JP5441874B2 - Plant cultivation equipment - Google Patents

Description

  The present invention provides a cultivation tray capable of cultivating a plurality of plant strains, a plurality of cultivation tray storage shelves that can accommodate the cultivation tray and arranged in a plurality of stages and a plurality of rows, and the cultivation tray as an arbitrary cultivation tray accommodation shelf. The present invention relates to a plant cultivation apparatus having a cultivation tray transfer mechanism that moves in and out.

  Conventionally, a cultivation tray capable of cultivating a plurality of plant strains, and a plurality of cultivation tray accommodation shelves that can accommodate the cultivation tray and are arranged in a plurality of rows and rows, and are provided with sunshine and fertilization on each cultivation tray accommodation shelf Plant cultivation devices are known in which the amount of cultivation per unit area of a plant is increased by performing operations such as irrigation.

  Also, a plant cultivation device that has a cultivation tray transfer mechanism that moves the cultivation tray into and out of an arbitrary cultivation tray storage shelf, and moves the cultivation tray to a specific work station to perform operations necessary for cultivation such as fertilization and irrigation Is known (see, for example, Patent Document 1).

JP 2000-209970 A (all pages, all figures)

  However, the known plant cultivation device can move the position of the cultivation tray storage shelf accommodated by moving the cultivation tray according to the growth of the plant strain, or change the cultivation conditions of each cultivation tray. However, no special consideration has been given to how cultivation trays and plant stocks are entered and exited at the start of cultivation or at the end of cultivation.

  In addition, since the conditions for individual plant strains cannot be changed, for example, when cultivating a plant that grows widely in the horizontal direction, the interval between plant strains cannot be adjusted according to the growth. Therefore, there is a problem that the space efficiency is low because it is necessary to set a wide interval between the plant strains.

  In addition, when cultivating plants with large root growth, it is not possible to change the optimal depth and shape of the cultivation tray according to the growth, so it is necessary to use a cultivation tray with the optimal depth and shape from the beginning after growth. There is a problem that space efficiency becomes low by using a deep cultivation tray from the beginning, and an optimum shape of the cultivation tray cannot be provided at the early stage of growth.

  The present invention solves the problems of the prior art as described above, that is, the object of the present invention is to efficiently carry in and out the cultivation tray and plant strain at the optimum timing, and to waste in the early stage of growth. It is to provide a plant cultivating apparatus that can reduce the amount of space, increase the cultivation amount per unit space, improve the space efficiency, improve the work efficiency and provide the optimum environment according to the growth.

  The invention according to claim 1 includes a cultivation tray capable of cultivating a plurality of plant strains, a plurality of cultivation tray accommodation shelves arranged in a plurality of stages and a plurality of rows and each capable of accommodating the cultivation tray, and the cultivation tray. A plant cultivation apparatus having a cultivation tray transfer mechanism that moves into and out of an arbitrary cultivation tray accommodation shelf, and a specific cultivation tray accommodation shelf among the plurality of cultivation tray accommodation shelves performs irrigation work necessary for cultivation The work station is configured as a possible work station, and the work station also serves as an input / output unit for carrying in and out the cultivation tray or the plant stock from the outside, thereby solving the above-mentioned problems.

  The invention according to claim 2 has a handling mechanism capable of individually grasping and moving a plant strain from the cultivation tray in addition to the configuration of the plant cultivation apparatus described in claim 1, and the handling mechanism is a cultivation The said subject is further solved by arrange | positioning the plant stock of the cultivation tray mounted in the tray transfer mechanism so that a holding | grip movement is possible.

  In the invention according to claim 3, in addition to the configuration of the plant cultivation apparatus according to claim 1 or 2, the work station is provided with a spraying means for spraying the culture solution onto the cultivation tray, or a culture solution. By having water supply means for pouring the culture solution into the cultivation tray, the above-mentioned problem is further solved.

  In addition to the configuration of the plant cultivation apparatus according to any one of claims 1 to 3, the invention according to claim 4 is a detection unit in which the work station detects the state of the culture solution in the cultivation tray. By further comprising, the above-mentioned problems are further solved.

  In the invention according to claim 5, in addition to the configuration of the plant cultivation apparatus according to any one of claims 1 to 4, the work station detects a state of a plant strain grown on the cultivation tray. By having a growth detection mechanism, the above-mentioned problem is further solved.

  In the invention according to claim 6, in addition to the configuration of the plant cultivation apparatus according to any one of claims 1 to 5, the cultivation tray transfer mechanism can simultaneously place a plurality of the cultivation trays. The present invention further solves the above problems.

  In the invention according to claim 7, in addition to the configuration of the plant cultivation device according to any one of claims 1 to 6, the cultivation tray transfer mechanism is in a state of a plant strain that is cultivated in the cultivation tray. The above-described problem is further solved by having a growth detection mechanism for detecting.

  The invention according to claim 8 is that, in addition to the configuration of the plant cultivation apparatus according to any one of claims 2 to 7, the handling mechanism is provided in the cultivation tray transfer mechanism. The above-mentioned problem is further solved.

  The invention according to claim 9 is characterized in that, in addition to the configuration of the plant cultivation apparatus according to any one of claims 2 to 7, the handling mechanism is provided in the work station. Is a further solution.

  In the invention according to claim 10, in addition to the configuration of the plant cultivation apparatus according to any one of claims 7 to 9, the growth detection mechanism is obtained by an image imaging unit and the image imaging unit. By providing image processing means for processing and determining image data, the above-described problems are further solved.

  The plant cultivation apparatus of the present invention includes a cultivation tray capable of cultivating a plurality of plant strains, a plurality of cultivation tray storage shelves arranged in a plurality of stages and a plurality of rows and each capable of accommodating a cultivation tray, and an arbitrary cultivation of a cultivation tray. By having the cultivation tray transfer mechanism that moves in and out of the tray storage shelf, the cultivation amount per unit space can be increased, and the following special effects can be achieved.

  That is, the plant cultivation apparatus of the invention according to claim 1 is configured such that a specific cultivation tray storage shelf among a plurality of cultivation tray storage shelves is configured as a work station capable of performing irrigation work necessary for cultivation. Since the work necessary for cultivation such as fertilization and irrigation is concentrated in the work station and no fertilization and irrigation equipment is required on each cultivation tray storage shelf, the equipment is simplified and the work efficiency for cultivation is improved. improves.

  In addition, the work station also serves as a cultivation tray or a loading / unloading unit that carries the plant stock from the outside to the outside, so that the cultivation at the start and end of cultivation is performed simultaneously with the work necessary for cultivation performed at the work station. Since trays and plant stock can be entered and exited at the same location, it is possible to consolidate equipment for human approaches and various automation, further improving work efficiency, improving space efficiency, and equipment. Maintenance is easy.

  The plant cultivation apparatus of the invention according to claim 2 has a handling mechanism capable of individually grasping and moving the plant strain from the cultivation tray in addition to the effect produced by the plant cultivation apparatus according to claim 1. Depending on the situation, the plant strains cultivated in each cultivation tray can be individually thinned out or moved to other cultivation trays using the handling mechanism. While increasing the amount of cultivation per area and improving space efficiency, an optimal environment can be provided according to growth.

  In addition, the handling mechanism is arranged so as to be able to grip and move the plant strains of the cultivation tray placed on the cultivation tray transfer mechanism, so that the plant strains cultivated in each cultivation tray using the handling mechanism are individually The operation of thinning out or moving to another cultivation tray can be performed at the same timing as the operation of moving the cultivation tray, which improves work efficiency and facilitates management of each cultivation tray.

  In addition to the effect produced by the plant cultivation apparatus according to claim 1 or 2, the plant cultivation apparatus of the invention according to claim 3 is a spraying means for spraying the culture solution onto the cultivation tray or the culture station. By having a water supply means for injecting the culture liquid into the cultivation tray, it becomes possible to automate operations necessary for cultivation such as fertilization and irrigation at the work station, and work efficiency is improved.

  In addition to the effect produced by the plant cultivation apparatus according to any one of claims 1 to 3, the work station detects the state of the culture solution in the cultivation tray. By having the detection means, it becomes possible to further automate operations necessary for cultivation such as fertilization and irrigation at the work station, and work efficiency is further improved.

  The plant cultivation device of the invention according to claim 5 detects the state of the plant strain in which the work station is cultivated in the cultivation tray in addition to the effect produced by the plant cultivation device according to any one of claims 1 to 4. By using the growth detection mechanism, the handling mechanism is used to thin out individual plant strains that are cultivated in each cultivation tray, to move to other cultivation trays, and to perform operations necessary for cultivation such as fertilization and irrigation. Since it can be automatically performed according to the detection value of the growth detection mechanism, the work efficiency is further improved and the management of each cultivation tray is facilitated.

  In addition to the effect of the plant cultivation device according to any one of claims 1 to 5, the plant cultivation device of the invention according to claim 6 can be mounted with a plurality of cultivation trays simultaneously by the cultivation tray transfer mechanism. As a result, the transfer of the plant strain between the cultivation trays is completed on the cultivation tray transfer mechanism, so that the work efficiency is further improved.

  In addition to the effect which the plant cultivation apparatus which concerns on any one of Claims 1 thru | or 6 show | plays, the plant cultivation apparatus of the invention which concerns on this Claim 7 is a state of the plant stock by which a cultivation tray transfer mechanism is grown with a cultivation tray By having a growth detection mechanism that detects the plant strain, the state of the plant strain can be detected without moving each cultivation tray to the work station, and thus the work efficiency is further improved without performing unnecessary movement. .

  In addition to the effect produced by the plant cultivation device according to any one of claims 2 to 7, the plant cultivation device of the invention according to claim 8 has a handling mechanism provided in the cultivation tray transfer mechanism, Using the handling mechanism, it is possible to thin out individual plant stocks grown in each cultivation tray or move them to other cultivation trays on the side of each cultivation tray storage shelf. Work efficiency is improved in the case of work that only involves moving or moving.

  In addition to the effect which the plant cultivation apparatus which concerns on any one of Claim 2 thru | or 7 show | plays, the plant cultivation apparatus of the invention which concerns on this Claim 9 is provided with a handling mechanism in the work station, so that each cultivation tray The work stations can be thinned individually and moved to other cultivation trays, and all the work necessary for cultivation such as fertilization and irrigation can be performed at the work station. Management of the cultivation tray becomes easier and maintenance of the equipment becomes easier.

  In the plant cultivation apparatus of the invention according to claim 10, in addition to the effect produced by the plant cultivation apparatus according to any one of claims 7 to 9, the growth detection mechanism is obtained by the image imaging means and the image imaging means. In addition to the size of the plant strain cultivated in each cultivation tray, color information is used to comprehensively detect maturity, lesions, etc. Therefore, the plant strain to be thinned out can be strictly specified, and management becomes easier.

The whole perspective view of the plant cultivation apparatus which is one Example of this invention. The front view of the plant cultivation apparatus of FIG. The top view of the plant cultivation apparatus of FIG. The side view of the plant cultivation apparatus of FIG. The perspective view of the cultivation tray transfer mechanism of the plant cultivation apparatus which is one Example of this invention. The top view of the cultivation tray transfer mechanism of FIG. The front view of the cultivation tray transfer mechanism of FIG. The explanation perspective view of the handling mechanism of the plant cultivation device which is one example of the present invention. The top view of the handling mechanism of FIG. The front view of the handling mechanism of FIG. Explanatory drawing of expansion operation | movement of the holding arm of the handling mechanism of FIG. Explanatory drawing of the work station of the plant cultivation apparatus which is one Example of this invention. Operation | movement explanatory perspective view of the plant cultivation apparatus which is one Example of this invention. FIG. 14 is a plan view of FIG. 13. FIG. 14 is a front view of FIG. 13. The side view of FIG. Explanatory perspective view of transfer of cultivation tray by handling mechanism. The side view of FIG.

  The plant cultivation apparatus of the present invention includes a cultivation tray capable of cultivating a plurality of plant strains, a plurality of cultivation tray storage shelves arranged in a plurality of stages and a plurality of rows and each capable of accommodating a cultivation tray, and an arbitrary cultivation of a cultivation tray. A plant cultivation apparatus having a cultivation tray transfer mechanism that moves into and out of a tray accommodation shelf, and a specific cultivation tray accommodation shelf among a plurality of cultivation tray accommodation shelves is capable of performing irrigation work necessary for cultivation The work station also serves as an input / output unit for carrying in and out the cultivation tray or plant stock from the outside, and can efficiently carry in and out the cultivation tray and plant stock at the optimal timing, Reduce wasted space, increase the amount of cultivation per unit space, improve space efficiency, improve work efficiency, and provide an optimal environment for growth As long as it can, specific embodiments thereof are may any be any one.

That is, the plant cultivation apparatus of the present invention may be any plant such as vegetables, cereals, beans, fruits, ornamental plants, etc., or may start growing from any state such as seeds or seedlings. The growth may be completed in any state.
Further, the plant cultivation apparatus of the present invention may be installed indoors or outdoors such as in a greenhouse or building, and sunshine, irrigation, fertilization, etc. may be performed by any method. .

Moreover, the cultivation tray used for the plant cultivation apparatus of the present invention may directly hold soil, may hold pot-like soil or cultivation land, and is a cultivation area such as hydroponics and spray cultivation. It may be what becomes.
In addition, the work necessary for cultivation at the work station of the plant cultivation apparatus of the present invention is to perform sensing such as pH of the nutrient solution, EC, dissolved oxygen concentration, etc., and automatically perform work such as fertilization and irrigation as necessary. It may be a thing.

Moreover, the work station of the plant cultivation apparatus of this invention may be provided only in one place among several cultivation tray accommodation shelves, and may be provided in several places.
In addition, when work stations are provided at a plurality of locations, any number of locations may also serve as an input / output unit.

  Also, adjacent to the work station of the plant cultivation device of the present invention, by installing another work device, a work table for performing manual work, and a transport facility for transporting the cultivation tray to a separate work place The cultivation tray may not be retained in the work station, but may be operated on another working device, manually operated, or brought in and out of the cultivation tray from the outside.

  As a result, it is possible to prevent the cultivation tray from staying for a long time while achieving both the function of the work station and the function as the entry / exit section. Even a large-scale plant cultivation device arranged in many directions can be efficiently cultivated.

Below, the plant cultivation apparatus which is an Example of this invention is demonstrated based on drawing.
The plant cultivation apparatus 100 which is one Example of this invention can each accommodate the cultivation tray 120 which can grow a some plant strain | stump | stock as shown in FIG. 1 thru | or FIG. A work station that includes a cultivation tray storage shelf 110 and a cultivation tray transfer mechanism 150 that moves the cultivation tray 120 into and out of the arbitrary cultivation tray storage shelf 110, and the lowermost cultivation tray storage shelf performs operations necessary for cultivation. The cultivation tray transfer mechanism 150 is provided with a handling mechanism 140 that can individually hold and move plant stocks from the cultivation tray 120.

The cultivation tray storage shelves 110 and the work stations 130 at each stage are provided in two horizontal rows, and the cultivation tray transfer mechanism 150 corresponds to the cultivation tray accommodation shelves 110 and the work stations 130 at two stages. It is comprised so that the cultivation tray 120 of a sheet can be mounted side by side.
1, 2, and 4 are illustrated in two places, upper and lower, to indicate the upper and lower movement limits of the cultivation tray transfer mechanism 150 and the handling mechanism 140.

As shown in FIGS. 5 to 7, in the cultivation tray transfer mechanism 150, a transfer shelf 152 on which two cultivation trays 120 can be placed side by side moves up and down along a lifting guide 151 provided on the left and right. It is configured to be possible.
A pin rack 154 is arranged in parallel with the elevating guide 151, and the transfer shelf 152 is moved up and down by the elevating pinion gear 153 engaged with the pin rack 154 being rotated by the elevating driving means 155 provided on the lower surface side. Move to.

  The transfer shelf 152 is provided with a transfer roller 156 corresponding to the moving direction of the two cultivation trays 120 to be placed, and a support frame 157 is provided above the transfer shelf 152. A handling mechanism 140 is provided.

  In the present embodiment, the cultivation tray storage shelves 110 are arranged in two rows and the cultivation tray transfer mechanism 150 is configured to perform only raising and lowering. The cultivation tray transfer mechanism 150 may be configured to be movable up and down and horizontally, so that a larger amount of plants can be cultivated.

  As shown in FIGS. 8 to 10, the handling mechanism 140 includes an X-axis frame 141, a Y-axis frame 142, a Z-axis frame 143, a gripping arm rotating means 144, and a gripping arm 160. Has a structure in which four axes of three orthogonal axes and one rotation axis are controlled.

That is, the X-axis frame 141 can move on the support frame 157 of the cultivation tray transfer mechanism 150 in the row direction (X direction) of the cultivation tray storage shelf 110, and the Y-axis frame 142 moves on the X-axis frame 141 in the X direction. The Z-axis frame 143 can move in the vertical direction (Z direction) with respect to the Y-axis frame 142, and the gripping arm 160 can move in the Z-axis frame. The grip arm rotating means 144 fixed to 143 is configured to be pivotable at the lower end thereof.
In FIGS. 8 to 10, positions in six directions are shown in order to show the turning of the gripping arm 160.

  As shown in FIG. 11, the gripping arm 160 has a pivoting part 161 having a shaft support part 163 at one end and a gripping claw driving part 164 at the other end, and a pair of gripping claws 162 provided below the gripping claw driving part 164. The shaft support portion 163 is fixed to the rotation shaft (not shown) of the grip arm rotating means 144 and can be turned, and the pair of grip claws 162 can be opened and closed by the grip claw driving portion 164. It is configured.

  In the present embodiment, the plant strain S is individually planted in the seedling pot P held on the cultivation tray 120, and the gripping claws 162 of the handling mechanism 140 grip and release the seedling pot P, and the plant strain S is placed on the cultivation tray 120. By placing or removing, the plant strain S cultivated in each cultivation tray 120 is individually thinned out or moved to another cultivation tray 120.

  Moreover, the cultivation tray 120 uses the late cultivation tray 121 which can accommodate the initial cultivation tray 122 which can accommodate the plant stock S densely, and the plant strain S, and can accommodate the plant stock S. Still other types of cultivation trays 120 with different intervals may be used.

As shown in FIG. 12, the work station 130 is provided at the lowest stage of the entire apparatus, and is provided with a water supply means 131, a liquid material detection means 132, and a growth detection mechanism.
The liquid detection unit 132 is provided so as to be movable up and down and is configured to be able to directly contact the culture medium in the cultivation tray 120, and the growth detection mechanism is obtained by the image pickup unit 133 and the image pickup unit 133. It is constituted by image processing means (not shown) for processing and judging image data.

The operation of the plant cultivation apparatus 100 configured as described above will be described with reference to FIGS.
First, the seedling pot P planted with the plant strain S at the initial stage of seedling is placed on the initial cultivation tray 122 where the seedling pots P can be densely placed, and the initial cultivation tray 122 is placed on the work station 130 which also serves as an entrance / exit. Is done.

The initial cultivation tray 122 placed on the work station 130 is moved to the cultivation tray transfer mechanism 150 and is accommodated in an arbitrary cultivation tray accommodation shelf 110.
At this time, it is configured such that the cultivation tray 120 is moved between the cultivation tray transfer mechanism 150 and the work station 130 or each cultivation tray storage shelf 110 by the gripping claws 162 of the handling mechanism 140, thereby providing a separate cultivation tray. The transfer means 120 becomes unnecessary.

  For example, as shown in FIGS. 17 and 18, the engaging portion 123 is provided on the outer frame of the cultivation tray 120, the tray moving pin 165 is provided on the gripping claw 162 of the handling mechanism 140, and the tray moving pin 165 is engaged with the engaging portion. By inserting into the hole provided in 123, the cultivation tray 120 can be moved in the pushing and pulling direction by the movement of the handling mechanism 140.

  In each cultivation tray storage shelf 110, the environment such as sunlight, temperature, and humidity necessary for growth is adjusted, and the cultivation tray 120 is moved to the work station 130 by the cultivation tray transfer mechanism 150 at appropriate timing for fertilization and watering. To do.

  In the work station 130, the culture is automatically performed from the water supply unit 131 to the cultivation tray 120 according to the state of the culture solution detected by the liquid material detection unit 132 and the state of the plant strain S detected by the growth detection mechanism. The liquid is supplied and fertilization and irrigation work necessary for cultivation is performed.

  If the growth detection mechanism that detects the state of the plant stock S determines that thinning is necessary when the initial cultivation tray 122 is moved to the work station 130 by the cultivation tray transfer mechanism 150, the handling mechanism 140 With the holding claws 162, the seedling pot P is transferred to the late cultivation tray 121 in which the seedling pots P as shown in FIGS.

  At this time, in the illustrated example, since the movement range of the gripping claws 162 of the handling mechanism 140 is limited to the transfer shelf 152 of the cultivation tray transfer mechanism 150, the initial cultivation tray 122 and the late cultivation tray are not illustrated. Both 121 are arranged on the transfer shelf 152 and the transfer work of the seedling pot P is performed.

  In addition, by selecting the seedling pot P to be transferred so that the interval between the seedling pots P remaining in the initial cultivation tray 122 is optimized, the initial cultivation tray 122 is thinned and used for subsequent cultivation in the subsequent stage. can do.

  Since the growth detection mechanism is composed of an image capturing unit 133 such as a CCD camera and an image processing unit (not shown) for processing and judging the image data obtained by the image capturing unit 133, size information and color information The growth state, lesions, and the like are judged from the above, and the plant lines S are transferred from the good plant strains S to the late cultivation tray 121 in order, and the plant strains S in which the growth defects and lesions are recognized are excluded together with the initial cultivation tray 122. .

Further, the handling mechanism 140 may be provided on the work station 130 side, and the movement range of the gripping claws 162 of the handling mechanism 140 is extended in the Y-axis direction so that the transfer shelf 152 of the cultivation tray transfer mechanism 150 and the work station 130 or It may be possible to transfer the seedling pot P between the cultivation tray storage shelves 110.
By doing so, the freedom degree of the position which performs the procedure and transfer work with the work regarding other cultivation improves, and the work efficiency as a whole improves.

  In addition, a growth detection mechanism may be provided in the cultivation tray transfer mechanism 150. In this case, it is possible to determine whether thinning is necessary without moving the cultivation tray 120 to the work station 130, and each cultivation tray storage shelf 110 side. The work efficiency can be improved by performing the transfer work.

  Furthermore, in the said Example, although the holding nail | claw 162 of the handling mechanism 140 is comprised so that the raising seed pot P may be hold | released, when plant strains are directly grown on the cultivation tray 120 without using the raising seed pot P By configuring the gripping claws 162 of the handling mechanism 140 so that the plant strain S can be directly gripped, it is possible to perform a thinning operation.

Further, in this embodiment, the multi-stage cultivation tray storage shelves 110 are arranged only on the front side of the cultivation tray transfer mechanism 150, but the multi-stage cultivation tray accommodation shelves 110 may be arranged on the back side, Each cultivation tray storage shelf 110 may have a length in which a plurality of cultivation trays 120 can be placed in a column in the Y direction.
By doing so, it becomes possible to work on more cultivation trays 120 with one cultivation tray transfer mechanism 150 and one work station 130, and the space efficiency is further improved.

Moreover, the height of the cultivation tray accommodation shelf 110 may differ for every stage, and the stage accommodated according to the growth condition may be changed.
Furthermore, in order to adjust temperature, humidity, etc., the whole may be covered with a cover and blown from the air conditioner, or a partition or the like may be provided to change the conditions for each cultivation tray storage shelf 110.
Moreover, an air-conditioning installation and a power supply installation can make the whole installation area small by accommodating in the space under the lowermost work station 130 (cultivation tray accommodation shelf 110).

  As described above, according to the present invention, it is possible to efficiently carry in and out cultivation trays and plant strains at an optimal timing, reduce wasteful space in the early stage of growth, and increase the amount of cultivation per unit space. The effect is enormous, such as improving efficiency and improving work efficiency to provide an optimal environment according to growth.

  The specific configuration of the cultivation tray transfer mechanism 150 is not limited to that of the embodiment as long as the cultivation tray 120 can be moved into and out of an arbitrary cultivation tray storage shelf 110, and any structure can be used. It may be.

  The specific structure of the handling mechanism 140 is not limited to that of the embodiment as long as the seedling pot P or the plant strain S can be grasped / opened and transferred, and any structure may be used. .

DESCRIPTION OF SYMBOLS 100 ... Plant cultivation apparatus 110 ... Cultivation tray accommodation shelf 120 ... Cultivation tray 121 ... Late cultivation tray 122 ... Initial cultivation tray 123 ... Engagement part 130 ... Work station 131 .... Water supply means 132 ... Liquid material detection means 133 ... Image imaging means 140 ... Handling mechanism 141 ... X-axis frame 142 ... Y-axis frame 143 ... Z-axis frame 144 ... Grasping arm rotation means 150 ... cultivation tray transfer mechanism 151 ... lifting guide 152 ... transfer shelf 153 ... lifting sprocket 154 ... lifting chain 155 ... lifting drive means 156 ... transfer Loading roller 157 ... support frame 160 ... gripping arm 161 ... turning part 162 ... shaft support part 163 ... gripping claw 164 ... gripping claw drive part 165 ... tray moving pin S ··· plant lines P ··· seedling pots

Claims (10)

A cultivation tray capable of cultivating a plurality of plant strains, a plurality of cultivation tray storage shelves arranged in a plurality of rows and a plurality of rows and capable of accommodating the cultivation trays respectively, and the cultivation trays are moved into and out of any cultivation tray accommodation shelf A plant cultivation device having a cultivation tray transfer mechanism
A specific cultivation tray storage shelf among the plurality of cultivation tray storage shelves is configured as a work station capable of performing irrigation work necessary for cultivation,
The plant cultivation apparatus characterized in that the work station also serves as a cultivation tray or a loading / unloading unit for loading and unloading a plant strain from the outside. It has a handling mechanism capable of individually gripping and moving plant strains from the cultivation tray,
The plant cultivation apparatus according to claim 1, wherein the handling mechanism is arranged so as to be able to hold and move a plant strain on the cultivation tray placed on the cultivation tray transfer mechanism.   The plant cultivation according to claim 1, wherein the work station has spraying means for spraying the culture solution onto the cultivation tray or water supply means for pouring the culture solution onto the cultivation tray. apparatus.   The plant cultivation apparatus according to any one of claims 1 to 3, wherein the work station includes a detection unit that detects a state of a culture solution in a cultivation tray.   The plant cultivation apparatus according to claim 1, wherein the work station has a growth detection mechanism that detects a state of a plant strain cultivated on a cultivation tray.   The plant cultivation device according to any one of claims 1 to 5, wherein the cultivation tray transfer mechanism is capable of placing a plurality of the cultivation trays simultaneously.   The plant cultivation device according to any one of claims 1 to 6, wherein the cultivation tray transfer mechanism has a growth detection mechanism for detecting a state of a plant strain cultivated on the cultivation tray.   The plant handling apparatus according to any one of claims 2 to 7, wherein the handling mechanism is provided in the cultivation tray transfer mechanism.   8. The plant cultivation apparatus according to claim 2, wherein the handling mechanism is provided in the work station.   The plant according to any one of claims 7 to 9, wherein the growth detection mechanism includes an image capturing unit and an image processing unit that processes and determines image data obtained by the image capturing unit. Cultivation equipment.

Images