JP3094410B2 - Seed inoculation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inoculum inoculation device for supplying a mushroom inoculum to a cultivation container.

[0002]

2. Description of the Related Art Conventionally, as this type of apparatus, for example, as disclosed in Japanese Patent Application Laid-Open No. 5-103542, a lid opening / closing apparatus for opening and closing a lid of a cultivation container, and a cultivation in which the lid is opened by the lid opening / closing apparatus. A seed supply device that supplies seeds in the container is provided.The container containing the cultivation container is supplied to the position corresponding to the seed inoculation by the supply conveyor, and the lid is opened, the seed supply, and the lid closed in the cultivation container in the container sequentially. The inoculation device is shown for carrying out the container and then unloading the container by the unloading conveyor.

According to this device, a fixed positioning member vertically suspended in a reverse T-shape in cross section in parallel with the transport direction and a movable positioning member provided to be able to approach and separate from the fixed positioning member are provided. The cultivation container is positioned by sandwiching the mouth of the cultivation container with the positioning member and the movable positioning member, and in a state where the cultivation container is positioned, the lid of the cultivation container is opened and closed and the inoculum supply by the inoculum supply device is performed. Is performed.

In this case, the lid opening / closing device is provided with a fixed holding member and a holding rod vertically suspended in an inverted T-shape in cross section, and the cultivation container is placed between the fixed holding member and the holding rod. It opens and closes with a lid in between.

[0005]

The container positioning means and the lid opening / closing device in the above-mentioned conventional example have a shape in which the mouth for attaching the lid to the cultivation container protrudes from the shoulder of the cultivation container, that is, the neck. For example, it is a configuration applicable only when using a cultivation container generally used in enoki cultivation or the like, for example, a mouth to which a lid is attached is substantially the same as the upper surface (shoulder) of the cultivation container or In the cultivation container shown in FIG. 1 in the lowered position, there is a problem that the cultivation container cannot be positioned and the lid cannot be opened / closed, and cannot be realized as an apparatus.

[0006] Therefore, the present invention not only restricts the shape of the cultivation container but also expands the range of selection of the cultivation container, makes it possible to perform the positioning of the cultivation container and the opening / closing operation of the lid in a satisfactory manner. It is an object of the present invention to provide an inoculum inoculating apparatus capable of reliably performing the inoculation.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a lid opening and closing device for opening and closing a lid of a cultivation container, and supplies a seed bacterium into the cultivation container with the lid opened by the lid opening and closing device. A seed inoculation device comprising a seed supply device, wherein the lid opening / closing device chucks a lid of the cultivation container from a side and positions the cultivation container at a supply position of the seed bacterium by the seed supply device. Device, the chuck device is configured by an elevating device provided so as to be able to approach and separate from the mouth of the cultivation container, and when the chuck device is approached to the mouth by the elevating device and from the mouth. It is provided with a moving force adjusting means capable of changing a moving force at the time of separation.

[0008] The moving force adjusting means may include a force when the chuck device approaches the mouth of the cultivation container by the lifting device, and a force when the chuck device separates from the mouth of the cultivation container. It is set weaker.

[0009] The lifting device comprises a cylinder,
The moving force adjusting means comprises a regulator for adjusting the pressure of the cylinder.

[0010] Further, the present invention relates to a seed inoculum inoculating apparatus comprising: a lid opening / closing device for opening and closing a lid of a cultivation container; and a seed bacteria supply device for supplying a seed bacterium into a cultivation container having the lid opened by the lid opening / closing device. A lid opening / closing device, a chuck device that sandwiches a lid of the cultivation container from a side and positions the cultivation container at a supply position of the inoculum by the inoculum supply device, and the chuck device in an opening of the cultivation container. A speed adjusting means configured to be capable of changing a moving speed of the chuck device when the chuck device approaches the mouth portion and when the chuck device separates from the mouth portion. It is provided with.

[0011] The speed adjusting means may determine the speed at which the chuck device approaches the mouth of the cultivation container by the lifting device from the speed at which the chuck device separates from the mouth of the cultivation container. Set late.

Further, the lifting device comprises a cylinder,
The speed adjusting means comprises a speed controller for adjusting the flow rate of the cylinder.

[0013]

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the present invention, a lid opening and closing device for opening and closing a lid of a cultivation container, and a seed supply device for supplying a seed bacterium into the cultivation container with the lid opened by the lid opening and closing device. A seed inoculum inoculating apparatus, wherein the lid opening and closing device is a chuck device that sandwiches a lid of the cultivation container from a side and positions the cultivation container at a position where the seed bacterium is supplied by the seed bacterium supply device; and the chuck device. And a lifting device provided so as to be able to approach and separate from the mouth of the cultivation container, and a container holding device provided surrounding the chuck device and pressing and holding an upper portion of the cultivation container downward. Thereby, the chuck device is approached toward the mouth of the cultivation container by the lifting device, and the lid is held by the chuck device to open the lid. And positioned out center position of supplying inoculum feeding device is for pressing and holding the cultivation container by the container holding device in this positioned state.

Since the upper portion of the cultivation container is pressed and held by the container holding device, the lid can be opened by separating the chuck device holding the lid from the mouth by the lifting device.

Further, according to the present invention, a moving force adjusting means capable of changing a moving force of the chuck device when the lifting device approaches the opening of the chuck device and when the chuck device separates from the opening. The moving force adjusting means includes a force when the chuck device approaches the mouth of the cultivation container by the elevating device, based on a force when the chuck device separates from the mouth of the cultivation container. It is a weak setting.

In this manner, when the chuck device of the lid opening / closing device approaches the mouth of the cultivation container to hold the lid of the cultivation container, or when the chuck device closes the lid to close the cultivation container lid, When the chuck device approaches the mouth of the cultivation container with a smaller force compared to when the cultivation container is separated from the mouth of the cultivation container, breakage and deformation of the cultivation container can be prevented.

Conversely, when the chuck device separates from the mouth of the cultivation container while holding the lid to open the cover of the cultivation container, the chuck device is moved from the mouth of the cultivation container with a stronger force than when approaching. By separating, the chuck device can be moved with sufficient force to open the lid.

Further, the present invention further comprises a speed adjusting means capable of changing the moving speed of the chuck device when the chuck device approaches the mouth portion and when the chuck device separates from the mouth portion. The speed adjusting means sets the moving speed when the chuck device approaches the mouth of the cultivation container by the lifting device to be lower than the moving speed when the chuck device separates from the mouth of the cultivation container. It is.

In this manner, when the chuck device of the lid opening / closing device approaches the mouth of the cultivation container to hold the lid of the cultivation container, or when the chuck device closes the lid to close the cultivation container lid, By approaching the chuck device to the mouth of the cultivation container at a lower speed when approaching the mouth of the cultivation container than at the time of separation, breakage and deformation of the cultivation container can be prevented.

Conversely, when the chuck device is released from the mouth of the cultivation container while holding the lid so as to open the lid of the cultivation container, or when the chuck device closes the lid of the cultivation container and then opens the lid. When the chuck device is separated from the mouth of the cultivation container, the lid is separated from the mouth of the cultivation container at a higher speed than when approaching, so that the lid can be opened or the chuck device can be quickly retracted.

[0022]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 18 show an inoculum inoculating apparatus according to an embodiment of the present invention.

In this embodiment, the seed culture is applied to a cultivation container which cannot be applied by the above-mentioned conventional apparatus, that is, a cultivation container in which the mouth to which the lid is attached is substantially equal to or lower than the upper surface (shoulder) of the cultivation container. 1 shows an inoculum inoculating apparatus for inoculating the inoculum.

FIG. 1 shows, for example, a cultivation container 1 for cultivating shiitake mushrooms. The cultivation container 1 includes an upper container 3 having an opening 2 opening upward and a bottom portion capable of storing a culture medium B. The lower container 4 comprises a culture medium B, and the upper container 3 and the lower container 4 are combined.
After the detachable lid 5 is attached to the mouth portion 2 and sterilized together with the culture medium B, the cultivation container 1 is sterilized and inoculated with the inoculum. The lid 5 attached to the mouth 2 of the cultivation container 1 is located at a height substantially equal to the upper surface (shoulder 6) of the cultivation container 1.

After the inoculum M is inoculated, the cultivation container 1 is cultivated for a predetermined period, and at the time when the bacteria have spread in the cultivation container 1, the upper container 3 and the lower container 4 are removed to remove the culture medium B. The mushrooms are germinated from the surface of the culture medium B, and the mushrooms grown after a predetermined period of time are harvested.

In this embodiment, a description will be given of an inoculum inoculating apparatus for inoculating an inoculum M into a cultivation container 1 which has been subjected to the above-mentioned sterilization treatment.

As shown in FIG. 2, a total of four cultivation containers 1 are stored in a container 7 in two rows and two rows, and each container 7 is carried into the inoculum inoculation device by the conveyor 8.

The conveyor 8 conveys the cultivation containers 1 for each container 7 and intermittently transports the cultivation containers 1 to the supply position of the inoculum M of the inoculum supply device 9 described later in units of the cultivation containers.

An inoculum supply device 9 is provided above the transport conveyor 8.
The seed supply device 9 includes a scraping device 11 that scrapes a predetermined amount of the seed M in a seed container 10, which is placed upside down with its mouth downward, and a seed that is scraped and dropped. A hopper 12 for storing M, an openable and closable shutter 13 provided at a lower portion of the hopper 12, and a cultivation in which the lid 5 is opened by a lid opening / closing device 14 described below for the seed bacteria M that falls when the shutter 13 is opened. In this case, two shooters are formed in the lateral direction in accordance with the number of the cultivation containers 1 in the container 7 to be supplied.

The lid opening / closing device 14 is a chuck device 16 that sandwiches the lid 5 attached to the mouth 2 of the cultivation container 1 from the side and positions the cultivation container 1 at the position where the seed cell M is supplied by the seed cell supply device 9. And the chuck device 16 with the mouth 2 of the cultivation container 1.
And a lifting device 17 provided so as to be able to approach and separate from the cultivation containers 1. In this case, two are formed in the lateral direction in accordance with the number of cultivation containers 1 to be supplied.

As shown in FIG. 5, the chuck device 16 is a so-called three-jaw chuck device in which three pinching claws 18 are arranged concentrically at substantially equal intervals, and is a cylindrical cultivation container 1 having a cylindrical shape. The lid 5 is provided so as to be positioned at the center of the chuck device 16 by sandwiching the lid 5 from the three sides in the three directions. The shooter 15 which is the supply position of the center of the chuck device 16 and the inoculum supply device 9 is provided. The centers of the chuck devices 1
6, the cultivation container 1 can be positioned at the supply position of the inoculum M by the inoculum supply device 9 in a state where the cultivation container 1 is centered.

The chuck device 16 is provided so as to be able to move up and down by a cylinder which is an elevating device 17. After the chuck device 16 approaches the lid 5 and clamps the lid 5, the chuck device 16 is moved to the mouth in this clamped state. The lid 5 is opened by separating from the chuck 2, and conversely, the chuck device 1 holding the lid 5 is held.
The lid 5 can be closed by the 6 approaching the mouth 2.

In this way, the chuck device 16 is provided so as to be able to move up and down.
By being inserted along the depression located between the mouth portion 2 and the shoulder portion 6, the lid 5 can be pinched from the side periphery,
When the cultivation container 1 having the shape shown in FIG. 1, that is, the mouth 2 to which the lid 5 is attached is located at a position substantially equal to or lower than the upper surface (shoulder 6) of the cultivation container 1, is applied. Even if there is, the opening and closing operation of the lid 5 can be performed, and the versatility for the type of the cultivation container 1 is improved.

In the apparatus of the present invention, the chuck device 16 is provided so as to be able to move up and down by a cylinder which is an elevating device 17.
After holding the lid 5, the lid 5 is opened by separating the chuck device 16 from the mouth portion 2 in the sandwiched state, and conversely, the chuck device 16 in the gripped state approaches the mouth portion 2 to close the lid 5.
Can be closed, but this lid 5
When the cultivation container 1 is opened, the lid 5 of the cultivation container 1 does not fit well to the
When the position of the cultivation container 1 is largely deviated from the lowered position of the cultivation container 1, the pinching claws 18 of the chuck device 16 approaching the mouth 2 strongly hit the upper surface of the lid 5 of the cultivation container 1. May be damaged or deformed. When the chuck device 16 in the state of holding the lid 5 is lowered even when the lid 5 is closed, if the position of the cultivation container 1 is largely shifted with respect to the lowered position of the chuck device 16, There is a concern that the pinching claws 18 of the chuck device 16 approaching the part 2 may strongly hit the upper surface of the cultivation container 1 to damage or deform the cultivation container 1.

In the apparatus according to the present invention, this point is further improved.
There is provided a moving force adjusting means R1 which can change a moving force when approaching to and away from the mouth 2.

The moving force adjusting means R1 includes a lifting device 17
As a result, the moving force when the chuck device 16 approaches the mouth 2 of the cultivation container 1 is increased.
It is set to be weaker than the force at the time of separation.

The moving force adjusting means R1 will be specifically described with reference to FIG. The elevating means 17 for elevating and lowering the chuck device 16 includes a cylinder 17, and the electromagnetic valve MB is turned off so that the chuck device 16 moves up.
An example in which the electromagnetic valve MB is driven to lower the chuck device 16 in the ON state is shown.

When the electromagnetic valve MB is turned on and switched to lower the chuck device 16, the air pressure sent from the air source P via the main regulator R2 is changed according to the setting of the regulator R1 as the moving force adjusting means R1. The lifting device 17 is made to act on a cylinder.

That is, when the solenoid valve MB is turned off, it is set by the main regulator R2 and the chuck device 1
When the solenoid valve MB is turned on against the pneumatic pressure acting on the lifting / lowering means 17 (cylinder) when lifting the chuck 6, the chuck device 1 is turned on.
By lowering the pneumatic pressure acting on the lifting / lowering means 17 (cylinder) when lowering the chuck 6 by the regulator R1, the chuck device 16 is compared with when the chuck device 16 is raised.
The moving force at the time of falling can be set weakly.

In this manner, when the chuck device 16 of the lid opening / closing device 14 approaches the mouth 2 of the cultivation container 1 to hold the lid 5 of the cultivation container 1 or when the chuck device 16 When closing the lid 5 and approaching the mouth 2 of the cultivation container 1 while closing the lid 5, the chuck device 16 is moved closer to the mouth 2 of the cultivation container 1 with a weaker force as compared with the time of separation. 1 can be prevented from being damaged or deformed.

In other words, when the position of the cultivation container 1 is largely deviated from the lowered position of the chuck device 16 or the lid 5 is raised, the pinching claws 18 of the chuck device 16 abut the cultivation container 1 or the lid 5. However, since the force at the time of approach is set to be weak, the cultivation container 1 is not damaged or deformed.

For example, when the apparatus is kept in contact with the lid 5 or the upper surface of the cultivation container 1 in this manner, the apparatus can be emergency-stopped based on the detection of a sensor (not shown) for detecting the lowering position of the cylinder. .

Conversely, when the chuck device 16 is separated from the mouth portion 2 of the cultivation container 1 while holding the lid 5 so as to open the cover 5 of the cultivation container 1, the chuck device 16 has a stronger force than when approaching. Is moved away from the mouth 2 of the cultivation container 1, the chuck device 16 can be moved with a sufficient force to open the lid.

Further, in the present invention, the speed adjusting means SC1 capable of changing the moving speed of the lifting / lowering device 17 when the chuck device 16 approaches the mouth portion 2 and when the chuck device 16 separates from the mouth portion 2 is changed. , SC2. The speed adjusting means SC1, SC2 are moved by the lifting device 17 to the chuck device 1.
The moving speed at which the chuck 6 approaches the mouth 2 of the cultivation container 1 is set to be slower than the moving speed at which the chuck device 16 separates from the mouth 2 of the cultivation container 1.

This speed adjusting means is represented by SC1 and SC2 in FIG.
More specifically, when the electromagnetic valve MB is turned on and switched to lower the chuck device 16, the speed adjusting means S provided on the path on the air release side is described.
Elevating means 1 in a state where the flow rate is controlled according to the restriction of C1
7 (cylinder) moving speed is set.

That is, when the solenoid valve MB is turned off, the solenoid valve MB is turned on in response to the flow rate of air released from the elevating means 17 when the chuck device 16 is lifted by the throttle control by the speed adjusting means SC2. At the time, the flow rate of the air released from the lifting / lowering means 17 (cylinder) when the chuck device 16 is lowered is adjusted by the speed adjusting means S.
By reducing (squeezing) by C1 (speed controller), the moving speed when the chuck device 16 moves down can be set to be slower than when the chuck device 16 moves up.

In this manner, when the chuck device 16 of the lid opening / closing device 14 approaches the mouth 2 of the cultivation container 1 to hold the lid 5 of the cultivation container 1 or when the chuck device 16 is When approaching the mouth 2 of the cultivation container 1 with the lid 5 sandwiched to close the cultivation container 1, the chuck device 16 is moved closer to the mouth 2 of the cultivation container 1 at a slower speed than in the separation. 1 can be prevented from being damaged or deformed.

Conversely, when the chuck device 16 is separated from the mouth portion 2 of the cultivation container 1 while holding the lid 5 to open the cover 5 of the cultivation container 1, or when the chuck device 16 closes the lid 5 of the cultivation container 1, When separating from the mouth 2 of the cultivation container 1 with the lid 5 opened after closing, the lid is opened by separating the chuck device 16 from the mouth 2 of the cultivation container 1 at a faster speed than when approaching. In addition, the retracting movement of the chuck device 16 can be performed quickly.

The speed adjusting means (speed controllers) SC1 and SC2 are independent of each other.
7 (cylinder), it is possible to set the forward and backward speeds, and in the present invention, the chucking speed is set higher than the moving speed by the speed adjusting means SC2 when the chucking means 16 is moved up (separated from the mouth 2 of the cultivation container 1). Lower means 16 (cultivation container 1
Speed adjustment means SC1 so that the moving speed by the speed adjustment means SC1 when approaching the mouth part 2) becomes relatively slow.
1, SC2 is adjusted.

In addition, a horizontal portion 18A is provided at the base of the pinching claw 18 of the chuck device 16 in the present invention so as to contact the upper surface of the lid 5 of the cultivation container 1 and support the lid 5 horizontally. The horizontal portion 18A holds the lid 5 in a horizontal state by the horizontal portions 18A provided on the plurality of clamping claws 18 abutting against the upper surface of the lid 5 when the chuck device 16 is lowered by the elevating device 17. Things.

For example, when the chuck device 16 is
When approaching the mouth 2 of the cultivation container 1 to hold the lid 5 of the cultivation container 1, even if the lid 5 is not tightly closed with respect to the mouth 2 of the cultivation container 1, and the cover 5 is tilted and lifted up In this case, the lid 5 is corrected to a horizontal state by the horizontal portion 18A formed on the holding claw 18 of the chuck device 16 which descends, and thereafter, the lid 5 in the horizontal state can be held.

When the chuck device 18 approaches the mouth 2 of the cultivation container 1 while holding the lid 5 to close the cover 5 of the cultivation container 1, the lid 5 is held in a horizontal state when the mouth 2 is mounted. While the lid is closed.

That is, when the chuck device 16 moves closer to the mouth portion 2 of the cultivation container 1, the moving force is weakened by the action of the moving force adjusting means R1 and the speed adjusting means SC1, SC2. In addition, by further reducing the moving speed,
In order to be able to perform the horizontal holding action in the horizontal portion 18A satisfactorily, to be able to open and close the lid of the cultivation container 1 satisfactorily,
Further, the cultivation container 1 is prevented from being damaged by preventing the horizontal portion 18A from forcibly pressing the lid 5 and the cultivation container 1.

The chuck device 16 is provided so as to be able to approach / separate from the mouth 2 of the cultivation container 1 by the elevating device 17, and the position where the lid is opened and closed by the chuck device 16 and the lid is opened and closed. A reciprocating device 19 is provided so as to be able to reciprocate with the position retracted from the position.

This reciprocating device 19 is composed of a cylinder and is the 16 reciprocating device 19 of the chuck device described above, and also reciprocates the shooter 15 of the inoculum supply device 9 between a container corresponding position and a container non-corresponding position. Apparatus 1
6 and 7, when the chuck device 16 of the lid opening / closing device 14 performs the lid opening / closing operation, the chute 15 is retracted to the container non-corresponding position (FIG. 6).
), When the lid opening / closing operation is not performed,
5 is moved to the position corresponding to the container (see FIG. 7). By doing so, the shooter 1 of the seed supply device 9
When the inoculum M is guided and supplied into the cultivation container 1 by 5, the chuck device 16 retreats to the non-container corresponding position (see FIG. 7), so that the inoculation of the inoculum can be performed without the chuck device 16 disturbing the inoculum supply. Things.

Here, the container-corresponding position refers to the position directly above the cultivation container 1, and conversely, the container non-corresponding position shifts laterally from the container-corresponding position (the position directly above the cultivation container 1). It refers to the position where it was retreated.

The structure of the reciprocating device 19 will be specifically described.
0 is supported by a cylinder serving as an elevating device 17, and the cylinder (elevating device 20) is fixed to a slide body 21, and the slide body 21 is inserted into and supported by a slide guide 23 provided on a side plate 22, thereby supporting the cylinder in the lateral direction. It is provided to reciprocate freely. A shooter 15 of the inoculum supply device 9 is attached to the slide body 21 via a connection frame 24, and an L-shaped member 25 provided at an end of the connection frame 24 has a cylinder serving as a reciprocating movement device 19. By providing the rod 26, the cylinder (the reciprocating mechanism 1)
The chuck device 16 and the shooter 15 of the inoculum supply device 9 can be reciprocated in the same manner by the driving of 9).

The shooter 15 is fixed to the connecting frame 25 via a cylinder constituting a shooter elevating device 27.
The chute 15 is provided so as to be able to move up and down by the driving of 7). By doing so, the shooter 15 is lowered by the shooter elevating device 27 before the shooter 15 moves to the container corresponding position and the inoculum M is supplied, that is, before the shutter 13 of the hopper 12 of the inoculum supply device 9 is opened. By causing the lower end of the shooter 15 to approach the mouth 2 of the cultivation container 1 and then opening the shutter 13 to supply the seed M through the shooter 15,
The inoculum M is configured to be able to reliably supply the inoculum without spilling from the mouth 2 of the cultivation container 1 to the outside.

Further, according to the present invention, there is provided a container holding device 28 which is provided so as to surround the chuck device 15 and presses and holds the upper part (shoulder 6) of the cultivation container 1, and the lid 5 of the cultivation container 1 is placed on the side. The synergistic action with the chuck device 16 that sandwiches the cultivation container 1 from the side and positions the cultivation container 1 at the supply position of the inoculum M by the inoculum supply device 9 provides a special effect that has not been achieved conventionally.

This container holding device 28 is shown in FIGS.
As shown in FIG. 8, four arm members 30 are attached to attachment members 29 that are bridged between the left and right side plates 22, and small cylinders serving as four container holding devices 28 are fixed to the arm members 30. Chuck device 1 of lid opening / closing device 14
When the lid 6 of the cultivation container 1 is opened, the container holding device 28 is arranged around the chuck device 16, and around the mouth 2 of the cultivation container 1, for example, in this embodiment, The upper part (shoulder part 6) of the cultivation container 1 is arranged so as to be able to press two places, and the pressing part 31 of the cylinder (container holding device 28) is arranged downward with respect to the arm member 30. The part 31 is provided so as to be able to approach and separate from the upper part of the cultivation container 1.

When the lid is opened by the lid opening / closing device 14, the lid is opened by separating the chuck means 16 of the lid opening / closing device 14 from the mouth portion 2 of the cultivation container 1 with the lid 5 held therebetween. Since the upper part (shoulder 6) of the cultivation container 1 is pressed and held by the pressing device 28, the cultivation container 1 is prevented from being lifted up and the lid is properly opened.

Further, according to the chuck device 16 of the lid opening / closing device 14 described above, the cultivation container 1 is centered at a position where the inoculum supply device 9 supplies the inoculum M in a state where the lid is opened and closed by the chuck device 16. The cultivation container 1 can be pressed and held by the container holding device 28 in this positioned state, since the cultivation container 1 can be positioned in this state.

The important matter here is that the lid opening / closing device 14
After the lid 5 is sandwiched and positioned by the chuck device 16, the upper part (shoulder 6) of the cultivation container 1 is pressed and held by the container pressing device 28, and the operation is performed in this order.

The movements of the lid opening / closing device 14 and the container holding device 28 will be specifically described with reference to FIGS. 9 to 17.

First, when the cultivation container 1 is transported to a position directly above the lid opening / closing device 14, the chuck device 16 of the lid opening / closing device 14 descends at a low speed at a low speed with a small force.
After approaching toward the mouth portion 2 of the, the lid 5 is clamped and held from the side by closing the clamping claw 18, and the chuck device 16 is closed.
, The cultivation container 1 is positioned at the supply position of the inoculum M of the inoculum supply device 9. (FIGS. 9 and 10)

Next, with respect to the cultivation container 1 in the positioned state, the cylinder, which is the container holding device 28, operates, and the pressing portion 31 approaches the upper part of the cultivation container 1, and the positioned cultivation container 1 is removed. It is pressed by the pressing portion 31 from above and held immovably. (FIG. 11)

The pressing portion 31 of the container holding device 28
The chuck device 16 is lifted while holding the cultivation container 1 in a state where the lid 5 of the cultivation container 1 is moved away from the mouth 2 of the cultivation container 1 with a strong force and at a high speed.
Is released. The container holding device 28 continues to hold the cultivation container 1 even in the subsequent step, and continues until the cultivation container 1 is unloaded. (FIG. 12)

Then, the chuck device 16 moves from the container-corresponding position (the position directly above the cultivation container 1) to the non-container-corresponding position retracted, and instead, the shooter 15 of the inoculum supply device 9 moves to the container-corresponding position. After that, the inoculum M stored in the hopper 12 located above the shooter 15
Is guided into the cultivation container 1 by opening the shutter 13. (FIG. 13)

When the supply of the inoculum is completed, the shooter 15 retreats to the container non-corresponding position, and the chuck device 16 holding the lid 5 moves to the container corresponding position instead. (FIG. 14)

Thereafter, the lid 5 is attached to the mouth 2 of the cultivation container 1 when the chuck device 16 descends with a small force and at a low speed to approach the mouth 2 of the cultivation container 1. At this time, the pressure input of the lid 5 to the mouth 2 can be received by the horizontal portion 18A provided on the pinching claw 18, and the closing operation is completed while the lid 5 is kept horizontal. (FIG. 15)

When the closing operation of the lid 5 is completed, the clamping claw 18 of the chuck device 16 is opened and the clamping of the lid 5 is released, and then the chuck device 16 moves up with a strong force and at a high speed. (FIG. 16)

Finally, the pressing portion 31 of the container holding device 28 is lifted to release the holding of the cultivation container 1, and the cultivation container 1 after the inoculation of the inoculum is ready to be carried out.
(FIG. 17)

By the above-described operation, the mouth portion 2 of the cultivation container 1 is positioned at the supply position of the inoculum M by the inoculum supply device 9, the cultivation container 1 is held, and the supplied inoculum M is spilled to the outside. Prevention and good supply of inoculum can be performed.

Further, even when the cultivation container 1 is supplied in a position shifted within the container 7, the mouth portion 2 of the cultivation container 1 is positioned at the supply position, and after the positioning, the cultivation container 1 is positioned. Is held by the container holding device 28, so that the positioned cultivation container 1 can be cultivated even under a mechanical vibration such as a lid opening / closing operation by the lid opening / closing device 14 or a supply of the inoculum by the inoculum supply device 9. The container 1 can be held in the positioning state, and the lid opening / closing operation and the supply of the inoculum can be performed satisfactorily.

In this case, the apparatus of the present invention is configured so that the lid 5 is opened and closed by the lid opening and closing device 14 at the supply position of the inoculum M by the inoculum supply device 9. The supply will be more secure.

In the inoculum inoculation apparatus of the present invention, a cultivation container conventionally used for enoki cultivation, that is, an opening for attaching a lid to the cultivation container protrudes from a shoulder of the cultivation container. Needless to say, the present invention can be similarly applied to a cultivation container having a shaped container, and the number of cultivation containers accommodated in the container may be set as appropriate. The number of containers, scraping devices, hoppers, shooters, the number of chuck devices of the lid opening / closing device, and the number of cylinders of the container holding device may be set.

The moving force adjusting means and the speed adjusting means in this embodiment are described only when the lifting means is a cylinder. However, when the lifting means is constituted by a motor and means such as a cam, a link, a gear, and the like. The moving force adjusting means and the speed adjusting means may be appropriately configured corresponding to each means, and for example, the approach movement of the chuck device to the mouth of the cultivation container is performed by a cylinder, and the separation movement from the mouth is performed by a spring means. It may be done. .

[0078]

As described above, according to the present invention, the range of selection of the cultivation container to be applied is widened and the positioning of the cultivation container and the opening / closing operation of the cultivation container are performed well without being restricted by the shape of the cultivation container. This makes it possible to provide an inoculum inoculating apparatus capable of reliably performing the inoculum supply operation.

[Brief description of the drawings]

FIG. 1 is a sectional view showing a cultivation container applied in the present invention.

FIG. 2 is a perspective view showing a state in which a cultivation container applied in the present invention is housed in a container.

FIG. 3 is a side view showing the overall configuration of the apparatus according to one embodiment of the present invention.

FIG. 4 is a front view showing the overall configuration of the apparatus according to one embodiment of the present invention.

FIG. 5 is a view showing a chuck device according to one embodiment of the present invention.

FIG. 6 is a side view of a main part showing one embodiment of the present invention.

FIG. 7 is a side view of a main part showing one embodiment of the present invention.

FIG. 8 is a diagram showing an arrangement relationship between a clamping claw and a container holding device of the chuck device according to the embodiment of the present invention, as viewed from above.

FIG. 9 is a schematic diagram showing the operation of one embodiment of the present invention.

FIG. 10 is a schematic diagram showing the operation of one embodiment of the present invention.

FIG. 11 is a schematic view showing the operation of one embodiment of the present invention.

FIG. 12 is a schematic diagram showing the operation of one embodiment of the present invention.

FIG. 13 is a schematic diagram showing the operation of one embodiment of the present invention.

FIG. 14 is a schematic view showing the operation of an embodiment of the present invention.

FIG. 15 is a schematic view showing the operation of one embodiment of the present invention.

FIG. 16 is a schematic view showing the operation of one embodiment of the present invention.

FIG. 17 is a schematic view showing the operation of one embodiment of the present invention.

FIG. 18 is a diagram showing a drive configuration of a lifting device according to an embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Cultivation container 2 Mouth 5 Lid 9 Seed supply device 14 Lid opening and closing device 16 Chuck device 17 Elevating device (cylinder) 18 Clamping claw 18A Horizontal part R1 Moving force adjusting means (regulator) SC1, SC2 Speed adjusting means (Speed controller) M inoculum

Claims (6)

(57) [Claims] 1. A lid opening and closing device for opening and closing a lid of a cultivation container,
A seed inoculation device comprising a seed supply device for supplying a seed to the cultivation container with the lid opened by the lid opening and closing device, wherein the lid opening and closing device sandwiches the lid of the cultivation container from the side. A chuck device for positioning the cultivation container at the supply position of the inoculum by the inoculum supply device, and an elevating device provided with the chuck device so as to be able to approach and separate from the mouth of the cultivation container; A seed inoculum inoculating device comprising a moving force adjusting means capable of changing a moving force when the chuck device approaches the mouth portion and when the chuck device separates from the mouth portion. 2. The moving force adjusting means includes: a force when the chuck device approaches the mouth of the cultivation container by the lifting device; a force when the chuck device separates from the mouth of the cultivation container. 2. The inoculum inoculation device according to claim 1, wherein the inoculum is set to be weaker. 3. The inoculum inoculating apparatus according to claim 1, wherein said lifting device comprises a cylinder, and said moving force adjusting means comprises a regulator for adjusting a pressure of said cylinder. 4. A lid opening and closing device for opening and closing a lid of a cultivation container,
A seed inoculation device comprising a seed supply device for supplying a seed to the cultivation container with the lid opened by the lid opening and closing device, wherein the lid opening and closing device sandwiches the lid of the cultivation container from the side. A chuck device for positioning the cultivation container at the supply position of the inoculum by the inoculum supply device, and an elevating device provided with the chuck device so as to be able to approach and separate from the mouth of the cultivation container; A seed inoculum inoculating device comprising a speed adjusting means capable of changing a moving speed when the chuck device approaches the mouth portion and when the chuck device separates from the mouth portion. 5. The speed adjusting means sets a speed at which the chuck device approaches the mouth of the cultivation container by the lifting device from a speed at which the chuck device separates from the mouth of the cultivation container. The inoculum inoculation device according to claim 4, wherein the setting is made late. 6. The inoculum inoculating apparatus according to claim 4, wherein said lifting device comprises a cylinder, and said speed adjusting means comprises a speed controller for adjusting a flow rate of said cylinder.