JP5141622B2 - Greenhouse heating equipment - Google Patents

Description

  The present invention relates to a heating facility for a greenhouse and belongs to the technical field of plant cultivation.

  The first heating device, which is a boiler that heats hot water using heat generated by burning fossil fuel, and the second heating device, which is a solar water heater that heats hot water using heat generated from other than fossil fuel. A heating device, a heating tube for supplying warm water to the first heating device and the second heating device, a first supply tube for supplying warm water heated by the heating tube to the pump, and from the pump A second supply pipe for supplying hot water to the heating pipe in the greenhouse and a return pipe for returning the hot water from the heating pipe to the heating pipe are provided. The heating pipe, the first supply pipe, and the second supply pipe There is known a heating facility for a greenhouse that constitutes a circulation path of hot water via a heating pipe and a return pipe (see Patent Document 1).

JP 2008-220217 A

  In view of environmental problems such as global warming due to an increase in carbon dioxide, the present invention burns fuels other than fossil fuels such as boilers using wood pellets obtained by compression-molding lumber by-products such as plant residues and sawdust. It is an object of the present invention to save energy by using a heating device that heats using heat and obtaining a heating facility for the greenhouse that can efficiently heat the greenhouse using the heating device.

In order to solve the above problems, the following technical measures were taken.
That is, a first heating device (131) that heats hot water using heat generated by burning fossil fuel, and a second heater that heats hot water using heat generated by burning fuel other than fossil fuel. A warming device (132), a warming tube (133) for supplying warm water to the first warming device (131) and the second warming device (132), and warm water heated by the warming tube (133) A first supply pipe (135) for supplying to the pump (134), a second supply pipe (136) for supplying hot water from the pump (134) to a heating pipe (137) in the greenhouse, and heating A return pipe (138) for returning hot water from the work pipe (137) to the heating pipe (133) is provided, and the heating pipe (133), the first supply pipe (135), the second supply pipe (136), and the heating The hot water circulation path via the pipe (137) and the return pipe (138) is constructed, and the first supply The bypass pipe (172) connecting the (135) and the return pipe (138) is provided, and the bypass pipe (172), the first supply pipe (135), and the second supply pipe (136) are not passed through the heating pipe (133). ), A circulation path of hot water passing through the heating pipe (137) and the return pipe (138), and the heating pipe (133) is connected to the connection between the bypass pipe (172) and the first supply pipe (135). A flow rate ratio adjustable switching valve (173) is provided to adjust the ratio of the flow rate from the side and the flow rate from the bypass pipe (172) side, and the temperature of the hot water flowing through the second supply pipe (136) is detected. The ratio of the flow rate which joins from the heating pipe (133) side is provided, so that the difference of the temperature of the warm water detected by the warm water temperature sensor (175) and the target temperature of the set warm water is large. Is set to increase The switching valve (173) is controlled based on the set flow rate ratio from the pipe (133) side, and when the set flow rate ratio from the heating pipe (133) side is set larger than a predetermined ratio, the first When both the warming device (131) and the second warming device (132) are combusted and the set flow rate ratio from the warming pipe (133) side is set smaller than a predetermined rate, the second warming is performed. A greenhouse heating facility provided with a control device for stopping the combustion operation of the first heating device (131) by performing the combustion operation of only the device (132).

  Therefore, when the temperature of the hot water flowing through the second supply pipe (136) is increased and the difference between the temperature of the hot water and the target temperature of the hot water is reduced, the switching valve (173) is activated and the heating pipe (133) side is reached. The ratio of the flow rate that merges from the first pipe becomes smaller and the percentage of the flow volume that merges from the bypass pipe (172) side increases, so that the warm water heated by the first heating device (131) or the second heating device (132) is reduced. The amount of energy supplied to the second supply pipe (136) and thus the heating pipe (137) can be suppressed so as not to waste heat, thereby saving energy. When the temperature of the hot water flowing through the second supply pipe (136) is lowered and the difference between the temperature of the hot water and the target temperature of the hot water is increased, the switching valve (173) is activated to join from the heating pipe (133) side. The ratio of the flow rate to be increased and the ratio of the flow rate to be merged from the bypass pipe (172) side are decreased, and the warm water heated by the first heating device (131) or the second heating device (132) is second. The greenhouse can be efficiently heated by supplying a large amount to the supply pipe (136) and thus the heating pipe (137). Further, when the set flow rate ratio from the heating pipe (133) side is set to be smaller than the predetermined ratio, only the second heating device (132) is burned and the first heating device (131) burns. It is possible to stop the operation, reduce the consumption of fossil fuel, which is a limited resource, and save energy. When the set flow rate ratio from the heating pipe (133) side is set to be larger than a predetermined ratio, both the first heating device (131) and the second heating device (132) are combusted and operated. The greenhouse can be heated efficiently by increasing the amount of heating.

  Therefore, it is possible to efficiently heat the greenhouse using a heating device that heats using heat obtained by burning fuel other than fossil fuel, and energy saving can be achieved.

Top view showing cultivation facilities in an easy-to-understand manner Diagram showing the nutrient solution transfer system of the nutrient solution supply device in an easy-to-understand manner Figure showing a ventilating pipe Easy-to-understand illustration of heating equipment Side view showing the main parts of grafting seedling production equipment Plan view showing the main part of the grafted seedling production device Plan view showing rootstock pretreatment unit, hogi pretreatment unit and adhesion treatment unit Side view showing rootstock cutting device Side view showing Hogi cutting device It is a top view which shows the taking-in part which a part of was omitted. It is a top view by the principal part expansion of the grafting seedling production apparatus. It is a side view by the principal part expansion of the grafting seedling production apparatus. It is an enlarged side view of a holding hand. It is a hand mechanism top view (a) (b) of the grasping state of the upper stage and the middle stage. It is the operation state top view (a) of the cutter mechanism, and its B-1B sectional view (b). It is an operation | movement top view of a 1st lifting tool. It is an operation | movement side view of a 1st lifting tool. It is a front view of standing operation of the 1st lifting tool. It is a top view which shows the 1st and 2nd lifting tool. It is a top view which shows a different 2nd lifting tool. It is a top view which shows the hand front-end | tip part of a middle stage hand mechanism. It is an operation | movement procedure figure of taking-in operation of a Hogi seedling. It is an operation | movement top view of the preparation state (a) of a holding | grip hand, and a holding state (b). It is a top view of the hand mechanism which shows a seedling separator. It is a top view of direction correction operation | movement in a transfer process. It is a principal part top view of an alignment holding means. It is the principal part side view (a) of the alignment holding | maintenance means, and its B 1B sectional view (b). It is a side view (a) and (b) which shows the front and back of the delivery operation | movement of an alignment holding means. It is an operation | movement procedure diagram of the delivery operation | movement of a Hogi seedling. It is a top view (a) (b) before and behind a 1st alignment operation | movement. It is a top view (a) (b) before and behind a 2nd alignment operation | movement. It is a top view (a) (b) before and behind the alignment operation | movement of the main alignment member and a subalignment member. It is a figure which shows an operation panel. It is a side view which shows a different subalignment member. It is a top view which shows a different subalignment member. It is a top view which shows a different subalignment member. It is a top view which shows the hand front-end | tip part of a different hand mechanism.

One embodiment of the present invention will be described below.
FIG. 1 shows an example of a cultivation facility. This cultivation facility is adjacent to the cultivation room 101, which is a greenhouse in which the indoor environment such as temperature and humidity is managed by a heater, a humidifier, and the like. And a shipping room 102. In the center of the cultivation room 101, there is provided a main passage 104 through which an operator or work cart 103 serving as a work vehicle or a control work vehicle can pass, and the main passage 104 is concrete whose road surface is made of concrete. It is a passage. In the lateral positions on both sides of the main passage 104, a cultivation space 106 for cultivating a crop in which a large number of cultivation beds 105 serving as cultivation strips are arranged is configured. The cultivation bed 105 is formed of rock wool and is configured such that the nutrient solution is supplied from the nutrient solution supply device 107 in the shipping chamber 102 to each cultivation bed 105. In addition, an entrance 108 to the cultivation room 101 having an opening / closing door is provided at both ends of the main passage 104 so that the main passage 104 can come and go to the adjacent shipping room 102 via one entrance 108. In addition, the other doorway 108 becomes a structure which can enter / exit from the outdoors of a cultivation facility. Then, the work moving vehicle is moved from the main passage 104 to the sub passage 109 between the cultivation strips (each cultivation bed 105), and the work moving vehicle 103 is moved along the cultivation passage (cultivation bed 105) in the sub passage 109. Various operations can be performed on the cultivation strips.

  The shipping chamber 102 includes the nutrient solution supply device 107 described above and a sorting device 110 that sorts harvested fruits (fruits) such as tomatoes by weight, size, or grade. The sorting device 110 serves as a pre-processing device that processes cultivated crops before shipment. The sorting device 110 is configured to include a sorting conveyor 111 that transports and sorts the harvested products, and a harvested storage unit 112 for each class provided on both sides of the sorting conveyor 111. The harvested product is supplied to the harvested product storage unit 112 and sorted into each class. The sorting conveyor 111 is bent in an L shape in plan view. In addition, each harvest storage unit 112 may be provided with a storage box for storing the harvest, and the harvest may be shipped for each storage box.

In the cultivation process, leaf removal work (for example, in the case of cherry tomatoes, it is good that there are three leaves on one branch and if there are more leaves) or bud-cutting work When the weight of the leaves and buds is large, it is not the environment where the fruits grow, but the environment where the leaves and stems grow. It is desirable to do as follows.
1. Increase the temperature.
2. Increase the temperature difference between day and night to about 5 degrees.
3. Increase the nutrient solution temperature.
4). Reduce humidity.
5). Increase EC value of nutrient solution.
6). Reduce the number of irrigations to make the cultivation bed 5 dry.
Then, from the environment where leaves and stems grow to the environment where fruits grow, the harvest increases.

In addition, when the rot is removed in the sub-passage 109 (removes the rotted fruit without growing), it is desirable that the environment of the cultivation room 101 is as follows when the weight of the rot is large. .
1. Close the blackout curtain on the ceiling to lengthen the blackout time.
2. Decrease EC value of nutrient solution.
3. Increase the frequency of irrigation of nutrient solution. Alternatively, the amount of nutrient solution supplied at one time is increased.
4). Spread calcium on the leaves. Or, increase the calcium concentration in the nutrient solution.
5). Increase humidity.
As a result, the production of rots decreases and the yield increases.

  By the way, as shown in FIG. 2, the nutrient solution supply apparatus 107 includes a first tank 141 and a second tank 142 that store nutrient solutions, an acid tank 143 that stores nitric acid, and a raw water tank 144 that stores raw water. The liquid stored in the tanks 141, 142, 143, and 144 is supplied to the mixing device 149 via the main opening / closing valves 145, 146, 147, and 148 and mixed by the mixing device 149. The first tank 141 and the second tank 142 store nutrient solutions having different fertilizer components. In the supply path (supply pipes 150, 151, 152) from the first tank 141, the second tank 142, and the acid tank 143 to the mixing device 149, Filters 153, 154, and 155 before mixing are provided. Further, sub-opening / closing valves 156, 157, and 158 are provided on the upper supply side of the pre-mixing filters 153, 154, and 155, respectively. The nutrient solution mixed by the mixing device 149 is supplied to each cultivation bed 105 in the cultivation room 101 through the nutrient solution pump 159 and the mixed filter 160 through the liquid supply pipe 161.

  In the supply path (supply pipe 152) from the acid tank 143, a branch pipe 162 (branch path) is connected on the supply lower side than the sub open / close valve 158 and the pre-mixing filter 155 and on the supply upper side from the main open / close valve 147. doing. This branch pipe 162 (branch path) is mainly provided on the lower supply side than the auxiliary opening / closing valves 156 and 157 and the pre-mixing filters 153 and 154 in the supply path (supply pipes 150 and 151) from the first tank 141 and the second tank 142. Connected to each position on the supply side from the opening / closing valves 145 and 146, the nitric acid in the acid tank 143 can be supplied to the supply paths (supply pipes 150 and 151) from the first tank 141 and the second tank 142. ing. An electromagnetic branch opening / closing valve 163 is provided in the middle of the branch pipe 162. In the supply pipes 150 and 151 from the first tank 141 and the second tank 142, the flow rates in the supply pipes 150 and 151 are on the supply lower side than the connection part of the branch pipe 162 and on the supply upper side from the main opening / closing valves 145 and 146. Flow rate sensors 164 and 165 for detecting the above are provided. Further, a discharge pipe 166 for discharging without supplying liquid to each cultivation bed 105 in the cultivation room 101, that is, the liquid supply pipe 161 is connected to the lower side of the supply from the nutrient solution pump 159 and the mixed filter 160. In addition, an electromagnetic discharge opening / closing valve 167 provided in the discharge pipe 166 discharges the liquid discharged from the nutrient solution pump 159 to the liquid supply pipe 161 and discharges the liquid through the discharge pipe 166 to the outside. It can be switched to the discharge state.

  Therefore, in the normal state in which the nutrient solution is supplied to each cultivation bed 105 in the cultivation room 101, the branch opening / closing valve 163 and the discharge opening / closing valve 167 are closed, and the nutrient solution mixed by the mixing device 149 is supplied to the fluid supply pipe 161. Supply. When supplying the nutrient solution, the flow rates in the supply pipes 150 and 151 from the first tank 141 and the second tank 142 are sequentially detected by the flow rate sensors 164 and 165, respectively. And when the flow volume in supply pipe 150,151 at the time of nutrient solution supply becomes below a predetermined value, when the nutrient solution supply to each cultivation bed 105 in cultivation room 101 is stopped, by a control device The branch opening / closing valve 163 and the discharge opening / closing valve 167 are automatically opened to drive the nutrient solution pump 159, and nitric acid in the acid tank 143 is supplied from the first tank 141 and the second tank 142 via the branch pipe 162. The nitric acid is supplied to the pipes 150 and 151 and discharged to the outside through the discharge pipe 166. At this time, the auxiliary open / close valves 156 and 157 are automatically closed in the supply pipes 150 and 151 from the first tank 141 and the second tank 142, and the nitric acid supplied to the supply pipes 150 and 151 is supplied to the supply pipe 150. , 151 are prevented from flowing back to be supplied to the first tank 141 and the second tank 142. Therefore, the supply pipes 150 and 151 from the first tank 141 and the second tank 142 may be clogged with insoluble substances and impurities in the nutrient solution, but the supply pipes 150 and 151 are clogged by the flow rate sensors 164 and 165. Can be automatically injected into the supply pipes 150 and 151 to automatically clean the supply pipes 150 and 151, and the supply pipes can be disassembled as in the prior art. Maintenance efficiency such as cleaning is eliminated and work efficiency is improved. Further, since the cleaning liquid (nitric acid) is discharged to the outside through the discharge pipe 166 and is not supplied directly to the cultivation bed 105, the above-described cleaning does not inhibit the growth of the plant.

  In addition, the nutrient solution discharged from the nutrient solution pump 159 is branched to the superior supply side of the filter 160 after mixing on the lower supply side of the nutrient solution pump 159, and the mixing device 149 is connected to the upper supply side of the nutrient solution pump 159. A circulation path (circulation pipe 168) returning to the lower supply side is connected. This circulation path (circulation pipe 168) is provided with an electromagnetic return on-off valve 169, and the pressure in supplying nutrient solution to the liquid supply pipe 161 by the pressure sensor 170 provided on the lower supply side of the filter 160 after mixing. When it is detected that the fluctuation is large, the control device automatically opens the return on-off valve 169 to circulate the nutrient solution through the circulation path (circulation pipe 168) and stabilize the pressure in the liquid supply pipe 161. It has a configuration. As a result, it is possible to prevent the water hammer phenomenon due to the start of the nutrient solution pump 159 or air stagnation, etc., and to prevent the piping (feed solution pipe 161) on the lower supply side of the nutrient solution pump 159. Conventionally, a water hammer phenomenon due to pump start-up or air scooping has occurred, resulting in an inappropriate amount of nutrient solution supplied to each cultivation bed in the cultivation room, or pipes buried underground on the pump supply lower side ( (Liquid supply pipe) may be damaged. The circulation path (circulation pipe 168) is provided with a temperature sensor 171 for detecting the temperature of the nutrient solution to be circulated, and when the temperature sensor 171 detects that the temperature of the nutrient solution has risen to a predetermined value or more. The nutrient solution pump 159 is forcibly stopped by the control device so that the nutrient solution is not circulated by the circulation pipe 168 so that the temperature of the nutrient solution is lowered. Thereby, it can prevent that structures, such as a valve in a piping, packing, etc. melt | dissolve with the heat | fever of nutrient solution, and are damaged. Conventionally, in order to adjust the pressure of the nutrient solution in the liquid supply pipe, a long circulation path is provided through the liquid supply pipe for supplying the nutrient solution to each cultivation bed in the cultivation room, and the nutrient solution return path portion of the circulation path is provided. Some pressure control valves are provided, but if the temperature of the nutrient solution rises due to circulation, the structure of the pipes, packing, etc. in the piping will be damaged by the heat of the nutrient solution, or it will be cultivated by the heat of the nutrient solution. May be adversely affected.

  Further, the drained liquid from the cultivation bed 105 is collected in the raw water tank 144 and reused for supplying liquid to the cultivation bed 105. In the cultivation room 101, a ventilation pipe 127 that passes through the raw water tank 144 is provided, and the fan 128 is driven to ventilate the ventilation pipe 127. Thereby, the air in the cultivation room 101 positively hits the raw water tank 144 having a low temperature and is dewed, so that the air in the cultivation room 101 can be easily dehumidified, and the inside of the cultivation room 101 heated by the heating equipment described later. The raw water and nutrient solution in the raw water tank 144 can be heated with air. The condensed water is discharged out of the cultivation room 101 through a drain port 129 provided in the ventilation pipe 127. Therefore, since the frequency which the skylight 130 in the skylight control mentioned later or the opening degree of the skylight 130 can be restrained low, the room temperature fall in the cultivation room 101 can be restrained, and the load of the heating of heating equipment can be restrained and energy-saving. Can be planned.

  The heating equipment of the cultivation room 101 will be described. The first heating device 131, which is an oil boiler that heats hot water using the heat of burning oil such as heavy oil or kerosene that is fossil fuel, and other than fossil fuel A second heating device 132, which is a wood pellet boiler that heats hot water using the heat of burning wood pellets, etc., compression-molded with wood residue and other by-products such as plant residues and sawdust, A heating pipe 133 for supplying warm water to the heating apparatus 131 and the second heating apparatus 132; a first supply pipe 135 for supplying warm water heated by the heating pipe 133 to the pump 134; A second supply pipe 136 for supplying hot water to the heating pipe 137 in the greenhouse and a return pipe 138 for returning the hot water from the heating pipe 137 to the heating pipe 133 are provided, and the heating pipe 133 and the first supply are provided. Tube 135, Second feed pipe 136 constitutes a circulation path of the hot water through the heating pipe 137 and return pipe 138. In addition, the 1st heating apparatus 131, the 2nd heating apparatus 132, and the heating pipe 133 are arrange | positioned in the management room 125 outside the cultivation room 101, and the 1st heating apparatus 131 and the 2nd heating apparatus 132 are heated. Arranged in series along the pipe 133, the heating pipe 137 is arranged along each sub-passage 109 in the cultivation room 101. Further, a bypass pipe 172 connecting the first supply pipe 135 and the return pipe 138 is provided, and the bypass pipe 172, the first supply pipe 135, the second supply pipe 136, the heating pipe 137, and the return pipe are not passed through the heating pipe 133. The circulation path of the hot water passing through the pipe 138 is configured, and the ratio of the flow rate that merges from the heating pipe 133 side and the ratio of the flow rate that merges from the bypass pipe 172 side at the connection part of the bypass pipe 172 and the first supply pipe 135 A switching valve (three-way valve) 173 capable of adjusting the flow rate ratio is provided. The second supply pipe 136 is provided with a hot water temperature sensor 175 that detects the temperature of the hot water flowing through the second supply pipe 136. The cultivation room 101 is provided with a room temperature sensor 174 for detecting the room temperature in the cultivation room 101 and a humidity sensor 176 for detecting the humidity in the cultivation room 101.

  A control unit (controller) 126 that controls the environment of the cultivation room 101 is disposed in the management room 125 outside the cultivation room 101, and inputs detection values of the hot water temperature sensor 175, the room temperature sensor 174, and the humidity sensor 176. An operation signal is output to the heating device 131, the second heating device 132, the pump 134, the switching valve 173, and the skylight opening / closing motor 177 that opens and closes the skylight 130 of the cultivation room 101. In addition, for example, the target room temperature is calculated and set according to the time zone of the day, such as higher in the daytime and lower in the nighttime, and the lower the target temperature, the higher the target temperature corresponding to the set target temperature. Calculate and set the target humidity. In addition to the setting method based on the above-mentioned daily time zone, the target temperature and target humidity may be changed based on the cultivation process, season, etc. of the crop, or may be set to a constant setting value by the operator. Or you may. When the detected humidity detected by the humidity sensor 176 becomes higher than the target humidity, the skylight opening / closing motor 177 is operated to open the skylight 130 (skylight control). The skylight opening / closing motor 177 operates so that the opening degree of the skylight 130 increases proportionally as the difference between the target humidity and the detected humidity increases. When the detected room temperature detected by the room temperature sensor 174 is lower than the target room temperature, the target temperature of the hot water flowing through the second supply pipe 136 is calculated based on the target room temperature. As the target room temperature increases, the target temperature is set higher as a linear function (based on an arithmetic expression in which the rate of change of the target temperature with respect to a constant amount of change in the target room temperature is the same regardless of the target room temperature). . Further, when the detected temperature of the hot water detected by the hot water temperature sensor 175 is lower than the target temperature, the heating tube 133 side is linearly proportional to the difference between the detected temperature and the target temperature (in proportion to the difference). The set flow rate ratio from the heating tube 133 side is calculated and set so that the ratio of the flow rate to be merged from is increased. Therefore, when the detected room temperature detected by the room temperature sensor 174 is lower than the target room temperature and the detected temperature of the hot water is lower than the target temperature, the larger the difference between the detected temperature and the target temperature, the larger the flow rate that merges from the heating tube 133 side. The switching valve 173 operates based on the set flow rate ratio from the heating tube 133 side that is set so as to increase the ratio. Further, when the set flow rate ratio from the heating tube 133 side is equal to or lower than a first predetermined ratio (0%) set in advance, both the first heating device 131 and the second heating device 132 are operated for combustion. Stop. When the detected room temperature detected by the room temperature sensor 174 is lower than the target room temperature and the detected temperature of the hot water is lower than the target temperature, a set flow rate ratio from the heating tube 133 side is preset as a first predetermined ratio ( 0%) and less than a predetermined second predetermined ratio (100%), only the second heating device 132 is operated for combustion, and the combustion operation of the first heating device 131 is stopped. When the detected room temperature detected by the room temperature sensor 174 is lower than the target room temperature and the detected temperature of the hot water is lower than the target temperature, a set flow rate ratio from the heating tube 133 side is preset to a second predetermined ratio ( 100%) or more, both the first heating device 131 and the second heating device 132 are operated for combustion. In addition, the ratio mentioned above is a ratio of the flow volume from the heating pipe 133 side with respect to the combined flow volume which flows through the 2nd supply pipe | tube 136. FIG. The pump 134 is always operated regardless of the detected room temperature detected by the room temperature sensor 174 and the detected temperature of the hot water detected by the hot water temperature sensor 175.

  Accordingly, when the temperature of the hot water flowing through the second supply pipe 136 is increased and the difference between the detected temperature of the hot water and the target temperature of the hot water is reduced, the switching valve 173 is activated and the flow rate of the flow that joins from the heating pipe 133 side is increased. As the ratio decreases, the ratio of the flow rate that merges from the bypass pipe 172 side increases, and the hot water heated by the first heating device 131 or the second heating device 132 is supplied to the second supply pipe 136 and thus the heating pipe 137. Energy consumption can be reduced by suppressing the amount of supply and avoiding wasteful consumption of heat. When the temperature of the hot water flowing through the second supply pipe 136 is lowered and the difference between the detected temperature of the hot water and the target temperature of the hot water is increased, the ratio of the flow rate at which the switching valve 173 is activated to join from the heating pipe 133 side is As the flow rate increases, the proportion of the flow rate that flows from the bypass pipe 172 side decreases, and a large amount of hot water heated by the first heating device 131 or the second heating device 132 is supplied to the second supply pipe 136 and thus the heating pipe 137. As a result, the cultivation room (greenhouse) 101 can be efficiently heated. Further, when the set flow rate ratio from the heating tube 133 side is set to be smaller than the second predetermined ratio, only the second heating device 132 is operated for combustion and the combustion operation of the first heating device 131 is stopped. Energy consumption can be reduced by reducing the consumption of fossil fuels, which are limited resources. When the set flow rate ratio from the heating tube 133 side is set to be larger than a predetermined ratio, both the first heating device 131 and the second heating device 132 are combusted to increase the amount of warm water. The cultivation room (greenhouse) 101 can be efficiently heated. In addition, if the detection humidity detected by the humidity sensor 176 becomes higher than the target humidity and the skylight 130 is opened, the room temperature in the cultivation room 101 is lowered. Accordingly, the detection detected by the room temperature sensor 174 is lower than the target room temperature. If the room temperature is low and the detected temperature of the hot water is lower than the target temperature, the heating control is performed as described above.

Therefore, it is possible to efficiently heat the greenhouse using a heating device that heats the fuel other than fossil fuels (waste, byproducts, etc.) burned, and to save energy.
The seedling for cultivating in this cultivation facility can be manufactured as a grafted seedling by the grafted seedling manufacturing apparatus 1 described below.

  The graft seedling production apparatus 1 is centered on a graft robot main body la for grafting a rootstock and a hogi, and a rootstock take-in portion (take-in portion) (not shown) on the left side (upper side in FIG. 5) and the right side (FIG. 5). On the left side of the front surface of the grafting robot main body la from the rootstock taking-in part or the Hogi taking-in part 2 to the rootstock, hogi Rootstock pretreatment unit (pretreatment unit) 3 and Hogi pretreatment unit (pretreatment unit) 4 that receive the seedlings respectively as received from the rootstock pretreatment unit 3 or Hogi pretreatment unit 4 in the center A bonding processing unit 7 for bonding the rootstock and the hogi, and a grafting seedling sending unit 8 for sending the bonded grafted seedling from below are arranged so as to be substantially symmetrical, and the front side of the hogi taking-in unit 2 Is provided with an operation panel lp.

  The rootstock preprocessing unit 3 includes a rootstock transport arm 61 that is rotated by driving a root actuator 60 that is pneumatically operated, and the rootstock seedling from the rootstock take-in section is driven by the rootstock transport arm 61. The rootstock transport arm 61 rotates 90 degrees to transport the rootstock seedling to the cutting position 62, and then the rootstock transport arm 61 further rotates 90 degrees to transport the rootstock seedling to the joining position 63. The rootstock seedling is cut by the rootstock cutting device 64 at the cutting position, and one leaf of the dicotyledon is cut off. The excision portion that should be cut off by the cutting device 64 may adhere to the seedling to be transported, but the excision portion is removed on the transport path from the cutting position 62 to the joining position 63. A resin brush 65 is provided, and an air nozzle 66 that blows air is provided on the rootstock transport arm 61 so that the excised portion is reliably dropped so that the grafted seedlings can be joined appropriately.

  The hotwood pre-processing unit 4 includes a hotwood transfer arm 68 that is rotated by driving the rotary actuator 67 of the hotwood side that is operated by air pressure. Grasping the seedlings, the spike transfer arm 68 is rotated 90 degrees to transfer the spike seedlings to the cutting position 69, and then the spike transfer arm 68 is further rotated 90 degrees to transfer the spike seedlings to the joining position 63. . At the cutting position 69, the hogi seedling is cut by the hogi cutting device 70, and the lower part of the hypocotyl is cut off. In addition, although the excision part which should be cut off by the cutting device 69 may adhere to the seedling to be transported, the excision part is removed on the transport path from the cutting position 69 to the joining position 63. Therefore, a resin brush 71 and an air nozzle 72 for blowing air are provided to reliably drop the cut portion so that the grafted seedlings can be joined appropriately.

  The adhesion processing unit 7 feeds one clip for feeding the grafted seedlings one by one, and one clip fed by the clip feeder 73 with the rootstock seedling and the seedling seedling reaching the joining position 63. A clip supply device 74 is provided to supply the rootstock seedlings and the hogi seedlings one by one. Note that when the rootstock transport arm 61 and the hotwood transport arm 68 reach the joining position 63, the cutting surfaces of the rootstock seedling and the hogi seedling are matched to join the seedling.

  The transporting operation of the rootstock seedling to the cutting position 62 by the rootstock transport arm 61 and the transporting operation to the cutting position 69 of the seedling by the stock transporting arm 68 are performed by the rootstock transporting arm 61 and the transporting arm 68 respectively. The operation starts synchronously with the holding of the seedlings together, but the speed adjustment device (flow rate control valve) on the ear is operated to reduce the air flow to the rotary actuator 67 on the ear and reduce the ear. The operation speed of the tree transport arm 68 is slightly slower than the operation speed of the root transport arm 61, and the timing at which the stock transport arm 68 reaches the cutting position 69 is the timing at which the root transport arm 61 reaches the cutting position 62. Than later. Then, when it is detected by the rotation position detection sensor (reed switch) on the hogi side that the hogi transport arm 68 has reached the cutting position 69, the root cutting machine 64 and the hogi are detected. The cutting device 70 starts a cutting operation. Accordingly, the cutting devices 64 and 70 can be operated in a state where the rootstock transport arm 61 and the hotwood transport arm 68 have surely reached the cutting positions 62 and 69, respectively. In addition, the rotational position detection sensor (reed switch) for detecting the cutting position on the rootstock side can be omitted, and the cost can be reduced. In addition, by slowly transporting the seedlings that are lighter than the rootstock seedlings, the balance of the seedlings is lost and the posture of the seedlings deteriorates. It is possible to prevent a problem that the bonding state is deteriorated. Conventionally, the rootstock transport arm and the hogi transport arm were operated at the same operating speed, so depending on the length of the air hose on the rootstock side and the hogi side, the degree of bending, the degree of damage, etc. When the operating speed of one of the arm and hogi transport arm slows down, when it is detected that the cutting speed reaches the cutting position on the fast operating speed side, the cutting is performed before the slow operating speed reaches the cutting position. There is a risk that the device will operate and cutting of the seedlings will be inappropriate.

  Similarly, the transport operation of the rootstock seeds to the joining position 62 by the rootstock transport arm 61 and the transporting operation of the seedling seedlings to the joint position 69 by the stock transporting arm 68 are carried out by the rootstock cutting device 64 and the stock cutting device 70. The operation is started in synchronization with the completion of the cutting operation of the timber. However, the speed adjustment device (flow rate control valve) on the rootstock side is activated to reduce the air flow rate to the rotary actuator 60 on the rootstock side, and the rootstock The operation speed of the transfer arm 61 is slightly slower than the operation speed of the hotwood transfer arm 68, and the timing at which the rootstock transfer arm 61 reaches the joining position 62 is determined from the timing at which the transfer wood transfer arm 68 reaches the cutting position 69. Also delay. Then, when it is detected by the rotation side detection sensor (reed switch) on the rootstock side that the rootstock transport arm 61 has reached the cutting position 62, the clip supply device 74 performs the clip supply operation. To start. As a result, the clip can be supplied in a state where the rootstock seedling and the seedling seedling have reached the joining position 63, and the rootstock seedling and the seedling seedling can be properly fixed. The rate can be improved, and the rotational position detection sensor (reed switch) for detecting the joining position on the hogi side can be omitted, thereby reducing the cost. In addition, by slowly transporting the rootstock seedling in a state where one leaf has been cut, the balance of the rootstock seedling is lost, the posture of the seedling is deteriorated, and a problem that the joined state of the grafted seedling is deteriorated can be prevented.

  The rootstock cutting device 64 includes a cutting blade 75, a petiole supporter 76 that supports the petiole on the cutting side, and a cotyledon presser 77 that presses the remaining cotyledon from above. The cutting blade 75 and the petiole support 76 are moved by a back-and-forth moving cylinder 78 operated by air pressure, approach the rootstock seedling at the cutting position 62, and the petiole support 76 contacts and holds the petiole (FIG. 8). (See (2)). The forward / backward movement cylinder 78 is inclined so that the rootstock seedling side is at a high position, and the cutting blade 75 and the petiole support 76 are configured to approach the rootstock seedling from the lower side and do not interfere with the cotyledon of the seedling. doing. Thereafter, the cotyledon pressing tool 77 is rotated downward by the cotyledon pressing rotary actuator 79 that is operated by air pressure, and the cotyledon is pressed from above by the cotyledon pressing roller 80 provided at the tip of the cotyledon pressing tool 77 (FIG. 8 (3 )reference). In this state, the cutting blade 75 is moved along a linear movement locus obliquely upward by a cutting cylinder 81 that is operated by air pressure, and the embryonic axis and one leaf of the seedling are cut and cut off (see FIG. 8 (4)). When the seedling is cut, the cutting blade 75 and the petiole support 76 are retracted from the rootstock seedling by the forward / backward moving cylinder 78 (see FIG. 8 (5)), and then the cotyledon presser 77 is rotated upward to return to the original position. At the same time, the cutting blade 75 is moved obliquely downward by the cutting cylinder 81 to return to the original position (see FIG. 8A).

  Therefore, since the seedlings are cut along a linear movement trajectory, the cutting surface becomes flat, the jointing rate of the grafted seedlings can be improved, and the root of the remaining cotyledon can be cut off as much as possible, and the growth of the grafted seedlings is good Can be maintained. Conventionally, the cutting blade is moved along a rotational movement trajectory to cut the seedling, so that the cutting surface becomes curved and hinders the improvement of the jointing rate of the grafted seedling and cuts so that the root of the remaining cotyledon is scooped up. May hinder the growth of grafted seedlings. Further, the seedling can be cut at an appropriate position by the petiole support 76 and the cotyledon presser 77, and further, by adjusting the mounting angle of the cutting cylinder 81, the seedling is cut by a rotational movement trajectory. Thus, the cutting angle can be easily adjusted.

  The hogi cutting device 70 includes a cutting blade 82 and a hypocotyl support 83 that supports the hypocotyl (lower side) hypocotyl. The cutting blade 82 and the hypocotyl support 83 are moved by the forward / backward movement cylinder 84 that is operated by air pressure, approach the seedlings at the cutting position 69, and the hypocotyl support 83 is held in contact with the hypocotyl. (See FIG. 9 (2)). Note that the forward / backward movement cylinder 84 is inclined so that the hogi seedling side becomes higher, so that the cutting blade 82 and the hypocotyl support 83 approach the hogi seedling from the lower position and do not interfere with the cotyledons of the seedling. It is composed. In addition, the cutting blade 82 is located in the back side (lower side) of a cotyledon in the state which approached the hogi seedling. Then, the cutting blade 82 is moved in a diagonally downward trajectory by the cutting cylinder 85 operated by air pressure, and the lower part of the embryonic axis of the seedling is cut and cut off (see FIG. 9 (3)). When the seedling is cut, the cutting blade 82 and the hypocotyl support 83 are retracted from the hogi seedling by the forward / backward moving cylinder 84 (see FIG. 9 (4)), and the cutting blade 82 is moved obliquely upward by the cutting cylinder 85. To return to the original position (see FIG. 9A).

  Therefore, since the seedling is cut along a linear movement trajectory, the cutting surface becomes flat and the jointing ratio of the grafted seedling can be improved, and the cutting blade 82 is on the back side (lower side) of the cotyledon while approaching the seedling. Therefore, the cotyledons can be prevented from being removed, and the growth of grafted seedlings can be maintained well. Conventionally, the cutting blade is moved along a rotational movement trajectory to cut the seedling. Therefore, the cutting surface becomes a curved surface and hinders the improvement of the jointing ratio of the grafted seedling. There is a risk that the cotyledon may be excised or damaged, and the growth of the grafted seedling may be hindered. Further, the seedling can be cut at an appropriate position by the hypocotyl support 83, and further, by adjusting the mounting angle of the cutting cylinder 85, the cutting angle is compared with the configuration in which the seedling is cut by a rotational movement locus. Can be adjusted easily. In addition, since the cutting blade 82 cuts the seedling at an intermediate position between the scrub carrier hand 68 and the hypocotyl support 83, the cutting position of the seedling is stabilized.

  Note that the cutting blade 75 of the rootstock cutting device 64 and the cutting blade 82 of the hogi cutting device 70 are arranged obliquely so as to be separated from the seedlings toward the joint position 63 side in a plan view, and have a forward angle with respect to the seedling to be cut. Move and cut the seedlings. Thus, cutting of the seedlings can be performed smoothly while suppressing cutting resistance of the seedlings, and each seedling is cut from the tip side (the front side at the joining position (cutting position side)) of the clip holding portion for fixing the grafted seedlings. Therefore, the cutting end where the cutting position of the seedling is likely to be displaced at the time of cutting is the back side (the rear side at the joining position 63 (the side opposite to the cutting positions 62 and 69)) of the clip. Since the holding accuracy of the seedlings is increased on the back side in the part, the joining rate of the grafted seedlings can be improved.

In addition, since the said rootstock taking-in part and the hogi taking-in part are bilaterally symmetrical and are the same structures, the following is demonstrated about the hogi taking-in part 2. FIG.
As for the hogi take-in side, the hogi take-in part 2 is a carry-in mechanism for successively carrying in and transferring a cell tray in which a large number of hogi seedlings (seedlings) W grown in a seedling pot on the side of the grafting robot body la are arranged in a grid. 11 and a gripping hand 12 that performs a gripping operation by cutting the hypocotyl while individually gripping the seedling W as a spikelet so that it can be advanced and retracted by the advance / retreat mechanism 12b with respect to the seedling W on the carry-in mechanism 11. The gripping hand 12 is composed of a transfer mechanism 13 that supports the gripping hand 12 so as to be laterally movable in the left-right direction, a direction correcting member 14 arranged on the transfer stroke, and the like. In addition, the hogi seedling W transferred from the hogi taking-in section 2 is temporarily held at the hogi delivery position (delivery position) R between the hogi taking-in section 2 and the hogi preprocessing section 4. A delivery holding mechanism 15 is provided.

  Specifically, the carry-in mechanism 11 is configured by a belt conveyor or the like that moves along the side of the graft robot body la, and each time the seedlings in a horizontal row are taken out, the transfer mechanism 11 sequentially moves at the cell tray arrangement pitch. The Hogi seedling W is carried into a predetermined position. The transfer mechanism 13 is configured so that the position of the gripping hand 12 can be controlled from side to side in the range from the carrying mechanism 11 to the delivery holding mechanism 15 at one side of the graft seedling production apparatus 1, and delivered in a row of seedlings on the cell tray. In order to take out the seedling from the holding mechanism 15 side, the gripping hand 12 supplies the seedling to the delivery holding mechanism 15 and then sequentially moves left and right to the left and right positions of the seedling to be taken out (cell with the seedling). In order to interfere with the transfer process by the transfer mechanism 13, a rod-shaped member or a direction correcting member 14 using a vertical axis roller with reduced rotation resistance is disposed in a drooping manner. The direction correcting member 14 is disposed slightly closer to the carry-in mechanism 11 than the position facing the delivery holding mechanism 15 at a position immediately before the end of the left-right transfer path of the transfer mechanism 13. In addition, the delivery holding mechanism 15 is provided with an alignment member 16 that regulates the cotyledon deployment direction when the hogi seedling W received from the gripping hand 12 is held. The delivery holding mechanism 15 and the alignment member 16 form an alignment holding means.

Next, the gripping hand 12 of the hogi taking-in unit 2 will be described in detail.
As shown in FIG. 13, an enlarged side view of the gripping hand 12 opens and closes the upper hand mechanism 21 and the middle hand mechanism 22 that grip the upper and middle stages of the hypocotyl A of the hogi seedling W and the lower hand mechanism 22. The cutter mechanism 23 for cutting the lower part of the hypocotyl A of the hogi seedling W is arranged in a three-tiered manner so that it can be moved forward and backward integrally by the advance / retreat mechanism 12b, and the lifting tool 24 can be moved up and down independently on its side. It comprises and comprises. Further, a rod-like stopper 25 for preventing rotation is set up from the cutter mechanism 23 at a position where it can interfere with the cotyledon L in the vicinity of the grasped hypocotyl A.

  As shown in FIG. 14 (a) showing a plan view of the gripping state, the upper hand mechanism 21 has a gripping position at the tip of the left and right open / close arms 21a, 21a that is larger than the diameter dimension of the fertilizer shaft A of the safling seedling. Is formed so that the hypocotyl A of the seedling can be freely fitted and held, and an adjustment bolt 21b for setting the clearance limit is provided. As shown in FIG. 14 (b) showing a plan view of the gripping state of the middle stage, the middle hand mechanism 22 is larger than the diameter dimension of the safing seedling fertilizer shaft A at the gripping position at the tip of the left and right open / close arms 22a, 22a. A notch C in the front-rear direction is formed so that the hypocotyl A of the hogi seedling can be held loosely. The both hand mechanisms 21 and 22 hold the hogi seedling so that it can rotate around its embryo axis while ensuring the accuracy of the holding position of the hogi seedling.

  The cutter mechanism 23 has an operation state plan view (a) and a BB sectional view (b) thereof as shown in FIG. And the peripheral edge is formed high so as to constrain movement of the hypocotyl A after cutting.

Both the hand mechanisms 21 and 22 and the cutter mechanism 23 form a loose-fitting gripping mechanism that loosely grips the hypocotyl so that it can be rotated while cutting the root side of the saplings as a spikelet.
The lifting tool 24 includes a first lifting tool 41 and a second lifting tool 42. The first lifting tool 41 is inclined forward and downward to the root position of the hogi seedling W, and is the same as the delivery holding mechanism 15 side, that is, the side on which the gripping hand 12 moves left and right to take out the seedling. It is formed by a rod having a tip 41t bent so as to reach the back from the side of the seedling W. By setting the distal end portion 41t and the side portion 41s that bends and extends to the base portion thereof at a substantially right angle, as shown in the front view of the standing motion of FIG. can do. The support part 41b of the lifting tool 41 is configured so that the front-rear position and the height position can be adjusted in accordance with the positional relationship with respect to the hogi seedling.

  Further, a second lifting tool 42 is provided on the opposite side to the first lifting tool 41 with respect to the seedling W. This second lifting tool 42 is formed by a rod bent so as to be positioned on the side of the seedling on the side opposite to the delivery holding mechanism 15 so as to take out the seedling on the side where the gripping hand 12 moves left and right. The cylinder 43 is provided so as to be able to advance and retract. The tip 42a of the second lifting tool 42 located on the side of the seedling is horizontal, like the tip 41t of the first lifting tool 41, and slightly higher than the tip 41t of the first lifting tool 41. And it is provided so that it may cross | intersect by planar view in the state protruded by the back-and-forth movement cylinder 43. Accordingly, the ascending movement of the first lifting tool 41 causes the second lifting tool 42 to move upward, so that the seedling can be lifted upright from both the left and right sides and the rear side of the seedling. The seedling can be properly gripped. In particular, in a cell tray with a narrow cell pitch, it is possible to prevent the seedling hand 12 from being gripped and transferred to the adjacent seedling side on the side where the gripping hand 12 has moved left and right by the second lifting tool 42 while being transferred. Further, it is possible to prevent the seedling from being transferred by the gripping hand 12 while being entangled with the adjacent seedling and the gripping posture of the seedling becoming inappropriate. Further, since the other lifting tool 42 is also moved up and down by the vertical movement mechanism of one lifting tool 41, the vertical movement mechanism can be simplified. In addition, since the second lifting tool 42 is bent so that the midway part protrudes toward the gripping hand 12 (side away from the adjacent seedling) in plan view, it does not interfere with the second lifting tool 42. In addition, the opening / closing amount of the gripping hand 12 can be maintained at a predetermined level, and the second lifting tool 42 is less likely to interfere with adjacent seedlings, thereby facilitating seedling removal. The second lifting tool 42 may be configured by providing an oblique portion in plan view as shown in FIG.

  Since the lifting tool 24 is configured to lift the seedling from three directions, the seedling that falls to the other side (the gripping hand 12 side) cannot be erected. Therefore, on the cell tray of the carry-in mechanism 11, a tilt restricting tool 44 is provided over the left and right width of the cell tray. The fall restricting tool 44 is composed of a rotatable roller so as not to roughen the culture medium in the cell or become a resistance to transporting the cell tray by the carry-in mechanism 11, and is appropriate on the grasping hand 12 side of the seedling to be taken out by the grasping hand 12. It is located above the cell to act on.

  Further, in each of the hand mechanisms 21 and 22 of the gripping hand 12, one of the pair of left and right opening and closing arms 21a and 22a has one opening and closing arm 21a and 22a positioned on the delivery holding mechanism 15 side (right side). 15 and a seedling separating tool 45 extending to the left and right opposite side (left side, the other opening / closing arm 21a, 22a side). This seedling separating tool 45 is composed of a bar, and includes a base portion 45a extending in the left-right direction (left side) and a distal end portion 45b extending bent from the base portion 45a to the front side, and is disposed slightly above the open / close arms 21a, 22a. Has been. The tip 45b of the seedling separating tool 45 is located above the other opening / closing arm 21a, 22a in a state where the pair of opening / closing arms 21a, 22a are open, and extends slightly inward in the gripping direction in a substantially front-rear straight direction. The angle is toward the inside in the gripping direction with respect to the angle of the left and right opening / closing arms 21a, 22a. On the other hand, when the pair of opening / closing arms 21a, 22a is closed, the opening angle is located on the outer side (left side) of the other opening / closing arms 21a, 22a, and the outward angle becomes the outer side of the holding direction toward the tip. Accordingly, when the grasping hand 12 moves forward by the advance / retreat mechanism 12b to grasp the seedlings on the cell tray, the pair of opening / closing arms 21a and 22a are opened so that the tip 45b of the seedling separating tool 45 does not interfere with the seedling to be grasped. Is inserted between the seedling and the adjacent seedling. When the pair of open / close arms 21a and 22a are closed, the tip 45b of the seedling separating tool 45 rotates and moves to the adjacent seedling side (left side), and the seedling to be gripped is separated from the adjacent seedling to entangle the seedling. It comes to solve.

The operation for taking up the saplings by the gripping hand 12 having the above-described configuration is performed according to the operation procedure diagram of FIG.
First, as shown in the operation plan view of the prepared state in FIG. 23A, the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are prepared in the open state at the retracted position (S1), and then the grafting is performed. By the lateral movement of the transfer mechanism 13 in the outward direction of the seedling production apparatus 1, the tip 41 t of the first lifting tool 41 is inserted into the back position of the hogi seedling W from the side of the hogi seedling W on the carry-in mechanism 11. After that, the front and rear moving cylinder 43 is extended to project the second lifting tool 42 to the front side so that the front end portion is located on the side of the seedling in plan view and intersects the front end portion 41t of the first lifting tool 41, The fall of the hogi seedling W is corrected by the ascending operation (S2) of the first lifting tool 41 and the second lifting tool 42. The lifting tool 24 is positioned at substantially the same height as the cutter mechanism 23 before the ascending operation (S2). As a result, the cutter mechanism 23 can be brought close to the upper surface of the cell, the cutter mechanism 23 can cut the root of the seedling, and even with a seedling with a short hypocotyl that is nurtured in winter, the hand mechanisms 21 and 22 can properly Can be taken out.

  Next, as shown in the operation plan view in the gripping state of FIG. 23B, the hand mechanisms 21 and 22 and the cutter mechanism 23 are advanced (S3), and then both hand mechanisms 21 and 22 are closed (S4). The hypocotyl A of the hogi seedling W is loosely held in the notches B and C at the tips of the mechanisms 21 and 22, and then the cutter mechanism 23 is closed (S5), whereby the lower stage of the hypocotyl A is cut and the ear The lower end of the seedling W is supported by the cutter mechanism 23 so as to be rotatable. Here, the hand mechanisms 21 and 22 and the cutter mechanism 23 are retracted (S6) and then laterally moved (S7) in the center direction of the grafted seedling production apparatus 1, thereby individually picking up the seedlings from the carry-in mechanism 11. be able to. Note that the retreat distance of the hand mechanisms 21, 22 and the cutter mechanism 23 in S6, that is, the advance / retreat operation stroke by the advance / retreat mechanism 12b, is set to such a length that the seedling to be taken out from the cell tray does not completely interfere with the adjacent seedling in the process of S6. ing.

  Further, in the transfer process by the transfer mechanism 13, as shown in the plan view of the direction correcting operation in FIG. 25, when the gripping hand 12 that grips the hogi seedling moves laterally from the gripping position B to the delivery position C, The cotyledon interferes with the direction correcting member 14 when passing through the vicinity of the direction correcting member 14 disposed so as to interfere with the transfer process and the cotyledon deployment direction of the hogi seedling W is greatly inclined with respect to the transfer direction. Thus, the hogi seedling is rotated so that the cotyledon unfolding direction is substantially aligned with the transfer direction. At this time, even if the hogi seedling is excessively rotated, the cotyledon of the seedling hits the sub-alignment member 46 that is an angled plate-shaped alignment member provided at a position facing the delivery holding mechanism 15 and The rotation range is restricted. The sub-alignment member 46 is provided so that its vertical position can be adjusted, so that the posture of the seedling or the cotyledon deployment direction does not become incorrect due to direct contact with the hypocotyl A or the cotyledon of the seedling transferred by the transfer mechanism 13. The position can be adjusted according to the size and type of the seedling.

  The transfer mechanism 13 is configured such that the gripping hand 12 is laterally moved by an air cylinder that slides by air pressure from a compressor, and the gripping hand 12 is moved into a loading mechanism 11 and a cell tray on the loading mechanism 11 by a stroke sensor provided in the cylinder. If it is detected that the position has reached the position immediately before the direction correcting member 14 from above, the flow rate of air supplied to the cylinder is controlled to be reduced, the transfer speed is reduced, and the transfer speed at the transfer end portion is reduced. It has become. The position where the transfer speed is decelerated is set to the same position regardless of the transfer start end position which is the left and right position of the seedling to be taken out (cell where the seedling is located). In the return stroke in which the gripping hand 12 moves from the delivery position of the delivery holding mechanism 15 to the cell tray side on the carry-in mechanism 11 to grip the next seedling, the gripping hand 12 moves laterally at a normal fast transfer speed. The lifting tool 24 remains in the lifted state until the transfer speed of the transfer mechanism 13 is decelerated at the transfer end portion, and the posture of the seedling is increased by interfering with other seedlings by transferring the seedlings. It prevents things from getting worse. At the same time as the transfer speed of the transfer mechanism 13 is reduced, the transfer mechanism 13 is lowered below the cutter mechanism 23 so as not to interfere with the seedling delivery process.

  When the gripping hand 12 is in a stopped state such as an abnormal stop or an interruption operation by the operator after the seedling is taken out and raised, when the reset operation is performed, the gripping hand 12 is transferred by the transfer mechanism 13 to the original origin position. Although it tries to return to the position R, it will interfere with the delivery holding mechanism 15 because the gripping hand 12 is in a raised state. Therefore, a sensor for detecting that the gripping hand 12 is in the lowered position is provided, and when the reset operation is performed, the gripping hand 12 is gripped by the transfer mechanism 13 only when the gripping hand 12 is detected in the lowered position. The hand 12 is laterally moved to the delivery position R.

Next, the alignment holding means using the delivery holding mechanism 15 configured at the delivery position R and the alignment member will be described.
The delivery holding mechanism 15 is arranged to face the gripping hand 12 that moves forward so as to receive the seedlings at the advanced position of the gripping hand 12. As shown in FIG. 26, the main part plan view is shown in FIG. 26, and the main part side view (a) and the B-B cross-sectional view (b) thereof are shown in FIG. An upper hand mechanism 31 that grips the head part, a middle hand mechanism 32 that grips the middle stage part of the hypocotyl A below, and an excessive height of the hypocotyl A at the intermediate height position between the hand mechanisms 31 and 32 are regulated. The delivery position R includes a stopper 33 and a lifting mechanism 34 that adjusts the height position of the stopper 33 and the stopper 33.

  The middle hand mechanism 32 is configured to move downward while holding a seedling by a downward movement cylinder (downward movement mechanism). As a result, the hypocotyl A of the grasped seedling is lowered downward until the cotyledon deployment base at the top of the seedling comes into contact with the upper surface of the upper stage hand mechanism 31, so that the vertical position of the seedling becomes a predetermined position. Note that the gripping force of the upper hand mechanism 31 is set to be smaller than the gripping force of the middle hand mechanism 32. When the embryonic axis A of the seedling is pulled down by the middle hand mechanism 32, the hypocotyl A slides in the upper hand mechanism 31. Be lowered. Further, in the downward movement of the middle stage hand mechanism 32 to the lower end of the middle hand mechanism 32 after the cotyledon unfolding base of the seedling abuts against the upper stage hand mechanism 31 and is supported at a predetermined position while the middle stage hand mechanism 32 is moving downward, the seedling is predetermined. The hypocotyl A of the seedling slides in the middle stage hand mechanism 32 while being held in position. The grip surface of the middle stage hand mechanism 32 is configured by fixing two front and rear elastic bodies (sponges) 47 to each of the pair of hands 32a, and the elastic body (sponge) 47 is used to center the position of the embryonic axis A of the seedling. It is the structure which presses and holds the embryonic axis A of the seedling from four directions. With this elastic body (sponge) 47, the gripping force of the middle stage hand mechanism 32 can be set large, and the area of the gripping surface is large for the thick hypocotyl A and the area of the gripping surface is small for the thin hypocotyl A. The gripping force of the middle stage hand mechanism 32 is set according to the size (thickness of the hypocotyl A), and the seedling can be appropriately pulled down by the middle stage hand mechanism 32.

  A main alignment member 16 serving as an alignment member is disposed at a position where the cotyledon of the hogi seedling is received above the delivery holding mechanism 15. The main alignment member 16 is a flat plate-like member that regulates the expansion direction of the cotyledonous cotyledons, and forms a guide portion 35 with a ridge extending vertically at the center position. In order to distribute the cotyledons of the received seedlings to the left and right, the guide part 35 has a mountain shape in cross section and forms the surface smoothly and with low friction.

  In the delivery operation of the alignment holding means having the above-described configuration, the cotyledons L and L of the hotwood seedling W are pressed against the main alignment member 16 when the hotwood seedling W is delivered to the delivery holding mechanism 15 by the advance operation of the gripping hand 12. The cotyledons L and L are distributed to the left and right by the guide portion 35 so that the cotyledon deployment axis is aligned along the main alignment member 16.

  The above delivery operation will be described in detail with reference to the operation procedure diagram of FIG. 29. After picking up the hogi seedling from the carry-in mechanism 11 and aligning the gripping hand 12 gripping the hypocotyl with the front of the delivery holding mechanism 15, 30A and 30B, the gripping hand 12 including the cutter mechanism 23 is closed, that is, the lower end of the hypocotyl A is the cutter mechanism 23 as shown in the plan views before and after the first alignment operation. The cotyledon deployment direction is aligned via the main alignment member 16 by reciprocating to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b with the grip of the middle stage hand mechanism 22 loosened while being received (S11). The

  Next, as shown in the plan views before and after the second alignment operation in FIGS. 31A and 31B, the cutter mechanism 23 is opened (S12), whereby the hand mechanism 21 of the gripping hand 12 receives the cotyledons L and L. Adjust the height of the seedling W. By reciprocating to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b in this state (S13), the cotyledon strikes the main alignment member 16 and the cotyledon deployment direction is aligned.

  When the gripping hand 12 is reciprocated by the forward / backward movement of the advance / retreat mechanism 12b as described above, as shown in the plan view before and after the alignment operation of FIG. Since the similar sub-alignment member 46 is also disposed opposite to the retracted position on the gripping hand 12 side, the cotyledon of the seedling comes into contact with the alignment member twice for each reciprocation of the gripping hand 12. An efficient alignment operation is possible. The advancing / retreating mechanism 12b includes an advancing / retreating cylinder, an extension position sensor for detecting that the advancing / retreating cylinder is extended to a position where the seedling grasped by the grasping hand 12 hits the main alignment member 16, and a grasping hand 12. A contraction position sensor for detecting that the advance / retreat cylinder contracts to a normal position such as when the gripped seedling hits the sub-alignment member 46, that is, when the seedling is transferred by the transfer mechanism 13. Therefore, the gripping hand 12 is reciprocated by repeating the expansion and contraction operation of the advancing / retreating cylinder so that the extension position sensor and the contraction position sensor are alternately detected.

  In the drawing, the sub-alignment member 46 is shown in the same direction as the desired cotyledon alignment direction. However, the sub-alignment member 46 is slightly inclined toward the cotyledon direction before correction by the direction correction member 14 with respect to the alignment direction. May be. This allows the sub-alignment member 46 to gradually approach the desired cotyledon direction before applying the cotyledons to the main alignment member 16 and aligning the cotyledons, forcibly damages the seedling. Thus, the orientation of the cotyledons can be corrected smoothly and stably. Further, the guide portion 35 of the sub-alignment member 46 may be eliminated. Accordingly, it is possible to prevent the seedling from being laterally moved and hitting the guide portion 35, and to prevent the seedling from being damaged, and to smoothly correct the orientation of the cotyledon according to the flat sub-alignment member 46 by the lateral movement of the seedling. Can do.

  After the alignment operation, the grasping hand 12 is advanced to the delivery holding mechanism 15 (S14), and then the cutter mechanism 23 is closed (S15), whereby the hypocotyl A is cut at a predetermined position and the lengths are aligned. At this time, even if the hypocotyl A is bent, the stopper 33 at the intermediate height position between the hand mechanisms 31 and 32 restricts excessive entry of the hypocotyl A, so that the hypocotyl A can be cut reliably. Can do.

  After cutting the hypocotyl A, the cutter mechanism 23 is opened and both hand mechanisms 31, 32 of the delivery holding mechanism 15 that has received the hogi seedling W are closed (S16), and then the upper and lower hand mechanisms 21, 22 of the gripping hand 12 Is opened and the seedling is lowered by the downward movement of the middle hand mechanism 32 of the delivery holding mechanism 15 on the receiving side to the predetermined holding height (S17), and then the gripping hand 12 is retracted (S18).

  In this way, after the delivery is completed, the grip hand 12 is returned to the carry-in mechanism 11 side, so that the next hogi seedling can be taken up. By repeating this series of operations, the seedlings can be sequentially taken from the carry-in mechanism 11 and grafted by the grafting robot body 1a. In the seedling delivery process, the lifting tool 24 is lowered below the cutter mechanism 23 so as not to obstruct the seedling delivery.

  By the way, the operation panel 1p for controlling the operation of the seedling taking-in unit 2 is carried in by the power switch 48 for turning on / off the power of the seedling taking-in unit 2, the mode switch 49 for setting the operation mode, and the carrying-in mechanism 11 A tray selection switch 50 for setting the type of the cell tray to be operated, a start switch 51 for starting the operation, a stop switch 52 for stopping the operation, a reset switch 53 for returning each operation unit to the initial state, and a seedling position on the cell tray A setting changing unit 54 that can arbitrarily set the number of seedling rows in the cell tray is provided. The mode switch 49 is an operation region selection means for selecting an operation region in the operation of the start switch 51, and is automatically operated so as to continuously supply seedlings to the pretreatment unit 3 successively until the stop switch 52 is operated. It is possible to switch between a position, a manual position that operates until one seedling is supplied to the pretreatment unit 3, and a step position that operates for each of the operation steps S1 to S7 and S11 to S18. The tray selection switch 50 is a setting switching means for switching and setting the horizontal position where the gripping hand 12 takes out the seedling and the transport pitch of the carry-in mechanism 11, and the 72-hole position for the 72-hole cell tray and the 128-hole cell tray The 128 hole position and a manual setting position (MS) arbitrarily set by the setting changing unit 54 can be switched. The 72-hole cell tray is a cell tray in which cells are provided in 12 rows and 6 rows, and the 128-hole cell tray is a cell tray in which cells are provided 16 rows and 8 rows. Therefore, since the cell arrangement pitch varies depending on the type of the cell tray, the tray selection switch 50 is used to switch the cell tray according to each cell tray. The gripping hand 12 sequentially takes out the seedlings in the horizontal row of the cell tray from the delivery holding mechanism 15 side. The number of seedlings is counted by the control device in the operation panel 1p, and the number of horizontal seedlings based on the setting of the tray selection switch 50 is obtained. Then, the cell tray is transported by the carry-in mechanism 11. Accordingly, in order to determine that all the seedlings in the horizontal row have been taken out, in order to check the left and right positions of the seedlings taken out by the gripping hand 12, a confirmation command for the left and right positions from the control device (PLC) to the air cylinder of the transfer mechanism 13 The speed of control is improved and the working efficiency can be improved as compared with the case where the determination is made based on the input from the air cylinder.

  Further, the grafting robot main body la is provided with a control panel 55 including a control device that collectively controls the grafting seedling manufacturing apparatus 1 including the grafting robot main body la, the rootstock capturing unit, and the hogi capturing unit 2. ing. The control panel 55 is provided with operation switching means such as a change-over switch that can turn on / off the operations of the grafting robot main body la, the rootstock taking section, and the hogi taking section 2. By this operation switching means, it is possible to operate all or part of the grafting robot main body la, rootstock capturing part and hogi capturing part 2, and manufacture grafted seedlings in various work forms. Work can be done. For example, when it is desired to supply a rootstock that requires accuracy of the cutting position for seedling joining to the rootstock pretreatment unit 3 with high accuracy when the hypocotyl length is short, the grafting robot main body la and the hogi capturing unit 2 are The operation of the rootstock take-in section can be stopped by operating. Alternatively, when the seedling is not grown in the cell tray, the seedling capturing unit 2 is stopped and the seedling is manually supplied, or when it is desired to join the seedling manually, the capturing unit 2 is operated to graft the robot. The operation of the main body la can be stopped. When both rootstock and hogi are supplied manually, only the grafting robot main body la needs to be operated.

  As described above, in the grafted seedling production apparatus 1, the take-in unit 2 serving as a seedling supply apparatus that supplies each seedling one by one loosens the seedling so that the embryonic axis of the seedling can be rotated while cutting the root side of the received seedling. By the loose fitting holding mechanism by the holding hand 12 that can be held, the transfer mechanism 13 that supports the loose fitting holding mechanism and moves in the lateral direction, and by interfering with the cotyledons of the seedlings at the transfer end portion in the transfer mechanism 13 A direction correction member 14 and a sub-alignment member 46 for adjusting the cotyledon deployment direction to the transfer direction are provided, and the transfer mechanism 13 causes the direction correction member 14 to transfer seedlings so that the transfer speed at the transfer end portion is low. The transfer speed is reduced immediately before the cotyledon interferes.

  Therefore, when the loose-fitting gripping mechanism receives a seedling having a bicotyledonous cotyledon, this loosely grips the hypocotyl while turning the root side of the seedling as a hogi or rootstock, It is transferred by the transfer mechanism 13 that supports the loose-fitting gripping mechanism. This transfer speed is decelerated immediately before the cotyledon of the seedling interferes with the direction correcting member 14 and becomes low at the end of the transfer process, and the end of the transfer process. When the direction correcting member 14 and the sub-alignment member 46 interfere with the cotyledons of the seedlings, the cotyledon unfolding direction is aligned with the transfer direction, and the seedlings restricted in this direction are treated with the pretreatment units 3 and 4 and the adhesion processing unit 7. Is bonded to rootstock or hogi to produce grafted seedlings.

  Therefore, the direction correction member 14 and the sub-alignment member 46 interfere with the cotyledon of the seedling on the transfer stroke of the transfer mechanism 13 so that the cotyledon deployment direction is aligned with the transfer direction. 14, the cotyledon of the seedling interferes, and the cotyledon of the seedling strikes the direction correcting member 14 and the hypocotyl of the seedling is prevented from rotating excessively. Can be supplied accurately and stably in any orientation. Therefore, since the seedling is transferred to the delivery position while the arrangement direction is regulated by the grafting seedling production apparatus, accuracy of grafting processing by the subsequent pretreatment units 3 and 4 and the adhesion processing unit 7 is ensured, which is troublesome. Every time grafting is done efficiently without the need for manual work. Further, the transfer speed of the transfer mechanism 13 is decelerated immediately before the end of transfer, and the return stroke of the transfer mechanism 13 for picking up the next seedling and most of the transfer path of the seedling by the transfer mechanism 13 (decelerates). In most cases, the gripping hand 12 is transferred at a high speed, so that the work efficiency in grafting seedling production is improved.

  Further, since the direction correcting member 14 and the sub-alignment member 46 are provided at the transfer end portion by the transfer mechanism 13, after correcting the cotyledon deployment direction of the seedling with the direction correction member 14 and the sub-alignment member 46, The cotyledon deployment direction of the seedlings can be aligned with high accuracy without shifting the cotyledon deployment direction of the seedlings in the lateral direction.

  As shown in FIGS. 34 to 36, the sub-alignment member 46 may be formed of a flat plate material facing in the transfer direction (left-right direction) of the transfer mechanism 13. At this time, the distance l from the hypocotyl of the seedling transferred to the transfer terminal portion of the transfer mechanism 13 is shorter than the cotyledon length a of the seedling and equal to or longer than one half of the cotyledon width b. When the position of the sub-alignment member 46 is set, only the cotyledon facing in the front-rear direction hits the sub-alignment member 46 so that the orientation of the cotyledon can be corrected to the desired left-right direction. As shown in FIG. 36, when the flat plate member of the sub-alignment member 46 is arranged slightly obliquely so that it is on the side closer to the transfer side (left side) of the transfer mechanism 13 and farther from the seedling (rear side), It is possible to prevent the seedling transferred by the mechanism 13 from being caught on the end of the sub-alignment member 46, and the seedling can be transferred smoothly.

  In the above description, in order to align the cotyledon unfolding direction of the seedling with high accuracy, the direction correcting member 14 composed of a roller and the sub-alignment member 46 composed of a plate material are provided together, but only one of them is provided. It is good also as a structure which changes the cotyledon expansion | deployment direction of a seedling. When only the sub-alignment member 46 is provided, the sub-alignment member 46 interferes with the cotyledon of the seedling and becomes a direction correcting member that matches the cotyledon deployment direction with the transfer direction.

  In the above description, a plurality of main alignment members 16 and sub-alignment members 46 are provided to face each other. However, for example, only one main alignment member 16 may be provided. At this time, since the cotyledon of the seedling contacts with the alignment member 16 only once for one reciprocation of the gripping hand 12, the gripping hand 12 is operated twice as much as four reciprocations so that the cotyledon of the seedling contacts the alignment member 16 four times. What is necessary is just to make it the structure made to contact. In this way, when the gripping hand 12 is reciprocated a plurality of times by the advance / retreat mechanism 12b, the advance / retreat cylinder is extended until the extension position sensor detects it, and the seedling is brought into contact with the alignment member 16, but in the return stroke, the contraction position sensor In order to stop the contraction operation of the advancing / retreating cylinder just before detecting by the timer, the advancing / retreating cylinder is operated and stopped for a predetermined time by a timer, and the advancing / retreating cylinder is extended again to apply the seedling to the alignment member 16 for the second and subsequent times. It can be set as the structure which performs a contact. As a result, in the contracting operation of the advancing / retreating cylinder and the extending operation for extending the advancing / retreating cylinder so that the seedling is again applied to the alignment member 16, these working distances and operating times can be shortened, and the seedling aligning operation a predetermined number of times. On the other hand, the time required for the alignment process can be shortened, and the work efficiency of the seedling supply work and the grafted seedling production work can be improved.

  As shown in FIG. 37, the grip surfaces of only the left and right open / close arms 21a, 22a of the hand mechanisms 21, 22 of the grip hand 12 are inclined in a plan view with the open / close arms 21a, 22a being closed. It may be set. Thereby, when gripping the hypocotyl A having an elliptical cross section, the orientation of the hypocotyl A is corrected so that the major axis of the ellipse is directed in the front-rear direction, and the cotyledon that extends in the minor axis direction of the ellipse Can be directed left and right. Therefore, the gripping hand 12 is a kind of direction correcting member for adjusting the cotyledon unfolding direction of the seedling to the transfer direction. In addition, after closing the pair of left and right open / close arms 21a and 22a, the pair of left and right open / close arms 21a and 22a are slid in the forward and backward directions to promote the rotation of the embryonic axis A of the seedling, It is also conceivable to correct the orientation of the hypocotyl A so that the axis is directed in the front-rear direction. In this case, it is desirable that the gripping surfaces of the pair of left and right opening / closing arms 21a and 22a be flat surfaces facing in the front-rear direction so that the hypocotyl A can rotate smoothly.

  In addition, when sowing seedlings in the cell of the cell tray for raising seedlings, if the orientation of the seeds to be seeded in advance is set so that the cotyledons of seedlings develop in a desired direction, the take-out part 2 sets the cotyledon development direction of the seedlings. Alignment work can be done smoothly. Specifically, if the seeds are sown so that the major axis direction of the oval seed faces the longitudinal direction (front-rear direction) of the cell tray, the cotyledon development direction of the seedling to be nurtured is the longitudinal direction of the cell tray (front-rear direction). Any seedling is rotated by about 90 degrees with the direction correcting member 14 or the sub-alignment member 46 to align the cotyledon deployment direction, and the cotyledon of the seedling is aligned with the direction correcting member 14 or the sub-alignment. Since the contact with the member 46 is surely corrected, the cotyledon deployment direction of the seedling can be corrected appropriately with high accuracy. Alternatively, the seeds are sown so that the major axis direction of the oval seeds faces the short direction (left and right direction) of the cell tray, and the cotyledon deployment direction of the seedling to be nurtured is the short direction (left and right direction) of the cell tray. Further, the rotation angle of the embryonic axis of the seedling by the direction correcting member 14 or the sub-alignment member 46 can be reduced to facilitate the correction of the cotyledon deployment direction. In any case, the cotyledon deployment direction of the seedling to be nurtured can be set to a desired direction, so that the operation of aligning the cotyledon deployment direction of the seedling can be smoothly performed in the take-in part 2. As a means for sowing in a desired direction, the seed alignment plate of the sowing machine is vibrated to align the seeds so that the major axis direction is in a predetermined direction, and the seeds are adsorbed by a seed adsorption nozzle. It may be possible to sow the cell tray so that the orientation does not change.

  101: cultivation room (greenhouse), 126: control unit (controller), 131: first heating device, 132: second heating device, 133: heating tube, 134: pump, 135: first supply tube, 136 : Second supply pipe, 137: heating pipe, 138: return pipe, 172: bypass pipe, 173: switching valve, 175: hot water temperature sensor

Claims (1)

  A first warming device (131) that warms hot water using heat generated by burning fossil fuel, and a second warming device that heats warm water using heat generated by burning fuel other than fossil fuel (132), a heating tube (133) for supplying warm water to the first heating device (131) and the second heating device (132), and hot water heated by the heating tube (133) are pumped ( 134), a second supply pipe (136) for supplying hot water from the pump (134) to a heating pipe (137) in the greenhouse, and a heating pipe A return pipe (138) for returning warm water from (137) to the heating pipe (133) is provided, the heating pipe (133), the first supply pipe (135), the second supply pipe (136), and the heating pipe (137) and a return pipe (138), a hot water circulation path is formed, and the first supply pipe (135 A bypass pipe (172) connecting the return pipe (138) to the bypass pipe (172), the first supply pipe (135), the second supply pipe (136), and the heating pipe without passing through the heating pipe (133). A circulation path of warm water passing through the pipe (137) and the return pipe (138) is formed, and the connecting portion between the bypass pipe (172) and the first supply pipe (135) is joined from the heating pipe (133) side. A flow rate adjustable switch valve (173) for adjusting the flow rate ratio and the flow rate ratio from the bypass pipe (172) side to detect the temperature of the hot water flowing through the second supply pipe (136) A sensor (175) is provided, and the larger the difference between the temperature of the hot water detected by the hot water temperature sensor (175) and the target temperature of the set hot water, the greater the proportion of the flow rate that joins from the heating pipe (133) side. The heating tube (13 ) Controls the switching valve (173) based on the set flow rate ratio from the side, and the first heating device when the set flow rate ratio from the heating pipe (133) side is set to be larger than a predetermined rate. (131) and the second heating device (132) are both combusted and when the set flow rate ratio from the heating pipe (133) side is set smaller than a predetermined rate, the second heating device (132 ) Only for the heating operation of the greenhouse provided with a control device for stopping the combustion operation of the first heating device (131).

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