JP6493303B2 - Transfer equipment - Google Patents

Description

  The present invention relates to a transfer apparatus for transferring a transfer object such as a fixed planting plate in which plants such as vegetables are fixed.

  Conventionally, as this type of transfer device, for example, the one shown in Patent Document 1 is known. Such a transfer apparatus includes a stacker crane for transferring a fixed planting plate in which plants are planted from one article holding unit to another article holding unit in the cultivation shelf. The stacker crane is an article having a support pedestal, a liquid receiving part that is fixed on the support pedestal and receives the nutrient solution dropped from the planting plate, and a column part that is provided upright from the outside of the liquid receiving part in plan view. And a support part.

JP 2014-76015 A

  By the way, in the transfer apparatus as described above, the stacker crane transfers the fixed planting plate placed on a certain article holding unit in the cultivation shelf onto the article support unit so as to be lifted from below by the article support unit. After moving to the other article holding part, the article supporting part is lowered and placed on the other article holding part. That is, the stacker crane is moved in a state where the fixed planting plate is simply placed on the article support portion. For this reason, since a fixed planting board is moved without being hold | maintained, there exists a problem that there exists a possibility that a fixed planting board may become unstable during a movement.

  The present invention has been made paying attention to such problems existing in the prior art. The object is to provide a transfer device capable of stably transferring an object to be transferred.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A transfer device that solves the above-described problem has a holding portion that can hold a transfer object, and transfers the transfer object to a transfer destination by moving the transfer object while being held by the holding portion. In the mounting apparatus, the clamping unit includes a first clamping state that clamps without allowing movement of the transferred object, and a second clamping state that clamps while allowing movement of the transferred object. It can be switched between.

  According to this configuration, the transfer object can be stably transferred by the holding unit holding the transfer object in the first holding state. In addition, for example, the transfer object is transferred by switching the holding state of the transfer object by the holding unit from the first holding state to the second holding state immediately before the transfer object is transferred to the transfer destination. Even when an impact is received by engaging with another member immediately before the placement destination, the transferred object is moved by the impact, so that the impact received by the transferred object can be reduced.

In the transfer apparatus, it is preferable that the clamping unit switches between the first clamping state and the second clamping state by changing a clamping force applied to the transferred object.
According to this configuration, the holding state of the transferred object by the holding unit can be easily switched between the first holding state and the second holding state.

  In the transfer apparatus, the holding unit is in contact with the transferred object when in the first holding state, and is in contact with the transferred object when in the second holding state. It is preferable to provide a pair of second contact portions.

According to this configuration, the contact position of the clamping unit with respect to the transferred object can be changed between the first clamping state and the second clamping state.
In the transfer device, it is preferable that the pair of first contact portions is disposed between the pair of second contact portions.

According to this structure, it can contribute to size reduction of a clamping part.
In the above transfer apparatus, it is preferable that the second contact portion is constituted by a rotating body.

  According to this configuration, the configuration of the second contact portion can be simplified.

  According to the present invention, the transferred object can be transferred stably.

The perspective view which shows the plant cultivation system of embodiment. The perspective view which shows the plant conveyance apparatus of a plant cultivation system. The perspective view which shows the state before integrating a fixed planting board and a pallet by the integration mechanism of a plant conveyance apparatus. The perspective view which shows a state when a fixed planting board and a pallet are integrated by the integration mechanism of a plant conveyance apparatus. The perspective view which shows a state when the fixed planting board and pallet of the state integrated by the integration mechanism were conveyed to the conveyance path | route. The perspective view of a pallet. The perspective view of the movement unit in the stacker crane of a plant conveyance apparatus. The perspective view when the movement unit of FIG. 7 is seen from the opposite side. The principal part enlarged view of FIG. FIG. 10 is a perspective view when FIG. 9 is viewed from the X direction. The perspective view which shows the state before moving the fixed planting board and pallet of the integrated state in the end point part of a conveyance conveyor to a movement unit. The perspective view which shows a state when moving the fixed planting board and pallet of the integrated state in the end point part of a conveyance conveyor to a movement unit by making the press arm of a press part into an expansion | extension state from a contraction state. FIG. 13 is a perspective view showing a state when the pressing arm is returned from the extended state to the contracted state in FIG. 12. The perspective view which shows a state when moving the movement unit which supported the fixed planting board and pallet of the integrated state to the position adjacent to the mounting board used as a transfer destination. Sectional drawing which shows the state before clamping a fixed planting board by each clamping part of a movement unit. Sectional drawing which shows a state when inserting between the fixed planting board and the pallet of the state which integrated the lower clamping piece of each clamping part. Sectional drawing which shows a state when each clamping part is raised a little in FIG. 16, and the 2nd roller was made to contact the lower surface of a fixed planting board. Sectional drawing which shows a state when a fixed planting board is lifted from the pallet by pinching a fixed planting board in the 1st clamping state by each clamping part. The principal part enlarged view of FIG. Sectional drawing which shows a state when it raises in the state which clamped the fixed planting board in each clamping part in FIG. Sectional drawing which shows a state when moving a fixed planting board right above a mounting board in the state which clamped the fixed planting board in each clamping part. Sectional drawing which shows a state when the clamping state of the fixed planting board by each clamping part is made into the 2nd clamping state from the 1st clamping state. The principal part enlarged view of FIG. The perspective view which shows the state when mounting a fixed planting board in the state which clamped the fixed planting board in each clamping part, positioning on a mounting board, positioning with a positioning protrusion. FIG. 25 is a cross-sectional view of FIG. 24. The perspective view which shows a state when a fixed planting board is mounted on the mounting board in the state which clamped the fixed planting board in each clamping part. FIG. 27 is a cross-sectional view showing a state in which each holding portion in FIG. 26 is fully lowered and slightly lowered to separate the second roller from the lower surface of the planting plate. FIG. 28 is a cross-sectional view showing a state when a pair of pressing plates press a pallet on a pair of support rails as the moving body moves to the side opposite to the mounting plate side in the Y direction. Sectional drawing which shows a state when a pair of pressing piece of a pusher is made to oppose the fixed planting board mounted on the mounting board in a Y direction. Sectional drawing which shows a state when a fixed planting board with which a pair of press piece was mounted on the mounting board is pressed toward the accommodating part in a growth rack by making the expansion-contraction arm of a pusher into an expansion | extension state from a contraction state. . The perspective view of FIG. FIG. 31 is a cross-sectional view showing a state when the pusher telescopic arm is returned from the extended state to the contracted state in FIG. 30. Sectional drawing which shows a state when moving a moving unit and making the pallet on a pair of support rail oppose the collection | recovery part in the collection | recovery path | route on a collection conveyor in a Y direction. Sectional drawing which shows a state when the pallet on a pair of support rail is pressed by a pair of press plate, and is collect | recovered by the collection | recovery part. The perspective view of the pallet of the example of a change.

Hereinafter, an embodiment of a plant growing system will be described with reference to the drawings.
As shown in FIG. 1, the plant growing system 11 grows plants S while storing a synthetic resin-made fixed planting plate 12 having a rectangular shape as an example of a transfer object in which plants S such as vegetables are planted. A plurality of (three in this embodiment) growing racks 13 and a plant conveying device 14 that sequentially conveys the fixed planting plate 12 to the growing rack 13 are provided. The leaves of the plant S planted are exposed on the upper side of the planting plate 12, and the roots of the plant S planted on the lower side of the planting plate 12 are exposed.

  The plant conveyance device 14 includes an integration mechanism 15, a conveyance conveyor 16 as an example of a conveyance mechanism arranged so as to be adjacent to the integration mechanism 15, a collection conveyor 17 arranged immediately below the conveyance conveyor 16, and conveyance A stacker crane 18 disposed between the conveyor 16 and the growth rack 13 and a pressing unit 19 disposed beside the conveyor 16 are provided.

  As shown in FIG. 2, the integration mechanism 15 integrates a fixed planting plate 12 on which the plant S is planted and a rectangular pallet 20 that supports the fixed planting plate 12 so as to cover the root side (lower side) of the plant S. A rectangular frame-shaped base portion 22 extending in the X direction supported by a plurality of (six in this embodiment) leg portions 21 is provided. Sprockets 23 are rotatably provided at both ends in the X direction of the inner side surfaces of both long sides of the base portion 22.

  Two facing the Y direction, which is the direction orthogonal to both the X direction and the Z direction, which is the vertical direction, arranged at one end portion (the end portion on the transport conveyor 16 side) in the X direction that is the longitudinal direction of the base portion 22 The sprockets 23 are connected at the center by a shaft 24. The two sprockets 23 connected by the shaft 24 are rotationally driven in synchronization by a motor (not shown).

  An endless chain 25 is wound around the sprockets 23 on both inner side surfaces in the Y direction of the base portion 22. Both chains 25 oppose each other in the Y direction, and a rectangular frame-like support member 26 extending in the X direction capable of supporting the planting plate 12 at the peripheral edge thereof bridges the chains 25 on both chains 25. Is provided.

  Accordingly, the two sprockets 23 connected by the shaft 24 are rotationally driven in both forward and reverse directions by a motor (not shown), so that the support member 26 is at a position opposite to the conveyor 16 along the X direction. It reciprocates between an initial position (position shown in FIG. 2) and an integrated position (position shown in FIG. 3) which is a position on the conveyor 16 side.

  A plurality of (three in this embodiment) first support pieces 27 projecting inward are provided on the inner side surface of the long side of the support member 26 so as to be equally spaced in the X direction. Further, second support pieces 28 protruding inward are provided at the four corners of the support member 26, respectively. In a state where the fixed planting plate 12 is placed on the support member 26, the fixed planting plate 12 is supported by the six first support pieces 27 and the four second support pieces 28 at the peripheral edge portion thereof. An L-shaped positioning piece 29 for positioning the fixed planting plate 12 on the support member 26 is provided on each second support piece 28.

  A shelf 30 supported by four leg portions 21 is provided at a position lower than the base portion 22 at a position on the transport conveyor 16 side of the integration mechanism 15. An actuator 31 such as an electric cylinder is provided at the center of the shelf 30, and guide rods 32 are provided on both sides of the shelf 30 with the actuator 31 sandwiched in the X direction so as to be movable up and down.

  The actuator 31 and each guide bar 32 have their upper ends protruding slightly above the upper surface of the shelf 30, and are connected to a rectangular conveying member 34 via a rectangular connecting plate 33. The conveying member 34 is configured to be able to support the pallet 20 and is guided by the guide rods 32 along the Z direction by driving the actuator 31, while being lowered (position shown in FIG. 2) and raised (shown in FIG. 5). Position).

  The conveying member 34 is capable of conveying the pallet 20 in the X direction, and includes a plurality of conveying rollers 35 extending in the Y direction and arranged in parallel in the X direction at equal intervals, and an X direction in which the plurality of conveying rollers 35 are rotatably supported. And a pair of extending frames 36. In this case, the pair of frames 36 are rotatably supported while sandwiching the plurality of transport rollers 35 in the Y direction. Each of the plurality of transport rollers 35 incorporates a motor (not shown) for rotationally driving the transport rollers 35, for example, every other roller.

  As shown in FIGS. 2 and 6, the pallet 20 is made of synthetic resin, has a shallow rectangular box shape with an open upper end, and has a point-symmetric shape with the center as a symmetric point in plan view. Yes. On the inner bottom surface of the pallet 20, reinforcing ribs 37 for reinforcing the pallet 20 are formed in a lattice shape. The upper surface of the peripheral wall 38 of the pallet 20 is a support surface 39 that supports the peripheral edge of the fixed planting plate 12.

  Four positioning projections 40 for positioning the planting plate 12 are provided at both ends in the X direction, which is the longitudinal direction, on the support surface 39 of the pallet 20 when the peripheral surface of the planting plate 12 is supported by the support surface 39. It has been. The inner side surface of each positioning projection 40 is a tapered surface that guides the fixed planting plate 12 to the center of the pallet 20.

  Further, notches 41 are formed at positions corresponding to the first support piece 27 and the second support piece 28 of the support member 26 in the Z direction in the peripheral portion of the pallet 20. For this reason, when the pallet 20 passes through the support member 26, the first support piece 27 and the second support piece 28 pass through the corresponding cutouts 41, so that the pallet 20 and the support member 26 come into contact with each other. It is supposed not to.

  As shown in FIGS. 3 and 4, the transport member is driven by the actuator 31 in a state where the support member 26 that supports the planting plate 12 is moved directly above the transport member 34 that is in the lowered position that supports the pallet 20. When 34 is raised to the raised position, when the pallet 20 passes through the support member 26, the pallet 20 is superposed on the fixed planting plate 12 from the lower side and lifted in an integrated state.

  As shown in FIG.1 and FIG.3, the conveyance conveyor 16 forms the conveyance path | route extended in a X direction on it, and conveys the fixed planting board 12 and the pallet 20 of the state integrated along the said conveyance path | route. That is, the conveyance conveyor 16 is along a conveyance path | route in the state which integrated the fixed planting board 12 in which the plant S was planted, and the pallet 20 which supports the fixed planting board 12 so that the root side (lower side) of the plant S may be covered. Transport.

  The conveyor 16 is supported by a plurality (six in this embodiment) of conveyor legs 42, extends in the X direction, and is disposed at intervals in the Y direction, and a pair of conveyor frames 43. And a plurality of transport rollers 44 extending in the Y direction and arranged in parallel in the X direction at equal intervals. The plurality of transport rollers 44 are rotatably supported by a pair of transport frames 43.

  The plurality of transport rollers 44 incorporate, for example, a motor (not shown) for rotationally driving the transport rollers 44 every other roller. The plurality of transport rollers 44 are capable of transporting the pallet 20 along the transport path by being driven to rotate. The height of the conveyor 16 is set to be substantially the same as that of the conveyor member 34 in the raised position. An end region 45 is an end region opposite to the integration mechanism 15 side in the X direction in the transport path on the transport conveyor 16. A pressing portion 19 is disposed at a position adjacent to the end point portion 45 on the side opposite to the stacker crane 18 side in the Y direction.

  The pressing part 19 is constituted by, for example, an electric actuator, and has a T-shaped pressing arm 46 that expands and contracts in the Y direction. The pressing arm 46 is configured to be stretchable between a contracted state (the state shown in FIG. 3) and an extended state (the state shown in FIG. 12). Therefore, when the fixed planting plate 12 and the pallet 20 integrated with the end point portion 45 on the transport conveyor 16 are positioned, the pressing arm 46 of the pressing portion 19 is positioned from the contracted state to the extended state to be positioned at the end point portion 45. The integrated planting plate 12 and pallet 20 are pressed and moved to the stacker crane 18 side by the pressing arm 46.

  The collection conveyor 17 forms a collection path extending in the X direction thereon, and can convey the pallet 20 along the collection path. The recovery conveyor 17 has the same configuration as that of the transport conveyor 16 and is disposed directly below the transport conveyor 16. The height of the collection conveyor 17 is set to be substantially the same as that of the conveying member 34 in the lowered position. A region corresponding to the end point portion 45 of the transport conveyor 16 in the recovery path on the recovery conveyor 17 in the Z direction is a recovery portion 48 where the pallet 20 is recovered from the stacker crane 18.

  As shown in FIG. 1, the growth rack 13 includes a plurality of stages of storage portions 67 that store the fixed planting plate 12 in which the plant S is planted. On the side of the plant conveying device 14 in the growth rack 13, there are a plurality of rectangular mounting plates 65 as an example of a transfer destination on which the fixed planting plate 12 is temporarily mounted before being stored in the storage portion 67. The receiving portions 67 are provided so as to correspond to the respective receiving portions 67.

  In the vicinity of the four corners on the mounting plate 65, positioning protrusions 66 are provided for positioning the fixed planting plate 12 when the fixed planting plate 12 is mounted on the mounting plate 65. A taper surface for guiding the fixed planting plate 12 placed on the placement plate 65 to the inside in the X direction is formed inside the positioning projection 66 in the X direction.

  As shown in FIG. 1, the stacker crane 18 includes a rectangular frame-shaped frame portion 51 that is long in the Z direction, and a moving unit 52 disposed in the frame portion 51. The frame portion 51 includes a pair of supporting column portions 53 that are arranged apart from each other in the X direction and that extend in the Z direction, an upper connecting portion 54 that extends in the X direction that connects the upper ends of the pair of supporting column portions 53, and a pair of supporting column portions. And a lower connecting portion 55 extending in the X direction for connecting the lower end portions of 53. The upper connecting portion 54 is slidably supported by an upper rail 56 extending in the X direction, and the lower connecting portion 55 is slidably supported by a lower rail 57 extending in the X direction.

  The lower connecting portion 55 includes a drive motor 58 that reciprocates the stacker crane 18 in the X direction along the upper rail 56 and the lower rail 57, and a winding motor 60 that can wind the belt 59. A mechanism 61 is provided. The belt 59 fed out from the winding mechanism 61 is sequentially wound around two pulleys 62 and 63 that extend upward along one column portion 53 and are rotatably supported by the upper connecting portion 54. After that, it hangs down from the pulley 63 located at the center in the X direction in the upper connecting portion 54 and is connected to the upper end portion of the moving unit 52 from the upper side.

  That is, the moving unit 52 is suspended by the belt 59 fed out from the winding mechanism 61. The moving unit 52 is guided by a pair of support columns 53 at both ends in the X direction. Then, by driving the winding motor 60, the belt 59 is fed out or wound up from the winding mechanism 61 so that the moving unit 52 is lowered or raised while being guided by the pair of support columns 53. It has become.

  As shown in FIGS. 1 and 7, the moving unit 52 includes a three-dimensional lattice-shaped base frame 70. A rectangular plate-like pusher 71 is provided at the center in the X direction at the lower end of the base frame 70. The pusher 71 is constituted by an electric actuator, for example, and has an extendable arm 72 that expands and contracts in the Y direction. The telescopic arm 72 is configured to be stretchable between a contracted state (the state shown in FIG. 8) and an extended state (the state shown in FIG. 30).

  As shown in FIGS. 1 and 8, the distal end of the telescopic arm 72 has a rectangular plate shape extending in the X direction, and the telescopic arm 72 contracts at both ends in the X direction on the lower surface of the rectangular plate portion. A pair of pressing pieces 73 capable of pressing the fixed planting plate 12 placed on the placement plate 65 toward the accommodating portion 67 in the growth rack 13 when changing from the state to the extended state is provided. At the positions on the inner side of the base frame 70 in the X direction and slightly above the pusher 71, the fixed planting plate 12 and the pallet 20 in an integrated state pressed by the pressing portion 19 are received while being guided. Supporting rails 74 extending in the Y direction to be supported are provided in pairs.

  As shown in FIG. 7 and FIG. 8, a pair of moving rails 75 extending in the Y direction are provided at the center in the X direction at the upper end of the base frame 70 and are spaced apart in the X direction. A moving body 76 is supported on the pair of moving rails 75 so as to be capable of reciprocating along the moving rails 75. That is, a moving motor 77 is provided on one of the pair of moving rails 75, and the moving body 76 is moved along the pair of moving rails 75 by driving the moving motor 77.

  An elevating unit 78 extending in the X direction is provided at the lower end portion of the moving body 76 so as to be elevable along the Z direction, and an elevating motor 79 for elevating the elevating unit 78 is provided at the upper end portion of the moving body 76. Yes. Guide bars 80 extending in the Z direction are provided on both sides of the moving body 76 sandwiching the elevating motor 79 in the X direction so as to form a pair. A lower end portion of each guide bar 80 is connected to an elevating unit 78, and the elevating unit 78 is guided by each guide bar 80 when being elevated.

  The fixed planting plate 12 of the integrated state supported by the pair of support rails 74 and the fixed planting plate 12 of the pallet 20 is formed on the surface of the raising and lowering unit 78 on the side of the growth rack 13 (the front surface in FIG. 8). A plurality of (three in this embodiment) sandwiching portions 81 capable of sandwiching the end portion in the Z direction, which is also the thickness direction of the planting plate 12, are provided at equal intervals in the X direction.

  As shown in FIGS. 9 and 10, each clamping portion 81 includes a lower clamping piece 82 that extends substantially in the Y direction, and an upper clamping piece 83 that is disposed above the lower clamping piece 82. Each upper clamping piece 83 is connected to a rotation shaft 85 extending in the X direction and having a base end portion rotatably supported by a lifting portion 78 via a plurality of shaft support members 84. A rotation motor 86 for rotating the rotation shaft 85 in both forward and reverse directions is provided on the elevating unit 78. Therefore, each upper clamping piece 83 is rotated together with the rotation shaft 85 in synchronization with each other about the rotation shaft 85 by the drive of the rotation motor 86.

  Each upper clamping piece 83 is bent at a substantially right angle toward the lower side at the center in the longitudinal direction, and a first clamping surface 87 constituting a first contact portion whose tip surface can contact the planting plate 12; Has been. A first roller 88 as an example of a rotating body that constitutes a second contact portion that is rotatable about an axis orthogonal to the X direction is provided on the side surface on the rotation shaft 85 side at the tip of each upper clamping piece 83. It has been. A portion of the first roller 88 that comes into contact with the fixed planting plate 12 is made of a material (for example, rubber) that is difficult to slip the fixed planting plate 12.

  The lower clamping piece 82 is inclined with respect to the horizontal plane so that the base end portion is fixed to the elevating portion 78 and the tip end portion is slightly higher than the base end portion. A portion of the upper surface of the lower clamping piece 82 corresponding to the first clamping surface 87 of the upper clamping piece 83 is a second clamping surface 89 that constitutes a first contact portion that can come into contact with the planting plate 12. In the present embodiment, the first sandwiching surface 87 and the second sandwiching surface 89 constitute a pair of first contact portions.

  A second example of a rotating body that constitutes a second contact portion that is rotatable about an axis extending along the lower holding piece 82 (an axis perpendicular to the X direction) is provided on the front end surface of the lower holding piece 82. A roller 90 is provided. The second roller 90 has the same configuration as the first roller 88. In the present embodiment, the first roller 88 and the second roller 90 constitute a pair of second contact portions. The first clamping surface 87 and the second clamping surface 89 are located between the first roller 88 and the second roller 90 in the Y direction. That is, the pair of first contact portions is disposed between the pair of second contact portions.

  As shown in FIG. 7, L-shaped pressing plates 91 are provided so as to form a pair at both ends in the X direction on the plant conveying device 14 side surface (the front surface in FIG. 7) in the lifting unit 78. It has been. The pair of pressing plates 91 presses the pallet 20 separated from the fixed planting plate 12 and remaining on the pair of support rails 74 toward the plant transporting device 14 as the moving body 76 moves toward the plant transporting device 14. .

Next, the effect | action of the plant conveying apparatus 14 is demonstrated.
First, as shown in FIG. 2, the fixed planting plate 12 on which the plant S is planted is placed on the support member 26 in a state where the support member 26 is in the initial position and the transport member 34 is in the lowered position in the integration mechanism 15. Then, the fixed planting board 12 is supported by the support member 26. In this case, the placement of the fixed planting plate 12 on the support member 26 may be performed manually by a user or by a machine.

  Subsequently, as shown in FIG. 3, when the sprocket 23 is driven to rotate, the support member 26 is moved from the initial position to the integrated position, and the transport roller 44 of the collection conveyor 17 and the transport roller 35 of the transport member 34 rotate. When driven, the pallet 20 in the collection path is transported onto the transport member 34. Subsequently, as shown in FIG. 4, when the actuator 31 is driven, the transport member 34 is moved from the lowered position to the raised position.

  Then, the conveying member 34 passes through the support member 26, and with this passage, the pallet 20 is superimposed on the fixed planting plate 12 on the support member 26 from the lower side and integrated with the fixed planting plate 12. It is lifted above 26. At this time, the pallet 20 passes through the support member 26 without contacting the support member 26. Then, as shown in FIG.4 and FIG.6, the fixed planting board 12 is supported in the peripheral part in the state positioned by the positioning convex part 40 by the support surface 39 of the pallet 20. As shown in FIG.

  Subsequently, as shown in FIG. 5, when the transport roller 44 of the transport conveyor 16 and the transport roller 35 of the transport member 34 are rotationally driven, the fixed planting plate 12 and the pallet 20 in an integrated state on the transport member 34. Is transported to the end point 45 in the transport path of the transport conveyor 16. Subsequently, as shown in FIG. 11, when the drive motor 58 and the take-up motor 60 of the stacker crane 18 are driven, the moving unit 52 is moved in the X direction and the Z direction, and the pair of support rails 74 and the end point portion are moved. The fixed planting plate 12 and the pallet 20 in an integrated state located at 45 face each other in the Y direction.

  Subsequently, as shown in FIG. 12, when the pressing portion 19 is driven and the pressing arm 46 is changed from the contracted state to the extended state, the fixed planting plate 12 and the pallet 20 in the integrated state located at the end point portion 45 are moved to the stacker crane. It is pressed and moved to the 18 side and is supported by the pair of support rails 74 of the moving unit 52. Subsequently, as shown in FIG. 13, when the pressing portion 19 is driven, the pressing arm 46 returns from the extended state to the contracted state.

  Subsequently, as shown in FIG. 14, when the drive motor 58 and the take-up motor 60 of the stacker crane 18 are driven, the moving unit 52 is moved in the X direction and the Z direction. As a result, the fixed planting plate 12 and the pallet 20 in an integrated state on the pair of support rails 74 and the mounting plate 65 corresponding to the accommodation portion 67 of the growth rack 13 in which the fixed planting plate 12 in the growth rack 13 is to be accommodated. Are opposed in the Y direction. At this time, the moving body 76 is located closer to the conveying conveyor 16 in the Y direction than the fixed planting plate 12 and the pallet 20 in an integrated state on the pair of support rails 74.

  Subsequently, as shown in FIG. 15, when the lifting motor 79 is driven, the lifting portion 78 is lowered, and the lower sandwiching piece 82 of each sandwiching portion 81 is integrated on the pair of support rails 74. It moves to the height between the planting plate 12 and the pallet 20. At this time, the lower clamping piece 82 of each clamping part 81 is opposed to the gap between the peripheral walls 38 formed by providing the notch 41 in the pallet 20 in the Y direction.

  Subsequently, as shown in FIG. 16, when the movement motor 77 is driven, the lifting unit 78 is moved together with the moving body 76 along the Y direction toward the fixed planting plate 12 and the pallet 20. A lower holding piece 82 of each holding portion 81 is inserted between the fixed planting plate 12 and the pallet 20 through a gap between the peripheral walls 38 of the pallet 20.

  Subsequently, as shown in FIG. 17, when the elevating unit 78 is slightly raised (for example, about 10 mm) by driving the elevating motor 79, the second roller provided on the front end surface of the lower clamping piece 82 of each clamping unit 81. 90 presses the lower surface of the fixed planting plate 12. Due to the pressing of the fixed planting plate 12 by the second roller 90, the end of the fixed planting plate 12 on the side pressed by each second roller 90 is slightly lifted from the pallet 20.

  Subsequently, as shown in FIGS. 18 and 19, when the rotation motor 86 is driven to rotate the upper clamping piece 83 of each clamping part 81 toward the lower clamping piece 82 of each clamping part 81, the fixed planting is performed. The end of the plate 12 is strongly clamped by the first clamping surface 87 of the upper clamping piece 83 and the second clamping surface 89 of the lower clamping piece 82 of each clamping part 81. Thereby, since the planting board 12 floats from the pallet 20, the planting board 12 and the pallet 20 are isolate | separated. The clamping state of the fixed planting plate 12 by each clamping unit 81 at this time is a first clamping state in which the stationary planting plate 12 is clamped without allowing movement.

  In the first clamping state, the first clamping surface 87 and the second clamping surface 89 are in contact with the planting plate 12, and the first roller 88 and the second roller 90 are not in contact with the planting plate 12. In this case, since the upper surface including the second clamping surface 89 of the lower clamping piece 82 is inclined so as to rise toward the distal end side, the fixed planting plate 12 has each clamping portion 81 in the Y direction in the first clamping state. The tip end portion, which is the end portion on the opposite side to the base end portion in the Y direction, is tilted so as to be higher than the base end portion, which is the end portion on the side sandwiched by.

  For this reason, when the thickness of the planting plate 12 is thin, the strength of the planting plate 12 is insufficient, and the planting plate so that the tip portion hangs down due to its own weight or the weight of the plant S planted on the planting plate 12. Although 12 may bend, even in such a case, it is suppressed that the height of the front-end | tip part of the fixed planting board 12 becomes too low compared with the height of a base end part.

  Subsequently, as shown in FIG. 20, when the elevating motor 79 is driven, the elevating unit 78 rises and the fixed planting plate 12 is further lifted from the pallet 20. Subsequently, as shown in FIG. 21, when the movement motor 77 is driven, the elevating part 78 is moved to the growth rack 13 side along the Y direction together with the moving body 76, and the fixed planting plate 12 is moved to the true position of the mounting plate 65. It will be located on the top.

  Subsequently, as shown in FIGS. 22 and 23, when the upper clamping piece 83 is slightly pivoted upward together with the pivot shaft 85 by driving the pivot motor 86 and the sandwiching portion 81 is in a half-open state, the fixed planting plate 12 is Due to its own weight, the second roller 90 rotates about the rotation center so that the distal end side of the second roller 90 is lowered and the proximal end side of the second roller 90 is raised.

  Then, the upper surface of the base end portion of the fixed planting plate 12 comes into contact with the first roller 88, and the fixed planting plate 12 is sandwiched between the first roller 88 and the second roller 90. The clamping state of the fixed planting plate 12 by each clamping unit 81 at this time is a second clamping state in which the planting plate 12 is clamped while allowing the movement of the fixed planting plate 12 in the X direction which is the rotation direction of the first roller 88 and the second roller 90. Has been.

  That is, when the fixed planting plate 12 is in the second clamping state by each clamping unit 81, the movement of the fixed planting plate 12 in a direction other than the X direction (for example, the Y direction) is not allowed. In the second clamping state, the first roller 88 and the second roller 90 are in contact with the planting plate 12, and the first clamping surface 87 and the second clamping surface 89 are not in contact with the planting plate 12.

  And each clamping part 81 will be in a 1st clamping state, if the clamping force provided to the fixed planting board 12 is strengthened as mentioned above, and will become a 2nd clamping state, if the clamping force provided to the stationary planting board 12 is weakened and it makes a half-open state It becomes. That is, each clamping part 81 can be switched between the first clamping state and the second clamping state by changing the clamping force applied to the fixed planting plate 12.

  Subsequently, as shown in FIGS. 24 and 25, when the elevating motor 79 is driven and the elevating unit 78 is lowered, the fixed planting plate 12 gradually approaches the placement plate 65. At this time, when the position of the fixed planting plate 12 is shifted in the X direction, the end of the fixed planting plate 12 in the X direction is engaged with the positioning protrusion 66 so that the positional shift of the fixed planting plate 12 in the X direction is eliminated. Then, the planting plate 12 is guided and the position of the planting plate 12 in the X direction is corrected and positioned.

  That is, since the fixed planting plate 12 is held in a state in which movement in the X direction is allowed by the first roller 88 and the second roller 90 of each holding portion 81, an impact when engaging with the positioning protrusion 66 is applied. Even if it is received, it is moved in the X direction in response to the impact. For this reason, since the impact received from the positioning protrusion 66 of the fixed planting board 12 is relieved, it is suppressed effectively that the fixed planting board 12 bends or breaks by the said impact. Incidentally, when the fixed planting plate 12 is engaged with the positioning projection 66 in a state in which the fixed planting plate 12 is not allowed to move by each clamping portion 81, the planting plate 12 is bent by receiving the impact when the fixed planting plate 12 is engaged with the positioning projection 66. There is a risk of damage.

  Subsequently, as shown in FIG. 26, when the elevating motor 79 is driven and the elevating unit 78 is lowered, the fixed planting plate 12 is accurately placed on the placement plate 65. That is, the moving unit 52 has each holding part 81 that can hold the fixed planting plate 12, and is a transfer destination by moving the fixed planting plate 12 that is a transfer object while being held by each holding unit 81. Transfer onto the mounting plate 65. Subsequently, as shown in FIG. 27, when the upper motor 83 is driven to rotate the upper clamping pieces 83 together with the pivot shaft 85 to the upper full position, the clamping parts 81 are fully opened.

  In this state, when the elevating unit 78 is slightly lowered (for example, about 10 mm) by driving the elevating motor 79, the second roller 90 provided on the front end surface of the lower holding piece 82 of each holding unit 81 is moved to the lower surface of the fixed planting plate 12. Get away from. At this time, the pair of pressing plates 91 of the elevating part 78 faces the pallet 20 on the pair of support rails 74 in the Y direction.

  Subsequently, as shown in FIG. 28, when the moving motor 77 is driven, the elevating unit 78 is moved together with the moving body 76 toward the side opposite to the mounting plate 65 side in the Y direction. At this time, since the pallets 20 on the pair of support rails 74 are pressed toward the opposite side of the mounting plate 65 in the Y direction by the pair of pressing plates 91, the pallets 20 on the pair of support rails 74 are paired. The support rail 74 is moved to the side opposite to the mounting plate 65 side in the Y direction.

  Subsequently, as shown in FIG. 29, when the winding unit 61 winds up the belt 59 by driving the winding motor 60 and the moving unit 52 is lifted, the pair of pressing pieces 73 of the pusher 71 are moved in the Y direction. It will be in the state facing the fixed planting board 12 mounted on the mounting board 65. FIG. When the pusher 71 is driven in this state and the telescopic arm 72 is changed from the contracted state to the extended state, the fixed planting plate 12 having the pair of pressing pieces 73 placed on the placement plate 65 is placed in the accommodating portion 67 in the growth rack 13. Press towards.

  Then, as shown in FIGS. 30 and 31, the fixed planting plate 12 placed on the mounting plate 65 and the row of the fixed planting plates 12 arranged in the Y direction accommodated in the housing portion 67 are pressed and loaded. The fixed planting plate 12 placed on the placement plate 65 is accommodated in the accommodation portion 67. Subsequently, as shown in FIG. 32, when the pusher 71 is driven, the telescopic arm 72 is changed from the extended state to the contracted state.

  Subsequently, when the drive motor 58 and the take-up motor 60 of the stacker crane 18 are driven, the moving unit 52 is moved in the X direction and the Z direction. Thus, as shown in FIG. 33, the pallet 20 on the pair of support rails 74 and the collection part 48 in the collection path on the collection conveyor 17 face each other in the Y direction.

  Next, as shown in FIG. 34, when the moving motor 77 is driven and the elevating part 78 moves along with the moving body 76 along the Y direction to the collecting part 48 side, the pallet 20 on the pair of support rails 74 becomes a pair. It is pressed by the pressing plate 91 and collected by the collecting unit 48. In this case, a collection roller (not shown) is provided at a position corresponding to the collection unit 48 in the collection conveyor 17, and the collection unit 48 from above the pair of support rails 74 by the pair of pressing plates 91 is driven by the collection roller. The collection operation of the pallet 20 is assisted.

  Then, the pallet 20 recovered by the recovery unit 48 by a pair of pressing plates 91 constituting a moving unit 52 that functions as a recovery mechanism described later is conveyed to the integration mechanism 15 by the recovery conveyor 17, and then the integration mechanism 15. Thus, the plant S is integrated with a new planting plate 12 on which the plant S is planted.

  In this way, the moving unit 52 holds the fixed planting plate 12 in an integrated state by placing the fixed planting plate 12 on the pallet 20 and only the fixed planting plate 12 of the pallets 20 by the holding portions 81. Since the fixed planting plate 12 and the pallet 20 in an integrated state are separated by lifting from the pallet 20, the pallet 20 functions as a separation mechanism. In addition, the moving unit 52 functions as a transfer mechanism in order to transfer the fixed planting plate 12 that is sandwiched between the clamping units 81 and lifted from the pallet 20 and separated from the pallet 20 onto the mounting plate 65 that is a transfer destination. To do. Furthermore, the moving unit 52 functions as a recovery mechanism for recovering the pallet 20 separated from the fixed planting plate 12 and the pallet 20 in the integrated state to the recovery part 48 of the recovery path in the recovery conveyor 17.

  Therefore, in this embodiment, as described above, the separation mechanism, the transfer mechanism, and the recovery mechanism are configured by the moving unit 52 that is one mechanism. In addition, a transfer mechanism functions also as a transfer apparatus which transfers the fixed planting board 12 which is a transfer thing independently.

According to the embodiment detailed above, the following effects are exhibited.
(1) The plant conveyance device 14 conveys the planting plate 12 on which the plant S is planted and the pallet 20 that supports the planting plate 12 so as to cover the root side of the plant S along the conveyance path. A conveyor 16 is provided. For this reason, since the roots of the plant S are covered by the pallet 20 when the planting plate 12 on which the plant S is planted is transported, the planting plate 12 on which the plant S is planted is transported while protecting the roots of the plant S. Can do. In this case, moisture such as nutrient solution dripping from the roots of the plant S can be received by the pallet 20 during transportation of the planting plate 12 on which the plant S has been planted, so that the conveyor 16 is prevented from getting wet with moisture such as nutrient solution. it can.

  (2) The plant conveyance device 14 separates the fixed planting plate 12 and the pallet 20 in an integrated state, and the planting plate 12 separated by the separation mechanism on the mounting plate 65 that is a transfer destination. A transfer mechanism for transferring and a recovery mechanism for recovering the pallet 20 separated by the separation mechanism to a recovery path are provided. For this reason, since the used pallet 20 separated from the fixed planting plate 12 can be collected in the collection path, the pallet 20 can be used repeatedly.

  (3) In the plant transport device 14, the separation mechanism, the transfer mechanism, and the recovery mechanism are configured by a moving unit 52 that is one mechanism. For this reason, space saving can be achieved compared with the case where a separation mechanism, a transfer mechanism, and a collection | recovery mechanism are each comprised with an individual mechanism.

  (4) The plant transport device 14 includes an integrated mechanism 15 that integrates the pallet 20 recovered by the moving unit 52 that functions as a recovery mechanism and the new planting plate 12. For this reason, the used pallet 20 collected by the moving unit 52 and the new planting plate 12 can be integrated by the integration mechanism 15.

  (5) In the plant transport device 14, the integration mechanism 15 passes the support member 26 that supports the fixed planting plate 12 at the peripheral edge thereof and the pallet 20 from the lower side with respect to the fixed planting plate 12. And an actuator 31 that lifts them in a state of being integrated with each other. For this reason, the pallet 20 and the fixed planting board 12 can be integrated easily.

  (6) In the moving unit 52 that functions as a transfer device (transfer mechanism), the holding unit 81 allows the first holding state of holding without allowing the movement of the fixed planting plate 12 and the movement of the fixed planting plate 12. However, it is configured to be switchable between a second clamping state in which it is clamped. For this reason, the fixed planting board 12 can be stably transferred because the clamping part 81 clamps the fixed planting board 12 in a 1st clamping state. In addition, by switching the holding state of the fixed planting plate 12 by the holding unit 81 from the first holding state to the second holding state immediately before the fixed planting plate 12 is transferred onto the mounting plate 65 as a transfer destination, the fixed planting is performed. Even when the plate 12 is engaged with the positioning projection 66 immediately before the placement plate 65 and receives an impact, the fixed planting plate 12 is moved by the impact, so that the impact received by the fixed planting plate 12 can be reduced. When the fixed planting plate 12 is held by the clamping unit 81 in the second holding state, the fixed planting plate 12 can be positioned even if the fixed planting plate 12 is engaged with the positioning protrusion 66 and does not receive an impact. Furthermore, by the structure which can switch the clamping state of the fixed planting board 12 by the clamping part 81 between a 1st clamping state and a 2nd clamping state, the stationary planting board 12 is the thing of the low intensity | strength comprised with the thin synthetic resin board. Even in such a case, the error of the stop position of the stacker crane 18 and the error of the vertical position of the mounting plate 65 of the growth rack 13 can be easily corrected (absorbed) by the clamping unit 81. Therefore, the fixed planting board 12 (transfer object) can be transferred stably.

  (7) In the moving unit 52, the clamping unit 81 switches between the first clamping state and the second clamping state by changing the clamping force applied to the fixed planting plate 12. For this reason, the clamping state of the fixed planting plate 12 by the clamping part 81 can be easily switched between the first clamping state and the second clamping state.

  (8) In the moving unit 52, the sandwiching portion 81 includes a pair of first contact portions that come into contact with the fixed planting plate 12 when in the first sandwiched state and a pair of first contact portions that come into contact with the fixed planting plate 12 when in the second sandwiched state. 2 contact portions. For this reason, the contact position with respect to the fixed planting board 12 of the clamping part 81 can be changed between a 1st clamping state and a 2nd clamping state.

  (9) In the moving unit 52, the pair of first contact portions are disposed between the pair of second contact portions in the Y direction. For this reason, it can contribute to size reduction of the clamping part 81 and can contribute to size reduction of the moving unit 52 by extension.

  (10) In the moving unit 52, the pair of second contact portions is constituted by a first roller 88 and a second roller 90 which are rotating bodies. For this reason, the structure of a pair of 2nd contact part can be simplified.

(Example of change)
In addition, you may change the said embodiment as follows.
As shown in FIG. 35, the pallet 20 may omit a portion of the peripheral wall 38 where the positioning convex portion 40 is not provided. If it does in this way, the fixed planting board 12 of the state integrated with the pallet 20 can be easily clamped by the clamping part 81. FIG.

  -You may comprise the rotary body which comprises a pair of 2nd contact part with a spherical body. In this case, when the fixed planting plate 12 is held by the clamping unit 81 in the second clamping state, the sphere does not rotate by its own weight and rotates by the impact when the fixed planting plate 12 is engaged with the positioning protrusion 66. It preferably has a degree of rotational resistance.

  -A pair of 1st contact parts (the 1st clamping surface 87 and the 2nd clamping surface 89) need to be arrange | positioned between a pair of 2nd contact parts (the 1st roller 88 and the 2nd roller 90) necessarily in a Y direction. There is no.

  -The clamping part 81 is equipped with a pair of 1st contact part which contacts the fixed planting board 12 at the time of a 1st clamping state, and a pair of 2nd contact part which contacts the fixed planting board 12 at the time of a 2nd clamping state. There is no need. That is, the contact part with respect to the fixed planting board 12 in the clamping part 81 may be the same in a 1st clamping state and a 2nd clamping state.

  -The clamping part 81 does not necessarily need to switch between a 1st clamping state and a 2nd clamping state by changing the clamping force provided to the fixed planting board 12. FIG. That is, the clamping portion 81 has the same clamping force applied to the fixed planting plate 12 in the first clamping state and the second clamping state, and contacts the fixed planting plate 12 in the first clamping state and the second clamping state. You may comprise so that the slipperiness with respect to the fixed planting board 12 of a part may mutually differ.

  The integration mechanism 15 is not necessarily integrated with the support member 26 that supports the fixed planting plate 12 at the peripheral edge thereof, and the pallet 20 that overlaps the fixed planting plate 12 from the lower side through the support member 26. It is not necessary to provide the actuator 31 that lifts in a state of being lifted. That is, even if the integration mechanism 15 is the structure which unifies the pallet 20 and the fixed planting board 12, for example, by pinching and setting the fixed planting board 12 on the pallet 20 supported by the support member by the clamping member. Good.

The integration mechanism 15 may be omitted. In this case, the integration of the pallet 20 and the fixed planting plate 12 is performed, for example, manually by a user.
The separation mechanism, the transfer mechanism, and the recovery mechanism may be configured by different mechanisms.

  -As long as the transfer thing can be clamped by the clamping part 81, things other than the fixed planting board 12 may be sufficient, for example, a rod-shaped thing may be sufficient.

  DESCRIPTION OF SYMBOLS 12 ... Fixed planting board as an example of a to-be-transferred object, 14 ... Plant conveyance apparatus, 15 ... Integration mechanism, 16 ... Conveyor as an example of a conveyance mechanism, 20 ... Pallet, 26 ... Support member, 31 ... Actuator, 52 ... Separation mechanism, transfer mechanism (transfer device), moving unit constituting recovery mechanism, 65... Mounting plate as an example of transfer destination, 81... Sandwiching portion, 87... Pair of first contact portions First sandwiching surface 89, second sandwiching surface constituting a pair of first contact portions, 88 ... first roller as an example of a rotating body constituting a pair of second contact portions, 90 ... pair of second contacts 2nd roller as an example of the rotating body constituting the part, S ... plant.

Claims (5)

A transfer device having a holding part capable of holding a transfer object, and transferring the transfer object to a transfer destination by moving the transfer object in a state of being held by the holding part;
The clamping portion may include a first clamping state sandwiching without first contacting portions of the pair to permit the movement of the object to be moved Nobutsu in contact with the object to be moved Nobutsu, a pair of the first contact portion and the A pair of second contact parts come into contact with the transferred object that has been displaced by its own weight when moved in a direction away from the transferred object and are in a half-open state, and are clamped while allowing the transferred object to move. The transfer device is configured to be switchable between the second clamping state and the second clamping state.
  2. The transfer according to claim 1, wherein the clamping unit switches between the first clamping state and the second clamping state by changing a clamping force applied to the transferred object. apparatus.   The sandwiching portion includes a pair of first contact portions that contact the transferred object when in the first sandwiched state, and a pair of second contacts that contact the transferred object when in the second sandwiched state. The transfer device according to claim 1, wherein the transfer device includes a unit.   The transfer device according to claim 3, wherein the pair of first contact portions is disposed between the pair of second contact portions.   The transfer device according to claim 3, wherein the second contact portion is constituted by a rotating body.

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