement signals from the distance measuring sensors 132 and 133. The drive motor 114, the motor driver 135, and the distance measuring sensors 132 and 133 are each supplied with electric power from an external power source, like the controller 130. The controller 130 receives measurement signals from the distance measuring sensors 132 and 133 serving as position detection units, and detects the adjacent position of the planter 2 and the adjacent position of the cultivation bench 10. That is, the controller 130 determines whether the work implement 4 is passing over the outer frame of the planter 2 or the frame frame 11 of the cultivation bench 10 based on the measurement signals of the distance measuring sensors 132 and 133, or the work implement 4 is in the planter 2. Detects whether it is passing over the inner soil.

  When the controller 130 confirms that the measurement distance of the distance measurement sensor 133 has increased to the predetermined distance L1 after the measurement distance of the distance measurement sensor 132 has increased to the predetermined distance (first distance) L1, the controller 130 It is determined that the work machine 4 is passing on the soil. At this time, when the measurement distances of the distance measuring sensors 132 and 133 become equal within the predetermined range ± ΔL1, the controller 130 determines that the work machine 4 is passing over the soil in the planter 2. It does n’t matter.

  When the controller 130 confirms that the measurement distance of only the distance measuring sensor 132 has been shortened to a predetermined distance (second distance) L2 (L2 <L1), the work machine 4 comes close to the outer frame of the planter 2. judge. At this time, the controller 130 gives a control signal to the motor driver 135 to stop the rotation operation of the drive motor 114 and stop the soil agitation work by the work machine 4.

  It should be noted that the controller 130 may detect the outer frame of the planter 2 when the difference between the measurement distances of the distance measuring sensors 132 and 133 is equal to or greater than a predetermined range ΔL2 (ΔL2> ΔL1). Further, when the controller 130 determines that the work implement 4 is passing over the outer frame of the planter 2 or the frame frame 11 of the cultivation bench 10, the controller 130 invalidates the operation received by the work implement switch 131, and the lifting device The lowering of the work machine 4 by the air cylinder 94 is prohibited.

  When the controller 130 receives the operation of the operator by the work implement switch 131 and executes the lowering control of the work implement 4, the controller 130 gives a control signal to the electromagnetic solenoid 139 to switch the direction switching electromagnetic valve 138 to the extended position. As a result, the piston rod 97 of the air cylinder 94 is extended and the work implement 4 is lowered. After that, when the controller 130 confirms that the measurement distances of the distance measuring sensors 132 and 133 are simultaneously shortened to a predetermined distance (third distance) L3 (L2 <L3 <L1), the work machine 4 is soiled in the planter 2. It is determined that the position has been lowered to a position where work can be performed. At this time, the controller 130 gives a control signal to the electromagnetic solenoid 139, switches the direction switching electromagnetic valve 138 to the stop position, and fixes the piston rod 97 of the air cylinder 94 at the extended position. Then, the controller 130 gives a control signal to the motor driver 135 to start the rotational drive of the drive motor 114.

  When the controller 130 accepts the operator's operation with the work implement switch 131 and executes the raising control of the work implement 4, the controller 130 gives a control signal to the electromagnetic solenoid 139 to switch the direction switching electromagnetic valve 138 to the shortened position. Thereby, the piston rod 97 of the air cylinder 94 is shortened and the work implement 4 is raised. Thereafter, when the controller 130 confirms that the measurement distance of the distance measuring sensor 133 has increased to a predetermined distance (first distance) L1, the work machine 4 is on the outer frame of the planter 2 or the frame frame 11 of the cultivation bench 10. It is determined that it has risen to a position where it can pass through. At this time, the controller 130 gives a control signal to the electromagnetic solenoid 139, switches the direction switching electromagnetic valve 138 to the stop position, and fixes the piston rod 97 of the air cylinder 94 at the shortened position.

  Next, the schematic structure of the mobile cultivation apparatus 1 incorporating the above-described tall cultivation work apparatus 3 will be described with reference to FIGS. In the following description, when using a term indicating a specific direction or position as necessary (for example, “left / right”, “up / down”, etc.), the direction perpendicular to the paper surface in FIG. Alternatively, the vertical direction (may be referred to as the column direction), and the left-right direction on the paper is the left-right direction or the horizontal direction (may be referred to as the row direction). These terms are used for convenience of explanation, and do not limit the technical scope of the present invention.

  In the embodiment, the vertical direction and the horizontal direction are both parallel to the horizontal plane (ground) (perpendicular to the gravitational direction), but the present invention is not limited to this, such as strawberry and spinach. The vertical direction and the horizontal direction may be slightly inclined with respect to the horizontal plane so long as they do not hinder the cultivation of fruit vegetables and the like.

  As shown in FIGS. 14-16, the mobile cultivation apparatus 1 of embodiment is a closed-loop-like thing which circulates and conveys the some cultivation bench 10 which grows fruit vegetables, such as a strawberry and spinach. In this case, the mobile cultivation apparatus 1 has a pair of transport conveyors 40A and 40B arranged in parallel with the transport directions opposite to each other, and the other transport conveyor 40B (40A) from the transport downstream side of one transport conveyor 40A (40B). ) And a pair of guide devices 20A (20B) for guiding each cultivation bench 10 to the transport upstream side, and a pair of moving the cultivation bench 10 on the transport conveyors 40A and 40B toward the guide devices 20A and 20B on the transport downstream side. Retracting devices 21A and 21B are provided. A pair of conveyance conveyors 40A and 40B and a pair of guide devices 20A and 20B are configured in a closed loop shape for circulating and conveying the plurality of cultivation benches 10.

  The pair of transport conveyors 40A and 40B are arranged in parallel with a space in the front-rear direction (vertical direction). Each of the cultivation benches 10 is configured to be conveyed in opposite conveyance directions (lateral directions). The pair of guide devices 20A and 20B are arranged in parallel with a space in the left-right direction (lateral direction), and are configured to guide the cultivation bench 10 in directions opposite to each other (vertical direction). Has been.

  The left half of the front conveyor 40A is positioned on the front side of the first guide device 20A, and the right half of the front conveyor 40A is positioned on the front side of the second guide device 20B. The left half of the back side conveyor 40B is located on the back side of the first guide device 20A, and the right half of the back side conveyor 40B is located on the back side of the second guide device 20B. Each of the conveyors 40A and 40B is configured to be able to deliver the cultivation bench 10 to and from the guide devices 20A and 20B. Each cultivation bench 10 is circulated and conveyed clockwise in a plan view of FIG. 14 in the order of the front side transfer conveyor 40A → the first guide device 20A → the back side transfer conveyor 40B → the second guide device 20B → the front side transfer conveyor 40A. . Needless to say, the circulating conveyance direction may be counterclockwise in a plan view of FIG.

  As shown in FIGS. 14 and 15, the tall cultivation work device 3 is installed on the left side on the near side of the near side conveyance conveyor 40 </ b> A. In other words, the height-cultivating working device 3 has the cart guide rail 6 disposed on the front side of the near-side transport conveyor 40A and the cart standby section 7 on the left side of the left end of the labor-side transport conveyor 40A. ing. At this time, the elevating cultivation work device 3 is supported by the conveyor frame 47 by connecting the rail support stay 8 to the front side of the conveyor frame 47 in the front side conveyor 40A. Accordingly, the work device 3 for the upright cultivation grows the carriage guide rail 6 so as to be parallel to the front-side transport conveyor 40A, and extends the longitudinal direction of the cultivation bench 10 on the front-side transport conveyor 40A. At this position, the carriage standby rail 38 of the carriage standby section 7 is arranged.

  As shown in FIG. 16, the tall-type cultivation work device 3 fastens the support frame 26 of the rail support stay 8 to the conveyor frame 47 and arranges the carriage guide rail 6 above the stopper member 23. At this time, the upper end of the cart standby rail 38 in the cart standby unit 7 becomes the same height as the upper end of the planter 2 in the cultivation bench 10. Accordingly, since the carriage standby rail 38 is connected to the outer frame of the planter 2, when the transport carriage 5 is transported along the front-side transport conveyor 40 </ b> A, the supporting wheels 79 of the gripping rack 78 are supported by the planter 2. Drive on the outer frame of the car.

  As shown in FIGS. 17 to 19, the working device 3 for a tall installation has a plurality of rail support portions 8 that support the carriage guide rail 6, and connection brackets 49 a to 49 d of the rail support portion 8. Is detachably connected to a positioning frame 48 provided on the conveyor frame 47 of the conveyor 40A. The positioning frame 48 is composed of two bar frames arranged vertically at each position facing the rail support portion 8, and the longitudinal direction of the positioning frame 48 on the side surface of the conveyor frame 47 is the transport direction of the transport conveyor 40 </ b> A. It is attached to be parallel. When the working device 3 for upright cultivation is attached to the conveyor frame 47, the upper positioning frame 48 is fastened with the connection brackets 49a to 49c of the rail support portion 8, and the lower positioning frame 48 is the rail. Fastened to the connecting brackets 49a, 49b, 49d of the support portion 8.

  In this way, the connection brackets 49a to 49d of the rail support portion 8 are connected to the positioning frame 48 of the conveyor frame 47, whereby the relative position of the carriage guide rail 6 with respect to the transport conveyor 40A can be determined. Therefore, by connecting the connecting brackets 49a to 49d to the positioning frame 48, the work machine 4 mounted on the transport cart 5 traveling on the cart guide rail 6 is disposed immediately above the cultivation bench 10 on the transport conveyor 40A. Is done. In other words, depending on the arrangement position of the positioning frame 48, the tall cultivation work device 3 is attached to the mobile cultivation device 1 so as to be in an optimum position where the planter 2 can work.

  As described above, when the tall cultivation work device 3 is installed in the mobile cultivation device 1, the worker holds the conveyance handle 80 c and moves along the longitudinal direction of the carriage guide rail 6. 5 is conveyed. When the controller 130 confirms that the work implement 4 of the gripping gantry 76 has passed the left side surface (the left side surface of the outer frame) of the planter 2 based on the measurement signals from the position detection units by the distance measuring sensors 132 and 133, The machine switch 131 is ready to accept an operation.

  When the operator's operation is accepted by the work implement switch 131, the controller 130 receives the pulse signal from the work implement switch 131 and lowers the work implement 4 by the air cylinder 94. The controller 130 rotates the drive motor 114 when detecting that the distance has been lowered to a position where the work machine 4 can work based on the measurement signals from the position detection units by the distance measuring sensors 132 and 133. Thereby, the working machine 4 stirs the cultivation soil in the planter 2 with the screw blade 122.

  Further, the controller 130 confirms that the work machine 4 of the gripping gantry 76 has reached the vicinity of the right side surface (the right side surface of the outer frame) of the planter 2 based on the measurement signals from the position detection units by the distance measuring sensors 132 and 133. Then, the drive motor 114 is stopped. Thereafter, when the operator's operation is accepted by the work implement switch 131, the controller 130 receives the pulse signal from the work implement switch 131 and raises the work implement 4 by the air cylinder 94.

  In this manner, the transport cart 5 is moved, and at the same time, the working machine 4 is moved up and down and the drive motor 114 is turned on / off in accordance with the positions of the left and right side surfaces of the planter 2 arranged side by side on the cultivation bench 10. Synchronize. As a result, the work implement 4 moves in the longitudinal direction of the planter 2 and continuously cultivates the soil in the planter 2 arranged side by side as shown in FIG. 5 and breaks the outer frame of the planter 2. Can be prevented.

  The transport carriage 5 includes position detection units 132 and 133 that detect the outer frame of the planter 2. When the transport carriage 5 is moved, when the position detectors 132 and 133 detect the outer frame of the planter 2, the lifting device (air cylinder) 94 moves the work implement 4 above the upper end of the outer frame of the planter 2. On the other hand, when the work machine 4 passes over the outer frame of the planter 2, the lifting device (air cylinder) 94 lowers the work machine 4 with respect to the planter 2. Accordingly, when the work by the work machine 4 is continuously performed on the plurality of planters 2 arranged adjacent to each other in the longitudinal direction, the work machine 4 is automatically raised and lowered by the lifting device (air cylinder) 94. By doing so, interference between the outer frame of the planter 2 and the work machine 4 can be prevented, and the work can be executed smoothly.

  When the position detectors 132 and 133 detect the outer frame of the planter 2 when the work machine 4 is lowered and the transport carriage 5 is moving, the controller 130 stops the operation of the work machine 4. When the work machine 4 is lowered and the tilling work is executed, when the outer frame of the planter 2 is detected by the position detectors 132 and 133, the stirring operation for the tilling work can be stopped. That is, even when the work machine 4 is working, the work can be stopped at the outer frame position of the planter 2, and the planter 2 can be prevented from being damaged.

  The working device 3 for the upright cultivation is configured such that the end of the carriage guide rail 6 is arranged outside the end of the front-side transport conveyor 40A, and constitutes a carriage standby section 7 that waits for the carriage 5 to be guided. By moving the carriage 5 on the rail 6 so as to slide on the side of the cultivation bench 10, the work machine 4 is slid directly on the cultivation bench 10. Since the carriage 5 is configured to hold the work machine 4 outside the carriage guide rail 6 and the carriage guide rail 6 is also provided on the conveyor 40A, the carriage 5 is installed so as to straddle the cultivation bench 10. It will not be done. Accordingly, the cart guide rail 6 and the transport cart 5 can be assembled not only to the closed loop mobile cultivation apparatus 1 but also to be detachable. Moreover, by arranging the cart standby unit 7 outside the end of the cart guide rail 6, when the cultivation bench 10 is circulated and conveyed, the conveyance cart 5 does not interfere with the conveyance of the cultivation bench 10. be able to.

  The cart standby unit 7 includes an end of the cart guide rail 6 outside the end of the conveyor 40A, and a cart standby rail 38 that is provided adjacent to the cart guide rail 6 at a position adjacent to the end of the conveyor 40A. Has been. A carriage standby rail 38 is installed at the upper end position of the planter 2 mounted with the cultivation bench 10. By arranging the carriage standby rail 38 at the end of the conveyor 40 </ b> A, the carriage 5 waiting on the carriage waiting section 7 can be smoothly guided directly above the cultivation bench 10.

  The carriage guide rail 6 is supported by a plurality of rail support sections 8, and the carriage guide rail 6 is supported along the transfer conveyor 40A by connecting the rail support section 8 to the outside of the conveyor frame 47 of the transfer conveyor 40A. ing. Thereby, the relative position of the cart guide rail 6 with the transport conveyor 40A can always be fixed, and the transport cart 5 can pass over the cultivation bench 10 reliably. Accordingly, even when the high-arrangement cultivation work device 3 is configured to be detachable from the mobile cultivation device 1, by connecting the rail support portion 8 to the conveyor frame 47, the transport conveyor 40 </ b> A of the carriage guide rail 6 and The relative position can always be a fixed position, and the assembling work of the high-arrangement cultivation working device 3 can be simplified.

  In addition, a carriage regulating member 29 that protrudes above the carriage guide rail 6 is installed at both ends of the carriage guide rail 6, and is regulated by the carriage regulating member 29 so that the transport carriage 5 is moved within the range of the carriage guide rail 6. doing. Accordingly, the transport cart 5 comes into contact with the cart restricting member 29 at both end positions of the cart guide rail 6, and the transport cart 5 is regulated so as to move within the range of the cart guide rail 6, and is separated from the cart guide rail 6. It can prevent falling.

  As above-mentioned, the mobile cultivation apparatus 1 guides and moves the conveyance trolley 5 which mounts the working machine 4 which works with respect to the cultivation bench 10 on the conveyance conveyor 40A, and the conveyance trolley 5 by the conveyance conveyor 40A side. It has an upright cultivation work device 3 composed of a carriage guide rail 6. And the conveyance trolley 5 is holding | griping the working machine 4 so that it may offset from the trolley | bogie guide rail 6, and by moving the conveyance trolley 5 along the trolley | bogie guide rail 6, the working machine 4 slides on the cultivation bench 10 directly. Let

  The detailed structure of the cultivation bench 10 will be described with reference to FIG. The cultivation bench 10 includes a planter 2 that is an upward-opening horizontally-long box-like container, and a horizontally-long box-frame-like frame frame 11 in which the planter 2 is accommodated. The planter 2 accommodates soil for cultivation, and a drain hole (not shown) for discharging excess water and chemicals to the outside is formed on the bottom surface thereof. At the front and rear edges of the upper surface of the planter 2, there are formed locking pieces 2 a that engage with the horizontally long upper frame 12 that constitutes the upper surface of the frame 11. The planter 2 is supported by the cultivation bench 10 by hooking and engaging the locking piece 2a with the upper frame 12.

  On the left and right horizontally long lower frame 18 constituting the lower surface side of the frame 11, a total of four sets of wheels 13 as a sliding body for sliding the cultivation bench 10 on the respective guide devices 20 </ b> A and 20 </ b> B are attached. ing. A total of four sets of wheels 13 are arranged side by side in the lateral direction of the cultivation bench 10 at intervals according to the arrangement width of the guide rails 35 (details will be described later) of each guide device 20A (20B). In addition, you may provide a sliding body in each guide apparatus 20A (20B) side. Further, the sliding body is not limited to the wheel 13 but may be another structure such as a roller, a slider, or a roller. On the upper surface side of the lower frame 18, a receiving rod 14 for collecting excess water and chemicals discharged from the discharge holes on the lower surface of the planter 2 is attached. The water and the chemicals collected in the receiving basket 14 of each cultivation bench 10 are collected and collected in the collection baskets 30A and 30B (see FIG. 14) extending along the longitudinal direction (vertical direction) of the guide devices 20A and 20B. The

  A pair of wire rod fixing arms 15 is detachably attached to both longitudinal ends of one upper frame 12 in each cultivation bench 10. In 1st Embodiment, the cultivation bench 10 is mounted on the mobile cultivation apparatus 1 so that both the wire fixed arms 15 may protrude toward 40 A of front side conveyors. A plurality of support arms 16 projecting in the same direction as the two wire rod fixing arms 15 are provided between the two wire rod fixing arms 15 in the one upper frame 12. Although not shown in detail, the wire rod is tied to the fixing hole formed in the both wire rod fixing arms 15, and the middle portion of the wire rod is hooked from above onto the guide groove formed on the upper surface of each support arm 16. For example, cover the net. The portion of the net is supported from below by the two wire rod fixing arms 15, the plurality of support arms 16, and the wire rod, and protects the portion that extends to the outside of the planter 2 in the fruit vegetables or the like during cultivation.

  An IC tag (not shown) that stores various information such as fruit vegetables grown on the cultivation bench 10 is provided on the lower center side of the frame 11. The use of IC tags can improve the traceability of fruits and vegetables.

  In each cultivation bench 10, an abutting frame 19 formed in a U-shape in plan view is provided in the longitudinal middle portion of the lower frame 18 on the same side as the wire fixing arm 15 and the support arm 16. The left and right vertical pipe portions 19b of the contact frame 19 are fixed to the lower frame 18 by welding. The horizontal pipe portion 19a of the contact frame 19 can be brought into contact with the lower frame 18 of the cultivation bench 10 on either one of the front and rear sides in the transport direction on each guide device 20A, 20B. In a state where the horizontal pipe portion 19a of the contact frame 19 is in contact with the adjacent cultivation bench 10, an appropriate interval (in the longitudinal direction) between the adjacent cultivation benches 10 along the longitudinal direction (vertical direction) of each guide device 20A, 20B ( In the embodiment, about 500 mm) is opened.

  In addition, if the contact frame 19 is configured to be detachable (changeable) or adjustable in length, the arrangement interval between the adjacent cultivation benches 10 may be changed to increase or reduce the cultivation benches 10. It is convenient to increase or decrease the cultivation bench 10 depending on the type and variety of fruits and vegetables. The contact frame 19 is not limited to the illustrated structure. It protrudes from each cultivation bench 10 so that it can open a space | interval suitably along the longitudinal direction (vertical direction) of each guide apparatus 20A, 20B between the adjacent cultivation bench 10 in the state contact | abutted to the adjacent cultivation bench 10. FIG. Any structure can be used.

  Next, the detailed structures of the transport conveyors 40A and 40B and the guide devices 20A and 20B will be described with reference to FIGS. 14 to 16 and FIGS. As described above, the pair of transport conveyors 40A and 40B and the pair of guide devices 20A and 20B are configured in a closed loop to circulate and transport the plurality of cultivation benches 10.

  The basic structure of both conveyors 40A and 40B is the same. Each conveyor 40A (40B) is provided with two horizontally long conveyor frames 47 supported by a plurality of legs. A pair of drive sprockets 42 and a pair of driven sprockets 43 are rotatably supported between the left and right ends of both conveyor frames 47. Between the two conveyor frames 47, two substantially parallel conveyor chains 41 are arranged via drive and driven sprockets 42 and 43. The conveyor chain 41 is wound around driving and driven sprockets 42 and 43. A conveyor motor 45A (45B) is connected to the drive shaft of the drive sprocket 42 via a chain and a sprocket transmission system so that power can be transmitted, and the two substantially parallel conveyor chains 41 are synchronized by the conveyor motor 45A (45B). Are configured to rotate in the same direction.

  On both conveyor chains 41, mounting plates 46 on which the wheels 13 of the cultivation bench 10 delivered from each guide device 20A (20B) are placed are attached at appropriate intervals. In a state where each wheel 13 of the cultivation bench 10 is placed on the corresponding placement plate 46, the conveyance motor 45 rotates the pair of conveyor chains 41 so that each conveyance conveyor 40A (40B) moves the cultivation bench 10 sideways. Transport in the direction.

  A space on the near side of the transport conveyor 40A on the near side (especially, a space on the near side near the second guide device 20B) is set as a work space for the operator. The worker can perform various operations (for example, harvesting operation, weeding operation, pruning operation, planter 2 replacement operation, etc.) in the operation space. Moreover, the irrigation apparatus 31 which spreads water toward the cultivation bench 10 conveyed by the horizontal direction by each conveyance conveyor 40A (40B) is arrange | positioned in the longitudinal middle part of both conveyance conveyors 40A and 40B.

  Furthermore, the control apparatus 32 (chemical solution spraying apparatus) is arrange | positioned in the position which is the furthest away from the work space in the mobile cultivation apparatus 1, ie, the back side conveyor 40B side. The control device 32 is for spraying a control agent or a chemical solution toward the cultivation bench 10 that is transported in the lateral direction by the back-side transport conveyor 40B. The control apparatus 32 of 1st Embodiment is arrange | positioned in the longitudinal middle part of the back | side conveyance conveyor 40B. Therefore, it is excellent at the point which can prevent reliably that a control agent and a chemical | medical solution adhere to the worker in a work space.

  On the other hand, the basic structure of both guide devices 20A and 20B is the same. Each of the guide devices 20A and 20B includes a plurality of guide rails 35 (four in the embodiment) on which the frame 13 of the cultivation bench 10 travels. The guide rail 35 group is arranged at intervals in the left-right direction (lateral direction), and is supported by a framework composed of a large number of columns and horizontal frames. Each guide rail 35 is formed in a V-shape that is bent upward in the front-rear direction (longitudinal direction) and opened upward as viewed from the longitudinal direction. Such a guide rail 35 having a V-shaped cross section can easily guide the plurality of cultivation benches 10 to the respective conveyors 40A (40B) without removing the wheels 13.

  In the lower part of the transport upstream side of each guide device 20A (20B), the cultivation bench 10 moved to the transport downstream side of each transport conveyor 40A (40B) is directed vertically toward the guide device 20A (20B) facing it. As a means for carrying, a retracting device 21A (21B) is provided. In the first embodiment, in order to circulate and convey the cultivation bench 10 in a plan view clockwise in FIG. 1, the feeding side pull-in device 21 </ b> A is provided at the lower side on the near side of the first guide device 20 </ b> A, and Return-side retracting devices 21B are arranged at the bottom. Then, the return-side retracting device 21B is sent to the lower portion on the back side of the first guiding device 20A and the lower portion on the near side of the second guiding device 20B so as to cope with the counter-clockwise circulating conveyance in FIG. A side pull-in device 21A is arranged. That is, the drawing-in devices 21A and 21B that are in a positional relationship on a diagonal line in the plan view of FIG.

  Hereinafter, for convenience of explanation, each drawing-in device 21B (21A) corresponding to the circular conveyance in a plan view in FIG. 14 will be described as an example. The basic structure of each drawing-in device 21B (21A) is the same. As shown in FIGS. 21 and 22, each drawing-in device 21 </ b> B (21 </ b> A) includes a pair of engaging claws 51 that can be engaged and disengaged from below with the cultivation bench 10 on the corresponding transport conveyor 40 </ b> B (40 </ b> A). As a lifting / lowering electromagnetic solenoid 52 as an engagement / disengagement actuator for engaging / disengaging the joint claw body 51 to / from the cultivation bench 10, and a reciprocating actuator for reciprocating both engagement claw bodies 51 in the vertical direction along the guide device 20B (20A). The air cylinder 53 is provided.

  A pair of front and rear beam frames 55 extending in the lateral direction are bolted to the upstream side of conveyance of the pair of horizontal frames 54 that are the framework of each guide device 20B (20A). A cylinder mount 56 is fixed to both beam frames 55 by welding or the like. On the cylinder mount 56, an air cylinder 53 is provided in a state where the piston rod 57 is positioned away from the transport downstream side of each transport conveyor 40B (40A). Each horizontal frame 54 is positioned below the inner two of the four guide rails 35.

  Round bar-like slide bars 58 extending in the vertical direction are arranged on both the left and right sides of the air cylinder 53. In this case, the base end sides of the horizontal beam brackets 59 (four in this embodiment) projecting outward in the left-right direction are fixed to the front and rear side ends of the cylinder mount 56. A bar support plate 60 is erected on the front end side of each horizontal rail bracket 59. Front and rear end portions of one of the left and right slide bars 58 are fixed to a pair of bar support plates 60 on one side of the left and right sides of the air cylinder 53, and a pair of bar support plates 60 on the other side of the left and right sides The front and rear ends of the slide bar 58 are fixed. Both slide bars 58 are arranged in parallel in the vertical direction.

  A slider 61 (see FIGS. 24 to 27) is slidably fitted to each slide bar 58. A flat plate-shaped moving plate 62 is attached to the upper surface side of both sliders 61. A portion between the sliders 61 on the lower surface side of the moving plate 62 is connected to the distal end side of the piston rod 57 in the air cylinder 53 via a connecting rod 63. Accordingly, the moving plate 62 is configured to reciprocate in the vertical direction along the slide bars 58 by the expansion and contraction of the piston rod 57 in the air cylinder 53.

  Engaging claw bodies 51 are arranged on the left and right ends of the upper surface of the moving plate 62 so as to be vertically rotatable. A shaft support 64 is erected on the left and right corner portions of the upper surface of the moving plate 62 that are far from the downstream side of conveyance of each conveyance conveyor 40B (40A). The base end side of the main body arm 65 in the engaging claw body 51 is pivotally supported by the pivotal support member 64 via the pivotal support pin shaft 66. The main body arm 65 of the engaging claw body 51 extends so as to approach the downstream conveyance side of each conveyance conveyor 40B (40A). A claw portion 67 detachably attached to the lower frame 18 of the cultivation bench 10 on each conveyor 40B (40A) is provided on the front end side of the main body arm 65.

  The claw portions 67 of the both engaging claw bodies 51 are positioned above the conveyance downstream side of each conveyance conveyor 40B (40A) with the piston rod 57 of the air cylinder 53 shortened, and each conveyance conveyor 40B (40A). And the lower frame 18 of the cultivation bench 10. In a state where the piston rod 57 of the air cylinder 53 is extended, the claw portions 67 of the both engaging claw bodies 51 are moved away from the conveyance downstream side of each conveyance conveyor 40B (40A). Each drawing-in device 21 </ b> B (21 </ b> A) holds the cultivation rod 10 in the extended state in which the piston rod 57 of the air cylinder 53 is extended in a standby state in which the cultivation bench 10 is not conveyed in the vertical direction (may be referred to as an initial state). This is because the claw portions 67 of the both engaging claw bodies 51 do not interfere with the cultivation bench 10 that is in the middle of conveyance on each conveyance conveyor 40B (40A) (does not get caught) of each conveyance conveyor 40B (40A). This is to keep away from the downstream side of the conveyance.

  As shown in FIG. 23, lift electromagnetic solenoids 52 are provided at the left and right corner portions of the lower surface of the moving plate 62 that are closer to the transport downstream side of each transport conveyor 40B (40A). The lifting rod 68 of each lifting electromagnetic solenoid 52 protrudes upward and passes through the moving plate 62. The tip end side of each lifting rod 68 is connected to the midway portion of the main body arm 65 in the corresponding engaging claw body 51. Each engagement claw body 51 is configured to rotate up and down around the pivot pin shaft 66 by the up and down movement of the up and down rod 68 in the corresponding up and down electromagnetic solenoid 52. That is, by engaging the claw bodies 51 in the vertical direction, the claw portion 67 is engaged with the lower frame 18 of the cultivation bench 10 on each conveyor 40B (40A), or the lower frame 18 and the claw portion 67 are engaged with each other. Release the engagement.

  When passing the cultivation bench 10 moved to the conveyance downstream side of one conveyance conveyor 40B (40A) to the guide device 20B (20A) facing it, the piston rod of the air cylinder 53 in one drawing-in device 21B (21A) 57 is shortened and the nail | claw part 67 of both the engagement nail | claw bodies 51 is inserted between each conveyance conveyor 40B (40A) and the lower frame 18 of the cultivation bench 10 (refer FIG. 24). Next, the lifting rods 68 of both lifting electromagnetic solenoids 52 are moved up to rotate both engaging claws 51 upward, and the claw portions 67 of both engaging claws 51 are placed on one lower frame 18 of the cultivation bench 10. Engage from below (see FIG. 25).

  Then, with the engagement between the lower frame 18 and both claws maintained, the piston rod 57 of each air cylinder 53 is extended, and the cultivation bench 10 on one transport conveyor 40B (40A) is guided to the guide device 20B ( 20A), the lower frame 18 of the cultivation bench 10 on the side of one of the conveyors 40B (40A) is brought into contact with the contact frame 19 (lateral pipe portion) of the cultivation bench 10 on the guide device 20B (20A) side. 19a) (see FIG. 26). As a result, the plurality of cultivation benches 10 on the guide device 20B (20A) collide one after another in a ball shape, and the cultivation bench 10 on the most downstream side of the guidance device 20B (20A) becomes the other transport conveyor 40A (40B). ) To the upstream side of conveyance. That is, after both the engaging claw bodies 51 are engaged with the cultivation bench 10 by driving both the lifting electromagnetic solenoids 52, the both engaging claw bodies 51 are conveyed downstream by the guide device 20B (20A) by driving the air cylinder 53. The plurality of cultivation benches 10 on the guide device 20B (20A) are conveyed in a ball shape by being moved toward the direction.

  Thereafter, the lifting rods 68 of both lifting electromagnetic solenoids 52 are moved downward to rotate the both engaging claws 51 downward, so that one lower frame 18 of the cultivation bench 10 and the claws 67 of the both engaging claws 51 are connected. The engagement is released (see FIG. 27). In addition, in this embodiment, when the adjacent cultivation bench 10 is conveyed in a ball shape, the contact frame 19 (lateral pipe part 19a) of the cultivation bench 10 on the conveyance upstream side is conveyed downstream on the first guide device 20A. It contacts the lower side of the lower frame 18 of the cultivation bench 10 on the side. On the 2nd guide apparatus 20B, the lower frame 18 back side surface of the cultivation bench 10 of the conveyance upstream contact | abuts to the contact frame 19 (lateral pipe part 19a) of the cultivation bench 10 of conveyance downstream.

  A stopper member 23 that regulates the vertical conveyance (collision conveyance) of the cultivation bench 10 delivered from the most downstream side of each guide device 20A (20B) is detachable on the conveyance upstream side of each conveyance conveyor 40A (40B). It is attached.

  Each cultivation bench 10 is placed on the mobile cultivation device 1 (each conveyance conveyor 40A (40B) and each guide device 20A (20B)) in a posture in which the contact frame 19 faces the back conveyance conveyor 40B. For this reason, the stopper member 23 of the back-side transport conveyor 40B is attached in a posture that protrudes to the front side in a plan view because of contact with the contact frame 19. The stopper member 23 of the front-side transport conveyor 40A is attached in a posture that overlaps with the back-side transport conveyor 40B in a plan view because of contact with the lower frame 18 of the cultivation bench 10 instead of the contact frame 19.

  Further, for the purpose of corresponding to both the clockwise and counterclockwise circulating conveyances in the plan view of FIG. 14, the stopper member 23 is arranged not only on the conveyance upstream side but also on the conveyance downstream side of each conveyance conveyor 40A (40B). ing. In the first embodiment, a total of four stopper members 23 are arranged, two on the conveyance upstream side of each conveyance conveyor 40A (40B) and two on the conveyance downstream side.

  When the cultivation bench 10 on the most downstream side of each guide device 20A (20B) is transferred to the other conveyance conveyor 40B (40A) by ball crush conveyance, the lower frame 18 rear side surface or the contact frame of the cultivation bench 10 on the most downstream side is used. 19 (horizontal pipe portion 19a) abuts on the stopper member, and the wheel 13 of the most downstream cultivation bench 10 is placed on the mounting plate 46, and on the upstream side of conveyance of the other conveyance conveyor 40B (40A). Stop. That is, it can be surely transferred to a fixed position on each conveyor 40B (40A).

  Thereafter, the cultivation bench 10 is moved to the conveyance downstream side by driving each conveyance conveyor 40B (40A). At this time, each conveyance is performed in the cultivation bench 40 due to the presence of the stopper members 23 on the conveyance upstream side and the conveyance downstream side. The cultivation bench 10 is guided to the conveyance downstream side along the stopper member 23 while preventing the positional deviation in the vertical direction orthogonal to the conveyor 40B (40A). Therefore, the cultivation bench 10 can be smoothly conveyed in the horizontal direction in a suitable posture on each conveyance conveyor 40B (40A).

  Hereinafter, another embodiment (second embodiment) of the present invention will be described with reference to FIGS. 28 to 32. While the mobile cultivation apparatus 1 in this embodiment becomes the structure similar to 1st Embodiment, it is a driving | running drive source instead of the conveyance trolley | bogie 5 in the working apparatus 3 for high-arrangement cultivation attached to the mobile cultivation apparatus 1. FIG. It is comprised with the conveyance cart 5a which has. Since the other configuration is the same as that of the first embodiment, detailed description thereof will be omitted, and the configuration and operation around the transport carriage 5a in the tall cultivation work device 3 will be described below.

  As shown in FIGS. 28 to 30, the transport carriage 5 a in the tall cultivation work device 3 of the present embodiment includes a moving wheel 77 that is a traveling unit that moves the carriage guide rail 6, and the moving wheel 77. And a moving motor 150 which is a travel drive source for rotating the motor. The transport carriage 5 a includes a gear box 152 that is connected to the motor shaft 151 of the movement motor 150, and the movement wheel 77 is pivotally supported by an axle 153 that is pivotally supported by the gear box 152.

  A drive mechanism support bracket 154 is provided at a position between the axle support bracket 92 at the bottom of the movable frame 76, and the gear box 152 is fixed between the one axle support bracket 92 and the drive mechanism support bracket 154. It is arranged. Further, the moving motor 150 is fixedly disposed on the upper surface of the drive mechanism support bracket 154. In the gear box 152, a motor shaft side gear (not shown) supported by a motor shaft 151, an axle side gear (not shown) supported by an axle 153, a motor shaft side gear and an axle side gear, Is provided with a gear mechanism (not shown).

  The gear box 152 transmits the rotation of the motor shaft 151 disposed above the drive mechanism support bracket 154 to the axle 153 disposed below the drive mechanism support bracket 154. Therefore, when the rotational power of the movement motor 150 is transmitted into the gear box 152 through the motor shaft 151, the axle 153 is rotated by the gear mechanism in the gear box 152, so that the movement wheel 77 that is the traveling portion rotates. In addition, the movable frame 76 includes a controller 130 a that controls the lifting and lowering of the work machine 4 and the rotation of the drive motor 114 and the movement motor 150.

  As shown in FIG. 31, the controller 130a outputs control signals to the motor driver 135 and the electromagnetic solenoid 139, as well as the controller 130 (see FIG. 13) in the first embodiment. A measurement signal is input. The controller 130a further outputs a control signal to the motor driver 155 that rotationally drives the moving motor 150 that is a travel drive source. The controller 130a, the drive motor 114, the motor driver 135, the moving motor 150, the motor driver 155, and the distance measuring sensors 132 and 133 are each supplied with electric power from an external power source.

  In the present embodiment, when an operation is accepted by the work machine switch 131, the controller 130a controls the start and stop of the movement of the transport carriage 5a. When starting the movement of the transport carriage 5a, the controller 130a rotates the movement motor 150 by giving a control signal to the motor driver 155. As a result, as shown in FIG. 32, the rotational power of the moving motor 150 is transmitted to the axle 153 of the moving wheel 77 through the gear box 52, the moving wheel 77 rotates, and the transport carriage 5a moves to the carriage guide rail 6 Move up.

  When the controller 130a confirms that the measurement distance of the distance measuring sensor 133 has increased to the predetermined distance L1 after the measurement distance of the distance measuring sensor 132 has increased to the predetermined distance (first distance) L1, the controller 130a It is determined that the work machine 4 is passing on the soil. At this time, the controller 130a stops the rotation of the moving motor 150 through the motor driver 155, and stops the movement of the transport carriage 5a. Then, the controller 130a outputs a control signal to the electromagnetic solenoid 139 to drive the direction switching electromagnetic valve 138 to the extended position, extend the piston rod 97 of the air cylinder 94, and lower the work implement 4.

  When the controller 130a confirms that the measurement distances of the distance measuring sensors 132 and 133 are simultaneously shortened to the predetermined distance (third distance) L3, the work machine 4 is lowered to a position where the work in the planter 2 can be worked. judge. At this time, the controller 130a gives a control signal to the electromagnetic solenoid 139, switches the direction switching electromagnetic valve 138 to the stop position, and fixes the piston rod 97 of the air cylinder 94 at the extended position. Then, the controller 130a gives a control signal to each of the motor drivers 135 and 155 to start rotational driving of each of the drive motor 114 and the moving motor 150. As a result, the soil agitation work by the work machine 4 is started and the movement of the transport carriage 5a is resumed.

  The controller 130 determines that the work implement 4 has approached the outer frame of the planter 2 when confirming that the measurement distance of only the distance measuring sensor 132 has been shortened to the predetermined distance (second distance) L2. At this time, the controller 130a gives control signals to the motor drivers 135 and 155 to stop the rotation operations of the drive motor 114 and the moving motor 150, respectively. Thereby, after the movement of the conveyance cart 5a is stopped, the soil agitation work by the work machine 4 is stopped. Then, the controller 130a outputs a control signal to the electromagnetic solenoid 139 to drive the direction switching electromagnetic valve 138 to the shortened position, shorten the piston rod 97 of the air cylinder 94, and raise the work machine 4.

  When the controller 130a confirms that the measurement distance of the distance measuring sensor 133 is simultaneously increased to the predetermined distance (first distance) L1, the work implement 4 passes over the outer frame of the planter 2 and the frame frame 11 of the cultivation bench 10. It is determined that the position has been raised to a possible position. At this time, the controller 130a gives a control signal to the electromagnetic solenoid 139, switches the direction switching electromagnetic valve 138 to the stop position, and fixes the piston rod 97 of the air cylinder 94 at the shortened position. Then, the controller 130 a gives a control signal to the motor driver 155 to start the rotational drive of each of the moving motors 150. Thereby, the movement of the conveyance cart 5a is restarted in a state where the cultivation soil stirring work by the work machine 4 is stopped, and the work machine 4 is passed over the outer frame of the planter 2 or the frame frame 11 of the cultivation bench 10.

  By repeating the above control operation by the controller 130a, the soil agitation work by the work machine 4 can be continuously performed on the plurality of planters 2 mounted on the plurality of cultivation benches 10. At this time, according to the positions of the left and right side surfaces of the outer frame of the planter 2 arranged side by side on the cultivation bench 10, the lifting / lowering of the work machine 4 and the ON / OFF of the driving motor 114 and the moving motor 150 are synchronized. As a result, the work implement 4 moves in the longitudinal direction of the planter 2 and continuously cultivates the soil in the planter 2 arranged side by side, and the outer frame of the planter 2 can be prevented from being damaged.

  The present invention is not limited to the above-described embodiment, and can be embodied in various forms. The configuration of each other part is not limited to the illustrated embodiment, and various modifications can be made without departing from the spirit of the present invention. In addition, the term “fruit vegetables etc.” used in the present specification is used as a concept including fruit vegetables such as strawberries and leaf vegetables such as spinach.

DESCRIPTION OF SYMBOLS 1 Mobile cultivation apparatus 3 Working apparatus for upright cultivation 4 Working machine 5 Carriage carriage 5a Carriage carriage 6 Carriage guide rail 7 Carriage standby part 8 Rail support stay 10 Cultivation bench 19 Contact frame 20A, 20B Guide apparatus 21A, 21B Pull-in apparatus 23 Stopper members 40A, 40B Conveyor 76 Moving base 77 Moving wheel (first wheel)
78 Grip stand 79 Supporting wheel (second wheel)
80a to 80c Handle 94 Air cylinder 97 Piston rod 99 Coil spring 110 Guide member 111 Guide rod 114 Drive motor 130 Controller 130a Controller 131 Work machine switch 132 Distance sensor 133 Distance sensor 134 Sensor support plate 135 Motor driver 136 Pneumatic circuit 137 Compressor 138 Direction switching solenoid valve 139 Electromagnetic solenoid 150 Motor for movement 151 Motor shaft 152 Gear box 153 Axle 154 Drive mechanism support bracket 155 Motor driver

Claims (4)

A transport carriage mounted with a working machine arranged and operated above the cultivation bench in the elevated cultivation floor, and a carriage guide rail for moving the conveyance carriage along the longitudinal direction of the cultivation bench,
The transport carriage has a lifting device that lifts and lowers the work implement, and a position detection unit that detects an outer frame of a planter mounted on the cultivation bench,
When the transport carriage moves, when the position detection unit detects the outer frame of the planter, the lifting device moves the working machine above the upper end of the outer frame of the planter, while the working machine moves the planter. When the upper part of the outer frame is passed, the lifting device lowers the working machine with respect to the planter.   The operation of the working machine is stopped when the position detecting unit detects an outer frame of the planter when the work machine is lowered and the transport carriage is moved. The above-mentioned tall cultivation work device. The transport cart includes a travel unit that moves the cart guide rail, and a travel drive source that drives the travel unit, and the cart guide rail is configured to slide on the side of the cultivation bench. Place and
The working device for upright cultivation according to claim 1 or 2, wherein the work machine is slid directly on the cultivation bench by moving the transport carriage along the carriage guide rail. The transport carriage has a moving platform having a first wheel that moves on the carriage guide rail at the bottom as the traveling unit, and a second wheel that moves the outer frame of the cultivation bench at the bottom, and through the lifting device. A gripping gantry for gripping the working machine so that it can be raised and lowered,
The work equipment for high-arrangement cultivation according to claim 3, wherein the gripping gantry moves on the cultivation bench by moving the movable gantry on the cart guide rail.

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