JP5798205B2 - Plant transplantation system and plant transplantation method - Google Patents

Description

  The present invention relates to a plant transplantation system and a plant transplantation method for selectively transplanting a seedbed from a plant holder having a plurality of holder seedbed holding units to a cultivation pallet having a plurality of pallet seedbed holding units.

  Conventionally, a seedbed transport conveyor that intermittently rotates and reciprocates left and right to transfer a seedbed, a planting panel transport conveyor that is arranged below the seedbed transport conveyor and intermittently rotates to transfer a planting panel, and the front end of the seedbed transport conveyor The front and back of several transfer opening / closing nips, which are located above the front of the nursery bed conveyer conveyor, and several pieces of floor pieces in the front end row of the nursery bed are separated and transferred to the front. It is connected to a nursery bed conveyor and several insertion opening and closing clamps to be inserted and planted in holes in the planting panel on the planting panel transport conveyor. It consists of an operating mechanism that intermittently reciprocates the nursery bed conveyor in the left-right direction by the width of the seedbed floor piece, and a control mechanism. By controlling each part of the device by the control mechanism, transplanting work is automatically performed Automatic planting device hydroponic seedling performed is known (e.g., see Patent Document 1.).

JP 2000-4699 A

  Here, although the automatic planting apparatus of patent document 1 controls the operation | movement of each part of an apparatus with the same operation | movement flow based on the program stored in the control mechanism, on the other hand, the quality of the growth condition of a floor piece is good. There is also a need to determine the optimal operation of each part of the device for each transplantation content and improve the efficiency of device drive, such as when sorting floor pieces based on the above.

  And when it is going to answer the said needs in the automatic fixed planting apparatus of patent document 1, it is possible to give a control mechanism the arithmetic processing capability which calculates the operation | movement of the optimal part of an apparatus according to the transplant content. There is a problem that the control mechanism becomes expensive.

  The present invention solves these problems, and an object of the present invention is to provide a plant transplantation system and a plant transplantation method that realize stable transplantation at low cost.

The plant transplanting system of the present invention is a plant transplanting system for selectively transplanting a seedbed from a plant holder having a plurality of holder seedbed holding parts to a cultivation pallet having a plurality of pallet seedbed holding parts, A transplanting device for simultaneously transplanting a plurality of seedbeds from a holder seedbed holding unit to the pallet seedbed holding unit; a storage element attached to the plant holder for storing operation data defining the operation of the transplanting device; and the storage A reader that reads the operation data from an element; a transplantation control unit that controls the operation of the transplanting device based on the operation data; and a writer that writes the operation data to the storage element, and is held in the plant holder Pass / fail data of each seedbed, position data of each holder seedbed holding part in the plant holder, and each pallet seedbed in the cultivation pallet And position data of the lifting unit, based on the device configuration data of the implant device, by providing a management device for calculating the operating data, is to solve the above problems.
The plant transplanting method of the present invention is a plant transplanting method for selectively transplanting a seedbed from a plant holder having a plurality of holder seedbed holding parts to a cultivation pallet having a plurality of pallet seedbed holding parts, A transplant device that simultaneously transplants a plurality of seed beds from the holder seed bed holding unit to the pallet seed bed holding unit, a transplant control unit that has a reader and controls the operation of the transplant device, and a storage element attached to the plant holder; A management device that has a writer and calculates operation data, and the management device determines pass / fail data of each nursery bed held in the plant holder, position data of each holder nursery bed holding portion in the plant holder, and the cultivation The operation data is calculated based on the position data of each pallet nursery holding part in the pallet and the data of the device configuration of the transplanting device, and the writer The operation data calculated by the management device is written to the storage element, the operation data defining the operation of the transplant device is read from the storage element by the reader, and the operation of the transplant device is controlled based on the operation data. This solves the problem.

According to the first and sixth aspects of the invention, a transplant device for transplanting a seed bed from the holder seed bed holding unit to the pallet seed bed holding unit, and a storage element for storing operation data for defining the operation of the transplant device And a transplantation control unit that controls the operation of the transplantation device based on the operation data, and includes a reader that reads the operation data from the storage element. Since it is not necessary to have the processing capacity to calculate the optimal motion data according to the situation, the transplant control unit (control mechanism) similar to the conventional technology can be used, and the transplant control unit can be constructed at low cost. Can do.
In addition, the operation data is transmitted between the management device that generates operation data and the transplant device using a storage element, so that the transplant device and the management device are provided independently of each other without being connected by a LAN or the like. Therefore, the transplanting device and the management device can be individually installed in geographically separated places or places where connection is difficult, such as farmers and factories.
In addition, since the transplanter and the management device are provided independently, it is possible to make design changes and expansions individually for each device, so it is possible to design without requiring much work load, cost, and construction period. Changes and expansions can be performed easily.
Further, by attaching the memory element to the plant holder, the target plant holder and the operation data stored in the memory element can be easily associated.

According to the second aspect of the present invention, since the memory element is a non-contact type memory element, data can be written to and read from the memory element even when dirt or mud adheres to the memory element. Inhibition can be suppressed.
According to the configuration of the present invention, the transplanting device transplants the seedbed from the holder seedling holding part to the holder holding means for holding the plant holder, the pallet holding means for holding the cultivation pallet, and the holder seedbed holding part. When the nursery bed is set on the transplanting device, it is only necessary to set a plant holder holding a plurality of nurseries on the transplanting device, so there is no need to handle the soft nursery directly, Can be improved. As a result, the process of taking out the seedbed from the seedling container, which is performed before setting the seedbed on the transplanting device, can be easily automated because the plant holder holding the plurality of seedlings may be taken out from the seedling container. In addition, since the automation is facilitated, it is possible to prevent the nursery from being contaminated by sweat or bacteria adhering to humans.
According to the fourth aspect of the present invention, an efficient transplanting operation such as simultaneously driving a plurality of transplanted members can be realized by having a transplanted member in which a plurality of transplanting means are arranged.
According to the fifth aspect of the present invention, the transplanting device further includes moving means for relatively moving the plant holder and the cultivation pallet, so that the position of the holder seedbed holding part and the pallet seedbed holding part by the moving means. Since the relationship can be adjusted, the degree of freedom in designing the plant holder and the cultivation pallet such as the size of the plant holder and the cultivation pallet and the formation position of the holder seedbed holding unit and the pallet seedbed holding unit can be improved.

Explanatory drawing which shows the whole structure of the plant transplant system which concerns on one Embodiment of this invention. The perspective view which shows the initial state of a transplant apparatus. The perspective view which shows the state of the transplant apparatus at the time of transplanting the nursery of the row | line | column of the near side of a plant holder. The perspective view which shows the state of the transplant apparatus at the time of transplanting the nursery of the back | inner row of a plant holder. FIG. 3 is a front view of the transplant device shown in FIG. 2. FIG. 3 is a side view of the transplant device shown in FIG. 2. The perspective view which shows a plant holder. The top view which shows a plant holder. The perspective view which shows the plant holder of the state which accommodated the nursery bed. The perspective view which shows a nursery. The perspective view which shows the pallet for cultivation. The top view which shows the palette for cultivation. Sectional drawing of the pallet for cultivation which shows the XII-XII line of FIG. 12 seeing in an arrow direction. The perspective view which shows a table. The top view which shows a table. Sectional drawing of the table which shows the XV-XV line | wire of FIG. Explanatory drawing which shows the state before the transplant to a pallet for cultivation from a plant holder. Explanatory drawing which shows the state after the transplant to the pallet for cultivation from a plant holder.

  Below, the plant transplant system which is one Embodiment of this invention is demonstrated based on drawing.

  As shown in FIG. 1 and the like, the plant transplanting system includes a grid-like plant holder 110 to which a storage element 114 is attached, a cultivation pallet 120, a seedling container (not shown), and a seedbed held by the plant holder 110. The transplant device 100 for transplanting B to the cultivation pallet 120 larger in size than the plant holder 110, the transplant control terminal 170 connected to the transplant device 100 and controlling the operation of the transplant device 100, and the operation of the transplant device 100 are defined. A management device 180 that calculates operation data, and a known pass / fail determination device (not shown) that determines the pass / fail (good quality or bad) of the plurality of nurseries B connected to the management device 180 and held by the plant holder 110 are provided. Yes.

  The plant holder 110 is formed of a strong material such as metal, and as shown in FIGS. 7 to 9, a plurality of holder seedbed holding holes 111 penetrating in the vertical direction and holding the seedbed B, and the holder seedbed holding holes 111 are provided. It has a thin plate-like partition plate 112 that partitions in the vertical and horizontal directions, and a flange portion 113 formed at the upper end.

  As shown in FIGS. 7 and 9, a storage element 114 configured as an RFID (Radio Frequency Identification) tag is attached to the outer surface of the plant holder 110. In the present embodiment, the storage element 114 is configured as a passive RFID tag that responds by converting radio waves emitted from the reader / writers 171 and 181 to power, but the tag itself is an active type that incorporates a power source. The storage element 114 may be configured as a type of RFID tag.

  As shown in FIG. 8, the holder seedbed holding holes 111 are arranged in a rectangular lattice shape with a first pitch P1 in the vertical direction and a third pitch P3 in the horizontal direction when viewed in the vertical direction. In addition, the pitch said by this invention means the pitch between the centers of a hole or a member.

  The partition plate 112 is arranged so that the surface thereof is perpendicular to the horizontal direction. As can be seen from FIG. 9, when the plant holder is pressed against the nursery bed B ′, the nursery bed B ′ is divided into a plurality of nursery beds B ′. The nursery bed B is formed so as to be accommodated in the plurality of holder nursery bed holding holes 111 at one time.

  As shown in FIG. 2, the flange portion 113 is provided to be held by the holder holding member 131, and serves as a handling engagement portion for handling the plant holder 110 by handling means (not shown). Also works. As other aspects of the engaging portion for handling, holes, protrusions, and the like are conceivable.

  The cultivating pallet 120 is formed of synthetic resin or the like (mainly styrofoam), and has a plurality of round hole-shaped pallet seedbed holding holes 121 that penetrate vertically and hold the seedbed B as shown in FIGS. Have.

  As shown in FIG. 13, the pallet seedbed holding hole 121 has an upper taper portion 121 a that expands from the lower side to the upper side on the upper surface side of the cultivation pallet 120, and the diameter decreases from the lower side to the upper side. The lower taper part 121b is provided on the lower surface side of the cultivation pallet 120.

  As shown in FIG. 12, the plurality of pallet seedbed holding holes 121 are arranged in a hexagonal lattice shape when viewed in the vertical direction. As shown in FIG. 12, when the pitch between the pallet seedbed holding holes 121 adjacent in the vertical direction among the plurality of pallet seedbed holding holes 121 is the second pitch P2, the first pitch P1 of the holder seedbed holding holes 111 and the pallet The second pitch P2 of the seedbed holding holes 121 is set so as to satisfy the expression nP1 = mP2 (n is an integer of 1 or more and m is an integer of 1 or more). The second pitch P2 is larger than the first pitch P1. As shown in FIG. 12, when the pitch between the pallet seedbed holding holes 121 adjacent in the lateral direction among the plurality of pallet seedbed holding holes 121 is the fourth pitch P4, the third pitch P3 of the holder seedbed holding holes 111 is set. The fourth pitch P4 of the pallet seedbed holding hole 121 is set so as to satisfy the expression oP3 = pP4 (o is an integer of 1 or more, p is an integer of 1 or more). The fourth pitch P4 is larger than the third pitch P3.

  A seedling container (not shown) is filled with water, accommodates a plant holder 110 in a state of holding a plurality of seedbeds B as shown in FIG. 9, and germinates the seeds of plants sown on the seedbeds B. The container. This seedling container (not shown) is required to have water tightness, and may be provided with a handle for automation.

  2 to 4, the transplant device 100 includes a holder holding / moving means 130, a pallet holding means 140, a push-up means 150, a handling means (not shown) for moving the plant holder 110, and a holder holding / moving movement. And a frame 160 that supports each part such as the means 130, the pallet holding means 140, the push-up means 150, and the like.

  The holder holding / moving means 130 holds the plant holder 110 above the push-up means 150 and moves the plant holder 110 in the vertical and horizontal directions. 2 to 4, the holder holding / moving means 130 includes a holder holding member 131 that holds the plant holder 110, a horizontal linear actuator 132 that moves the holder holding member 131 in the horizontal direction, and a holder holding member 131. And a vertical linear actuator 133 that moves the motor in the vertical direction. In addition, about the specific aspect of the holder holding | maintenance moving means 130, it is not limited above, What kind of thing, such as a hand arm which hold | maintains and moves the plant holder 110, may be used.

  As shown in FIG. 2, the pallet holding means 140 holds the cultivation pallet 120 in a fixed state above the plant holder 110 held by the holder holding means described above, and a table on which the cultivation pallet 120 is placed. 141 and a plurality of lifting restricting portions 142 that restrict the upward movement of the cultivation pallet 120 with respect to the table 141. The table 141 and the lifting restricting portion 142 are fixed to the frame 160.

As shown in FIGS. 14 to 16, the table 141 has a plurality of guide holes 141 a penetrating in the vertical direction. The plurality of guide holes 141a are arranged in the same number as the plurality of pallet seedbed holding holes 121 and arranged in the same arrangement manner as the plurality of pallet seedbed holding holes 121 when viewed in the vertical direction. As shown in FIG. 16, at least a part of the inner peripheral surface of the guide hole 141a is formed in a tapered shape that decreases in diameter from the lower side toward the upper side.
In this embodiment, the nursery bed B is guided by the guide hole 141a formed in the table 141. However, the lower tapered portion formed on the lower surface side of the pallet nursery holding hole 121 described above without providing such a table 141. The nursery bed B may be guided by 121b. In this case, instead of the table 141, a member or a part for supporting the cultivation pallet 120 may be provided separately.
In the present embodiment, the guide holes 141 a of the table 141 are provided in the same number and the same arrangement manner as the pallet seedbed holding holes 121 of the cultivation pallet 120. However, when the cultivation pallet 120 is configured to move in the horizontal direction, the arrangement of the guide holes 141a is not limited to the above. For example, when the guide holes 141a are provided in a row in the horizontal direction at a half pitch of the fourth pitch P4 between the pallet seedbed holding holes 121 in the horizontal direction, and the pallet seedbed holding holes 121 pass over the guide holes 141a, You may comprise so that the nursery bed B hold | maintained at the holder 110 may be pushed up row by row. In this case, since it is not necessary to move the push-up member 152 in the vertical direction, the structure of the push-up means 150 can be simplified.

  As shown in FIG. 2, the lifting restriction part 142 restricts the upward movement of the cultivation pallet 120 relative to the table 141, and the cultivation pallet 120 is pushed into the lifting restriction part 142 from the side. Thus, the table 141 is set. The floating restriction part 142 also serves as a positioning part for positioning the cultivation pallet 120 in the horizontal direction. In addition, the specific aspect of the lifting restriction part 142 or the positioning part described above is not limited to the above, and may be any one such as a plurality of protrusions and frames provided on the table 141.

  The push-up means 150 pushes up the seedbed B held in the holder seedbed holding hole 111 upward and inserts it into the pallet seedbed holding hole 121.

  As shown in FIGS. 2 to 5, the push-up means 150 includes a push-up linear actuator 151, a plurality of push-up members 152 supported by the push-up linear actuator 151 so as to be movable in the vertical direction, A laterally-moving linear actuator 153 that moves the moving actuator 151 laterally; a longitudinally-directing actuator 154 that moves the push-up linearly-actuated actuator 151, the lifting member 152, and the laterally-moving linearly-actuated actuator 153 in the longitudinal direction; have. The plurality of push-up members 152 are arranged with respect to the push-up linear actuator 151 in a state of being arranged in a row in the horizontal direction, and can be moved in the vertical and horizontal directions by the horizontal move / push actuator 153 and the vertical move actuator 154. Supported. The plurality of push-up members 152 are configured to move in the vertical direction individually or in units of one row by a plurality of linear motion actuators arranged in the push-up linear motion actuator 151.

  In this embodiment, a plurality of push-up members 152 are provided, but one or more push-up members 152 may be provided. Further, when the lifting members 152 are arranged in the same number as the plurality of pallet nursery holding holes 121 and viewed in the vertical direction, the lifting members 152 are horizontally arranged when arranged in the same arrangement manner as the plurality of pallet nursery holding holes 121. Since it is not necessary to move in the direction, the structure of the push-up means 150 can be simplified.

  The handling means (not shown) moves the plant holder 110 to the holder holding member 131 and sets it on the holder holding member 131. A specific aspect of the handling means (not shown) may be any one including a gripping claw and a support arm.

  The transplant control terminal 170 is configured as a PLC or the like, and includes a storage unit, an input unit, an output unit, a calculation unit, a control unit, a communication unit, an auxiliary storage device, and the like. As shown in FIG. 1, a control-side reader / writer 171 is connected to the transplantation control terminal 170. The control-side reader / writer 171 is a non-contact type RFID reader / writer capable of reading and writing various data with respect to the storage element 114 by a wireless method using a predetermined frequency band by being close to the storage element 114. It is configured.

  The management device 180 is configured as a personal computer or the like, and includes a storage unit, an input unit, an output unit, a calculation unit, a control unit, a communication unit, an auxiliary storage device, and the like. As shown in FIG. 1, a management reader / writer 181 is connected to the management device 180. The management reader / writer 181 is configured in the same manner as the control reader / writer 171 described above.

  Next, a transplantation flow using the plant transplantation system of the present embodiment will be described below.

  First, the pass / fail data of each nursery bed B held by the plant holder 110 (good or bad) determined by a pass / fail determination device (not shown) and the position data of each holder seedbed holding hole 111 in the plant holder 110 (for example, Vertical direction: horizontal direction = coordinate data such as 3: 4), position data of each pallet seedbed holding hole 121 in the cultivation pallet 120, and data of the device configuration of the transplanting device 100 are input to the management device 180, and Based on the input data, the operation data defining the operation of the transplant device 100 is calculated by the arithmetic unit of the management device 180, and the operation data is written to the storage element 114 by the management-side reader / writer 181.

  Here, the above-described operation data is intended to improve the efficiency of the number of times, the drive time, the order of operations, etc. of each part (holder holding / moving means 130, pallet holding means 140, push-up means 150, handling means) of the transplanting apparatus 100. On the other hand, the operation of each part of the transplanting apparatus 100 is specifically defined so that a high-quality seedbed B can be transplanted from the holder seedbed holding hole 111 to the pallet seedbed holding hole 121.

  In the above description, the quality data of each nursery bed B input to the management device 180 has been described as being automatically generated by a quality determination device (not shown). However, the quality of each nursery bed B is determined by human observation. The result may be input to the management apparatus 180. Further, the position data of each of the holder seedbed holding holes 111 and each pallet seedbed holding hole 121 described above is stored in the management device 180 in advance.

  Next, the holder holding / moving means 130 is set on the plant holder 110, and the operation data is read from the storage element 114 by the management-side reader / writer 181.

  Next, transplanting of the nursery bed B is performed by operating the transplant device 100 based on the operation data.

In this embodiment obtained in this way, the plant holder 110 has the thin partition plate 112, so that the plant bed 110 is pressed against the seed bed B ′ so that the nursery bed B is separated by the partition plate 112. Since the seedbed B can be accommodated in the plurality of holder seedbed holding holes 111 at the same time while separating 'into a plurality of seedbeds B, the seedbed B can be easily accommodated in the plant holder 110. Further, since the nursery bed B is accommodated in the holder nursery bed holding hole 111 without any gap, the holding strength of the nursery bed B by the holder nursery bed holding hole 111 can be improved, and the nursery bed B is accommodated when the nursery bed B is accommodated in the plant holder 110. In order to avoid direct contact with human hands, it is possible to prevent the nursery bed B from being contaminated by sweat or bacteria attached to humans.
In addition, since the seedbeds B are accommodated one by one in the holder seedbed holding holes 111 partitioned by the partition plate 112, the nursery bed B can be used regardless of whether the seedbed B is held in the surrounding holder seedbed holding holes 111. It can be held securely.
In addition, since the nursery bed B is pushed up from below with a large surface without grasping the soft nursery bed B from above, it is possible to realize quick and stable transplantation with a simple structure, and the plant extending upward from the nursery bed B is damaged. Can be prevented.
Moreover, when transplanting the nursery bed B by holding the nursery bed B as in the automatic planting device of Patent Document 1, a notch for releasing the holding claws is required at the periphery of the pallet nursery bed holding hole 121. In this embodiment, since the nursery bed B is transplanted by pushing up the nursery bed B, such a notch is not required, and the commonly used cultivation pallet 120 can be used, thereby reducing costs. it can.

  Moreover, by providing a moving means for relatively moving the plant holder 110 and the cultivation pallet 120 in the horizontal direction, the horizontal direction between the holder seedbed holding hole 111 and the pallet seedbed holding hole 121 is moved by the moving means. Since the positional relationship can be adjusted, the design of the plant holder 110 and the cultivation pallet 120, such as the size of the plant holder 110 and the cultivation pallet 120 and the formation position of the holder seedbed holding hole 111 and the pallet seedbed holding hole 121, etc. The degree of freedom can be improved.

  Moreover, by moving the plant holder 110 having a small size, it is easy to secure a moving space as compared with the case of moving the cultivating pallet 120 having a large size, so that space saving can be realized. it can.

  Further, since the push-up means 150 includes the plurality of push-up members 152, it is possible to transplant a plurality of seed beds B in a single push-up operation. realizable.

  Further, the first pitch P1 between the holder seedbed holding holes 111 and the second pitch P2 between the pallet seedbed holding holes 121 in the vertical direction are nP1 = mP2 (n is an integer of 1 or more, and m is an integer of 1 or more). By setting so as to satisfy the formula, it is possible to transplant a plurality of seedbeds B together in a vertical direction by a single push-up operation, so that a quick transplant can be realized.

  Further, in the lateral direction, the third pitch P3 between the holder seedbed holding holes 111 and the fourth pitch P4 between the pallet seedbed holding holes 121 are oP3 = pP4 (P3 is the third pitch, P4 is the fourth pitch, o is 1) It is possible to transplant a plurality of nurseries B together in a single push-up operation in the vertical and horizontal directions by setting so as to satisfy the above formula (p is an integer of 1 or more). Therefore, rapid transplantation can be realized.

  Further, a table 141 for placing the cultivation pallet 120 is provided, and a plurality of guide holes 141 a are formed in the same arrangement manner as the plurality of pallet seedbed holding holes 121 in the table 141, so that the table is raised when the seedbed B is pushed up. Since the nursery bed B can be guided by the guide holes 141a of 141, the nursery bed B can be smoothly transplanted into the pallet nursery holding hole 121.

  In addition, since at least a part of the inner peripheral surface of the guide hole 141a is formed in a tapered shape with a diameter decreasing from below to above, the nursery bed B pushed out from the holder seedling holding hole 111 passes through the guide hole 141a. In doing so, it is possible to correct the nursery bed B into a correct posture along the tapered shape of the guide hole 141a, so that it is possible to prevent damage to the plants that have come out of the nursery bed B.

  In addition, the pallet holding means 140 has the lifting restriction portion 142 that restricts the upward movement of the cultivation pallet 120, so that the nursery bed B pushed out from the holder nursery bed holding hole 111 is placed in the pallet nursery bed holding hole 121. When inserting, since the cultivation pallet 120 is prevented from being inclined or displaced on the table 141, smooth transplantation can be realized.

  Further, by providing a handling means (not shown) for moving the plant holder 110 to the holder holding / moving means 130, a human hand can directly touch the plant holder 110 when the plant holder 110 is set on the holder holding / moving means 130. By avoiding this, it is possible to prevent the nursery bed B from being contaminated by sweat or bacteria attached to humans.

  Moreover, in the middle of passing through the pallet seedbed holding hole 121, the seedbed B has an upper tapered portion 121 a whose diameter increases from the lower side toward the upper side on the upper surface side of the cultivation pallet 120. In addition, since the bud S of the plant that has come out of the nursery bed B can be opened sideways, it is possible to prevent the plant bud S from being stressed.

In the above-described embodiment, the storage element is described as an RFID tag. However, specific examples of the storage element include a non-contact tag such as an RFID tag and a barcode, and a contact tag such as a magnetic tape. Anything is acceptable. The same applies to specific aspects of the reader / writer.
In the above-described embodiment, the storage element is described as being attached to the outer surface of the plant holder. However, the attachment mode of the storage element is not limited to this, and for example, the storage element may be embedded in the plant holder.
Moreover, although embodiment mentioned above demonstrated as what attaches the memory element which memorize | stores operation | movement data to a plant holder, you may attach and operate a memory element to articles other than a plant holder.
Further, the control reader / writer connected to the transplantation control terminal may be a reader having only a function of reading data from the storage element.
The management-side reader / writer connected to the management apparatus may also be a writer having only a function of writing data to the storage element.
In the above-described embodiment, the transplant device has been described as transplanting the seed bed by pushing up the seed bed from below. However, the specific mode of the transplant device is not limited thereto, and the nurse bed is held by a hand arm or the like. Anything can be used, such as transplanting.
Moreover, in embodiment mentioned above, although the pallet for cultivation is installed in the fixed state and it demonstrates as what moves a plant holder and a raising mechanism to a horizontal direction, specific embodiment is not limited to this, For example, The plant holder may be installed in a fixed state, and the cultivation pallet and the lifting mechanism may be moved in the horizontal direction.
Moreover, in embodiment mentioned above, although the holder seedbed holding part and the pallet seedbed holding part were demonstrated as what is a hole, the specific aspect of these holding parts is not limited to a hole.

DESCRIPTION OF SYMBOLS 100 ... Transplanter 110 ... Plant holder 111 ... Holder seedling holding hole (holder seedbed holding part)
112 ... Partition plate 113 ... Flange part 114 ... Memory element 120 ... Cultivation pallet 121 ... Pallet seedling holding hole 121a ... Upper taper part 121b ... Lower taper part 130 ... · Holder holding / moving means 131 ··· Holder holding member 132 ··· Lateral linear actuator 133 · · · Vertical linear actuator 140 ··· Pallet holding means 141 ··· Table 141a ··· Guide hole 142 · .. Lifting restricting section 150 ... Pushing means (transplanting means)
151... Push-up linear actuator 152... Push-up member (transplant member)
153... Transverse translation actuator 154... Linear translation actuator 160... Frame 170 .. Transplant control terminal (transplant control unit)
171 ... Control side reader / writer 180 ... Management device 181 ... Management side reader / writer B, B '... Nursery bed S ... Plant sprout P1 ... First pitch (holder nursery bed in the vertical direction) (Pitch between holding holes)
P2 ... 2nd pitch (pitch between pallet seedbed holding holes in the vertical direction)
P3 ... 3rd pitch (pitch between holder seedbed holding holes in the lateral direction)
P4 ... 4th pitch (pitch between pallet nursery holding holes in the horizontal direction)

Claims (6)

A plant transplanting system for selectively transplanting a seedbed from a plant holder having a plurality of holder seedbed holding parts to a cultivation pallet having a plurality of pallet seedbed holding parts,
A transplanting device for simultaneously transplanting a plurality of nurseries from the holder nursery holding part to the pallet nursery holding part;
A storage element attached to the plant holder for storing operation data defining the operation of the transplant device;
A transplant controller that reads the operation data from the storage element, and controls the operation of the transplant device based on the operation data;
A writer for writing the operation data to the storage element; pass / fail data of each seedbed held in the plant holder; position data of each holder seedbed holding portion in the plant holder; and each pallet seedbed in the cultivation pallet A management device that calculates the operation data based on the position data of the holding unit and the data of the device configuration of the transplant device;
A plant transplanting system comprising:   The plant transplantation system according to claim 1, wherein the memory element is a non-contact type memory element.   The transplanting apparatus includes a holder holding unit that holds the plant holder, a pallet holding unit that holds the cultivation pallet, and a transplanting unit that transplants a seedbed from the holder seedbed holding unit to the pallet seedbed holding unit. The plant transplantation system according to claim 1 or 2, characterized by the above-mentioned.   The plant transplant system according to claim 3, wherein the transplant means has a plurality of transplant members.   The plant transplantation system according to claim 3 or 4, wherein the transplantation device further includes a moving unit that relatively moves the plant holder and the cultivation pallet. A plant transplanting method for selectively transplanting a seedbed from a plant holder having a plurality of holder seedbed holding parts to a cultivation pallet having a plurality of pallet seedbed holding parts,
A transplanting device for transplanting a plurality of seedbeds simultaneously from the holder seedling holding unit to the pallet nursery holding unit, a transplanting control unit that has a reader and controls the operation of the transplanting device, and a storage element attached to the plant holder; And a management device that has a writer and calculates operation data,
Pass / fail data of each nursery bed held by the plant holder by the management device, position data of each holder nursery bed holding part in the plant holder, position data of each pallet nursery bed holding part in the cultivation pallet, and the transplantation Calculate the operation data based on the device configuration data of the device,
The operation data calculated by the management device is written to the storage element by the writer,
A plant transplanting method, wherein the reader reads operation data defining the operation of the transplanting device from the storage element, and controls the operation of the transplanting device based on the operation data.

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