WO2017042891A1 - Système de culture de plante et procédé de culture de plante - Google Patents

Système de culture de plante et procédé de culture de plante Download PDF

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Publication number
WO2017042891A1
WO2017042891A1 PCT/JP2015/075510 JP2015075510W WO2017042891A1 WO 2017042891 A1 WO2017042891 A1 WO 2017042891A1 JP 2015075510 W JP2015075510 W JP 2015075510W WO 2017042891 A1 WO2017042891 A1 WO 2017042891A1
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WO
WIPO (PCT)
Prior art keywords
rail
holder
plant
plant cultivation
rails
Prior art date
Application number
PCT/JP2015/075510
Other languages
English (en)
Japanese (ja)
Inventor
吉晃 松尾
晃彦 水品
直彦 古川
崇喜 田中
Original Assignee
株式会社安川電機
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社安川電機 filed Critical 株式会社安川電機
Priority to JP2017538763A priority Critical patent/JP6598088B2/ja
Priority to CN201580082945.5A priority patent/CN108024506B/zh
Priority to PCT/JP2015/075510 priority patent/WO2017042891A1/fr
Publication of WO2017042891A1 publication Critical patent/WO2017042891A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G31/00—Soilless cultivation, e.g. hydroponics
    • A01G31/02—Special apparatus therefor
    • A01G31/04—Hydroponic culture on conveyors
    • A01G31/045—Hydroponic culture on conveyors with containers guided along a rail
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14—Greenhouses
    • A01G9/143—Equipment for handling produce in greenhouses
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
    • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
    • Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Definitions

  • the disclosed embodiment relates to a plant cultivation system and a plant cultivation method.
  • Patent Document 1 describes a plant cultivation apparatus.
  • the plant cultivation apparatus includes a holding shelf that holds a plurality of culture tanks in a vertical stack, a conveyance unit that selectively conveys a predetermined culture tank among the plurality of culture tanks held on the holding shelf, and a conveyance unit. And a work place where the work for the transferred culture tank is performed.
  • the present invention has been made in view of such problems, and an object of the present invention is to provide a plant cultivation system and a plant cultivation method capable of automating cultivation from germination of plants to before harvesting.
  • a plant cultivation system for cultivating a plant, a holder for holding a plant to be cultivated for each strain, and a plurality of the holders in a longitudinal direction.
  • Each of the plurality of holders is supported toward the other side in the longitudinal direction each time the holder is supplied from one side in the longitudinal direction.
  • a plant cultivation system having a rail configured to move is applied.
  • a plant cultivation method for cultivating a plant wherein holding tools for holding plants to be cultivated for each strain are arranged at a first interval over a predetermined period. Moving along the first rail provided; transferring the holder to a second rail arranged in parallel at a second interval wider than the first interval; and A plant cultivation method is applied that includes moving along the second rail over a predetermined period.
  • a plant cultivation system which grows a plant
  • cultivation from plant germination to before harvesting can be automated.
  • maintains the plant 2 which is a cultivation object with the holder 3, and moves the said holder 3 along the rail 4 over a predetermined period.
  • the plant cultivation system 1 includes a cultivation shelf 7, a robot 8, two U-turn units 12, a pusher 13, a loading / unloading loader 14, a loading / unloading conveyor 15 and the like.
  • illustration of the robot 8, the loading / unloading loader 14, and the like is omitted for convenience of description of the plant transportation order, and the flow of plant transportation by these devices is shown.
  • the cultivation shelf 7 has shelf parts 9 arranged in a plurality of stages (six stages in this example).
  • the plurality of shelves 9 are stacked in multiple stages in the vertical direction.
  • the “vertical direction” does not have to be a strict vertical direction, and may be a substantially vertical direction. Therefore, the “up and down direction” includes a direction slightly inclined with respect to the vertical direction.
  • the stacking direction of the shelf 9 in the cultivation shelf 7 is not limited to the vertical direction, and may be a direction inclined by a predetermined angle with respect to the vertical direction.
  • a plurality of rails 4 are horizontally extended along the front-rear direction.
  • the “front-rear direction” in the present embodiment is the flow direction of the plants 2 on the cultivation shelf 7 and is also the longitudinal direction or the extending direction of the rails 4.
  • the “horizontal direction” does not have to be a strict horizontal direction, and may be a substantially horizontal direction. Therefore, the direction slightly inclined with respect to the horizontal direction is also included.
  • the plurality of rails 4 are juxtaposed in the left-right direction in each shelf 9, and each rail 4 is arranged substantially in parallel.
  • the “left-right direction” in the present embodiment is a direction orthogonal to the up-down direction and the front-rear direction.
  • the rail 4 supports the plurality of holders 3 so as to be movable along the longitudinal direction.
  • the rail 4 moves so that the plurality of holding tools 3 supported each time the holding tool 3 is supplied from one side in the front-rear direction moves according to the holding tool 3 supplied toward the other side in the front-rear direction.
  • the holder 3 is configured to be slidable with respect to the rail 4.
  • a plurality of holders 3 supported each time the holder 3 is supplied from one side in the front-rear direction are slid by the number of holders 3 supplied toward the other side in the front-rear direction. Extrusion type transport is performed.
  • the number of steps of the shelf 9 in the cultivation shelf 7 is not particularly limited, in the present embodiment, the case of 6 steps will be described as an example.
  • the level of the shelf portion 9 of the cultivation shelf 7 the fourth level from the bottom is referred to as the A level
  • the upper two levels are collectively referred to as the B level
  • the lower three levels are collectively referred to as the C level. That is, as shown in FIGS. 1 to 3, the A stage has one shelf 9A, the B stage has two shelves 9B, and the C stage has three shelves 9C.
  • a relatively large number of rails 4 (18 in this example, part of which is omitted in FIG.
  • Each of the shelves 9B is provided with a smaller number of rails 4 (12 in this example, part of which is omitted in FIG. 1 to avoid complications) than the A stage.
  • Each of the shelves 9C is provided with a smaller number of rails 4 (6 in this example, part of which is omitted in FIG. 1 to avoid complications) than the B stage.
  • FIG. 3 shows the flow direction of the plant 2 on each rail 4 of the cultivation shelf 7.
  • 3 indicates the flow direction from the front side (the arrangement side of the robot 8) to the rear side (the arrangement side of the pusher 13 and the loading / unloading loader 14) in the front-rear direction.
  • the flow direction from the rear side to the front side is shown.
  • stage A the holder 3 is slid from the rear side toward the front side in each rail 4.
  • the holder 3 is slid from the front side to the rear side in the rails 4 that are alternately arranged in the left-right direction among the plurality of rails 4 in the B stage.
  • the holder 3 is slid from the rear side toward the front side.
  • the holder 3 is slid from the front side toward the rear side in each rail 4 in each stage.
  • the rail 4 on which the holder 3 is slid from the front side to the rear side is appropriately referred to as “bounding rail 4 a”, and the holder 3 is slid from the rear side to the front side.
  • the rail 4 is appropriately referred to as “return rail 4b”.
  • each light source 10 is installed in a posture extending along the left-right direction on the lower surface of the support plate 11 provided above each of the shelves 9A to 9C.
  • Each light source 10 is arrange
  • the light source 10 is not specifically limited, LED, a fluorescent lamp, etc. are used, for example.
  • the carry-in / out conveyor 15 conveys the supply pallet Pi supplied from the laminated body PA of the supply pallets Pi by a palletizer (not shown) to the carry-in / out loader 14.
  • the supply pallet Pi is equipped with a plurality of holders 3 each holding a plant 2 that has been sown and germinated at an appropriate external location.
  • the loading / unloading loader 14 conveys and sets the supply pallet Pi conveyed by the loading / unloading conveyor 15 to the rear side of the A-stage shelf 9A.
  • the pusher 13 moves the plurality of holding tools 3 mounted on the set supply pallet Pi forward by one pitch corresponding to the length of one holding tool 3 (length p shown in FIG. 13 described later). Push toward.
  • one holder 3 is supplied to each rail 4 of the A stage.
  • the plurality of holders 3 supported by the rail 4 are slid one by one toward the front side.
  • the number of the holders 3 supplied to each rail 4 at a time is not limited to one, and may be plural.
  • Robot 8 receives holder 3 from rail 4 of A-level shelf 9A on the front side of cultivation shelf 7, and moves to B-level shelf 9B.
  • the robot 8 inserts the holding tool 3 from the front side and pushes it by one pitch with respect to the outgoing rail 4a among the plurality of B-stage rails 4 so that the plurality of holding tools 3 on the rail 4 face the rear side.
  • the U-turn unit 12 receives the holder 3 slid from the front side to the rear side by the robot 8 on the rear side of the cultivation shelf 7 and moves it to the return rail 4 b. Then, the U-turn unit 12 inserts the holder 3 into the return rail 4b from the rear side, pushes it by one pitch, and slides the plurality of holders 3 on the rail 4 toward the front side.
  • the robot 8 receives the holder 3 slid forward by the U-turn unit 12 on the front side of the cultivation shelf 7 from the return rail 4b and moves to the C-stage shelf 9C.
  • the robot 8 inserts the holder 3 into the C-stage rail 4 from the front side and pushes it by one pitch, and slides the plurality of holders 3 on the rail 4 toward the rear side.
  • the loading / unloading loader 14 receives the slidable holder 3 with the shipping pallet Po and conveys it to the loading / unloading conveyor 15.
  • the shipping pallet Po is equipped with a plurality of holders 3 holding the grown plants 2 that can be shipped.
  • the carry-in / out conveyor 15 conveys the shipping pallet Po received from the carry-in / loader 14 to the outside (for example, a sorting yard).
  • the structure of the cultivation shelf 7 demonstrated above is an example, and it is good also as a structure other than the above.
  • the cultivation shelf 7 may be configured in one stage without being configured in multiple stages, or may be configured in seven stages or more.
  • the B stage or the C stage may be configured by one stage, or the B stage may be omitted and only the A stage and the C stage may be configured.
  • the B, A, and C stages are arranged in order from the top. However, even if the arrangement of each stage is changed, for example, the A, B, and C stages are arranged in order from the top. Good.
  • the U-turn unit 12 can be arrange
  • a system that manually performs operations such as supply of the holder 3 to the A stage and removal of the holder 3 from the C stage (a system in which a person works instead of the pusher 13 and the loading / unloading loader 14).
  • a manual work space can be secured and workability can be improved.
  • FIGS. 5 and 6 indicate the directions in a state where the holder 3 is supported by the rail 4.
  • the holder 3 is a member that holds the plants 2 that are the cultivation target of the plant cultivation system 1 for each strain.
  • “one strain” refers to one individual grown from a single seed.
  • a plurality of (or even single) leaves 2b are supported as a single individual by being supported by a single stem 2a.
  • the holder 3 is movable along the rail and corresponds to an example of means for holding the plant to be cultivated for each strain.
  • the holder 3 has a symmetrical shape in each of the vertical direction, the horizontal direction, and the front-rear direction.
  • the holder 3 is integrally formed of a material having high slidability (for example, resin or metal), and is configured to be slidable with respect to the rail 4 that supports the holder 3.
  • the holder 3 has protrusions 33a and 33b on both sides in the vertical direction, and has opposing portions 32 and 32 on both sides in the left and right direction, respectively.
  • the protrusions 33 a and 33 b are accommodated in guide grooves 43 a and 43 b (see FIG. 7 described later) of the rail 4, thereby enabling the holder 3 to move along the rail 4.
  • the facing portion 32 has facing surfaces 32 a and 32 b facing the rail 4 on the upper side and the lower side, and these facing surfaces 32 a and 32 b slide in contact with the rail 4.
  • the facing portion 32 is a substantially rectangular parallelepiped portion projecting to the left and right sides, and is the facing surfaces 32a and 32b whose upper surface and lower surface are parallel.
  • the holder 3 has a support portion 35 supported by the claw member 25 (see FIG. 10) when gripped by the hand 21 of the robot 8 (see FIG. 10 described later) at the distal ends of the left and right facing portions 32, respectively.
  • the support portion 35 is formed in, for example, an isosceles trapezoidal shape when viewed from the front-rear direction, but may have other shapes such as a triangle or a circle.
  • two support portions 35 are arranged at intervals in the front-rear direction of the facing portion 32, but may be connected, or may be three or more.
  • the protrusions 33a and 33b are substantially rectangular parallelepiped portions projecting in the upper and lower sides, and a hole portion 34 penetrating in the vertical direction is formed at a substantially central portion in the front-rear direction.
  • the hole 34 is, for example, a round hole, but may have another shape such as a quadrangle.
  • the hole 34 is filled with the medium 36, and the plants 2 germinated from the seeds sown in the medium 36 are held.
  • the medium 36 for example, a gel-like medium such as agar may be used, or a solid medium such as urethane or rock wool may be used.
  • hole portions 37 are formed at two locations in the front-rear direction.
  • the hole 37 reduces the contact area (contact resistance) between the holder 3 and the rail 4, and improves the slidability with the rail 4.
  • the hole part 39 is formed in the protrusion parts 33a and 33b at the front-back direction both sides of the hole part 34. As shown in FIG. The weight of the holder 3 is reduced by the hole 39, and the slidability with the rail 4 can be further improved.
  • the structure of the holder 3 demonstrated above is an example, and it is good also as a structure other than the above.
  • the holder 3 is integrally formed in the above, it may be composed of a plurality of parts. Further, the holder 3 may include wheels and move with respect to the rail 4 by the wheels.
  • the spacer 3s which prescribes
  • the spacer 3s is composed of parts common to the holder 3. That is, the empty holder 3 that does not fill the medium 34 in the hole 34 is used as the spacer 3s. Therefore, on the rail 4, the plurality of spacers 3s as well as the plurality of holders 3 are supported so as to be movable in the front-rear direction. Each time the spacer 3s is supplied to the rail 4 from one side in the front-rear direction, the supported holder 3 and the spacer 3s move according to the supplied spacer 3s toward the other side.
  • FIG.7 and FIG.8 shows the direction in the state in which the rail 4 was installed in the shelf part 9 of the cultivation shelf 7.
  • the rail 4 has a rail portion 40 and a water tank portion 47.
  • the rail portion 40 has a pair of left and right upper rail portions 41 and a pair of left and right lower rail portions 42.
  • a space 44 for accommodating the holder 3 is formed between the upper rail portion 41 and the lower rail portion 42.
  • a guide groove 43a in which the protruding portion 33a of the holder 3 is accommodated is formed between the pair of upper rail portions 41.
  • a guide groove 43b in which the protruding portion 33b of the holder 3 is accommodated is formed between the pair of lower rail portions 42.
  • the upper rail portion 41 has a guide plate 41a having a predetermined width in the left-right direction and extending in the front-rear direction, and a pair of mounting portions 41b protruding downward from one end portion in the left-right direction of the guide plate 41a.
  • Concave and convex portions 41c are formed on the opposing surfaces of the two mounting portions 41b.
  • the lower rail portion 42 includes a guide plate 42a having a predetermined width in the left-right direction and extending in the front-rear direction, a protrusion 42b protruding upward from one end portion in the left-right direction of the guide plate 42a, and the left and right sides of the guide plate 42a.
  • a pair of mounting portions 42d protruding downward from one end portion in the direction.
  • An uneven portion 42c is formed on the outer surface of the protruding portion 42b.
  • the outer mounting portion 42d of the two mounting portions 42d has a convex portion 42e at the lower end.
  • the water tank portion 47 is a long water tank having a substantially U-shaped cross section with the upper side open, and the culture solution 48 is stored therein.
  • the culture solution 48 is flowed in the front-rear direction by an appropriate flow means such as a pump.
  • the side wall portions 47d on both the left and right sides of the water tank portion 47 have protrusions 47c at the upper end.
  • a recess 47a is formed in the lower part of the outer surface of the protrusion 47c.
  • the side wall portion 47d has a convex portion 47b protruding in the left-right direction inside the upper end.
  • the pair of lower rail portions 42 are detachably attached to the upper portion of the water tank portion 47 by attaching two mounting portions 42d to the protrusions 47c of the side wall portion 47d on the corresponding side of the water tank portion 47, respectively. At this time, the lower end of the inner mounting portion 42d hits the convex portion 47b, and the convex portion 42e of the outer mounting portion 42d is caught by the concave portion 47a of the protruding portion 47c.
  • the pair of lower rail portions 42 attached on the water tank portion 47 are opposed to each other at the front end portion of the guide plate 42a with a space in the left-right direction to form a guide groove 43b.
  • the pair of upper rail portions 41 are respectively mounted on the protruding portions 42b of the lower rail portion 42 on the side corresponding to the two mounting portions 41b, and the uneven portions 41c of the mounting portions 41b and the uneven portions 42c of the protruding portions 42b fit together. Thereby, it attaches to a pair of lower rail part 42 so that attachment or detachment is possible.
  • the pair of upper rail portions 41 attached on the pair of lower rail portions 42 are opposed to each other at the tip end portions of the guide plates 41a in the left-right direction to form guide grooves 43a. Further, the space 44 for accommodating the holder 3 is formed between the pair of upper rail portions 41 and the pair of lower rail portions 42.
  • the holder 3 inserted into the rail 4 is accommodated in the space 44 of the rail portion 40.
  • the holder 3 is supported so as to be movable along the longitudinal direction of the rail 4 by accommodating the upper and lower protrusions 33a and 33b in the upper and lower guide grooves 43a and 43b, respectively.
  • the facing surfaces 32a and 32b of the left and right facing portions 32 of the holder 3 are slidably in contact with the lower surface of the guide plate 41a of the left and right upper rail portions 41 and the upper surface of the guide plate 42a of the left and right lower rail portions 42, respectively.
  • the holder 3 is supported so that it can move smoothly in the longitudinal direction of the rail 4.
  • the holding tool 3 is sandwiched from above and below by the upper rail part 41 and the lower rail part 42 of the rail 4, whereby the tilting and falling of the holding tool 3 can be prevented.
  • the rail 4 is provided with the water tank part 47 continuously provided in the front-rear direction and the rail part 40 divided into a plurality of parts in the front-rear direction.
  • the leakage of the culture solution 48 can be prevented.
  • the holder 3 becomes unable to move in the longitudinal direction of the rail 4 due to, for example, catching or clogging, the holder 3 can be taken out by removing the rail portion 40 at the corresponding position.
  • the structure of the rail 4 is not limited to the above,
  • the water tank part 47 may be divided
  • the inside of the hole 34 of the holder 3 is filled with the medium 36, and the holder 3 holds the stem 2a of the plant 2 grown from the seeds seeded on the medium 36.
  • the plant 2 can grow the leaf 2b above the rail 4 while dipping the root 2c downward and immersing it in the culture solution 48.
  • a supply port 4 p through which at least one of the holder 3 and the spacer 3 s is supplied to the rail 4 is provided at one end portion (right end portion in this example) of the rail 4 in the front-rear direction.
  • an outlet 4q through which at least one of the holder 3 and the spacer 3s is taken out from the rail 4 is provided at the other end in the front-rear direction of the rail 4 (left end in this example).
  • the supply port 4p and the outlet 4q are provided with a length corresponding to approximately one of the holders 3.
  • the supply port 4p and the outlet 4q are formed by removing, for example, two upper rail portions 41 of the rail portion 40 from one end portion and the other end portion in the longitudinal direction of the rail 4 and replacing the two lower rail portions 42 with the holder 3. It is formed by exposing only one length. At this time, the protruding portion 42b of the lower rail portion 42 is deleted by cutting or the like, for example. Note that the supply port 4p and the outlet 4q may have the same configuration or different configurations.
  • the A-stage rail 4 is provided with a supply port 4p on the rear side in the front-rear direction and an outlet 4q on the front side.
  • the outgoing rail 4a has a supply port 4p on the front side and an outlet 4q on the rear side
  • the return rail 4b has a supply port 4p on the rear side and an outlet 4q on the front side.
  • the C-stage rail 4 is provided with a supply port 4p on the front side and an outlet 4q on the rear side.
  • the structure of the rail 4 demonstrated above is an example, and it is good also as a structure other than the above.
  • the rail 4 may be configured by the upper rail portion 41 and the lower rail portion 42, and the water tank portion 47 may be separated from the rail 4.
  • it is good also as a structure which does not provide the upper rail part 41.
  • the robot 8 is disposed on the front side of the cultivation shelf 7 and conveys the holder 3 and the spacer 3 s from the outlet 4 q of one rail 4 to the supply port 4 p of the other rail 4.
  • the robot 8 includes a base 16, a gate-type support frame 17 installed on the base 16, an actuator 30 provided on the support frame 17, and a hand 21.
  • the support frame 17 was spanned along the X-axis direction on a pair of support columns 17a installed along the Z-axis direction so as to face the X-axis direction on the base 16, and the upper ends of the pair of support columns 17a. And a substantially horizontal beam 17b.
  • the actuator 30 has an X-axis unit 18, a Z-axis unit 19, and a Y-axis unit 20.
  • the X-axis unit 18 includes a beam 18a, a slider 18b, and an X-axis motor 18c.
  • the beam 18a is installed substantially horizontally in the X-axis direction between the pair of support columns 17a.
  • the slider 18b is supported by the beam 18a so as to be movable along the X-axis direction.
  • the X-axis motor 18c is attached to the left end of the beam 18a, and drives the slider 18b in the X-axis direction via a chain or the like (not shown) attached to the slider 18b.
  • the Z-axis unit 19 includes a beam 19a, a slider 19b, and a Z-axis motor 19c.
  • the upper end of the beam 19a is supported by the beam 17b so as to be movable in the X-axis direction, and is fixed to the slider 18b.
  • the slider 19b is supported by the beam 19a so as to be movable along the Z-axis direction.
  • the Z-axis motor 19c is attached to the lower end of the beam 19a, and drives the slider 19b in the Z-axis direction via a chain (not shown) attached to the slider 19b.
  • the Y-axis unit 20 includes a beam 20a, a slider 20b, and a Y-axis motor 20c.
  • the slider 20b is fixed to the slider 19b.
  • the beam 20a is supported so that the slider 20b can move along the Y-axis direction.
  • the Y-axis motor 20c has a Y-axis motor 20c that is attached to the front end of the beam 20a and drives the slider 20b in the Y-axis direction via a chain (not shown) attached to the slider 20b.
  • the actuator 30 when the slider 18b is driven in the X-axis direction by the X-axis motor 18c, the beam 19a moves in the X-axis direction, and the beam 20a moves in the X-axis direction via the slider 19b and the slider 20b.
  • the beam 20a moves in the Z-axis direction via the slider 19b and the slider 20b.
  • the actuator 30 can move the beam 20a in the three-axis directions of the X axis, the Y axis, and the Z axis.
  • the hand 21 is attached to the rear end of the beam 20a of the actuator 30, and holds the holder 3 and the spacer 3s.
  • the actuator 30 can move the hand 21 in the triaxial direction by moving the beam 20a in the triaxial direction. That is, the actuator 30 moves the hand 21 along the front-rear direction (longitudinal direction of the rail 4).
  • the actuator 30 has two directions perpendicular to the front-rear direction and orthogonal to each other, that is, the left-right direction (the direction in which the rails 4 are arranged side by side, which is also a substantially horizontal direction) and the up-down direction. It is possible to move along the two directions.
  • the hand 21 includes a base 22, a pair of sliders 24, a pair of claw members 25, and a drive block 26.
  • the pair of sliders 24 are slidably accommodated in guide holes 23 in the X-axis direction provided on the lower surface of the base 22.
  • the pair of claw members 25 are respectively attached to the lower ends of the pair of sliders 24 and are disposed substantially parallel to the X-axis direction.
  • the drive block 26 is provided on the upper portion of the base 22 and incorporates a drive mechanism (not shown).
  • the drive mechanism drives the slider 24 with fluid pressure from a pressure source such as an air compressor, for example, and opens and closes the pair of claw members 25 so as to advance and retreat with respect to each other while maintaining a posture substantially parallel to the X-axis direction.
  • a groove portion 28 a that supports the support portion 35 of the holder 3 is formed inside the claw portion 28 at the tip of the pair of claw members 25.
  • the groove portion 28 a has a shape (isosceles trapezoidal shape in this example) corresponding to the shape of the support portion 35 when viewed from the Y-axis direction.
  • the hand 21 when the hand 21 receives the holder 3 located at the outlet 4q of the rail 4, the pair of claw members 25 are closed with respect to the holder 3 by the operation of the driving mechanism, and the claw portion 28 at the tip of the claw member 25 is closed. Then, the holder 3 is sandwiched from both sides. At this time, the support part 35 of the holder 3 is accommodated in the groove part 28 a inside the claw part 28. In this way, the hand 21 holds the holder 3. For example, when inserting the holder 3 from the supply port 4 p of the rail 4, the hand 21 moves the gripped holder 3 to the supply port 4 p of another rail 4 by driving the actuator 30. Place.
  • the hand 21 opens the pair of claw members 25 to release the holding tool 3. The reception, movement, and insertion of the spacer 3s are performed in the same manner as in the case of the holder 3.
  • the hand 21 pushes the holder 3, it may operate as follows. That is, after the hand 21 places the holder 3 on the rail 4, the grip 21 is released and moved to the outside of the rail, the pair of claw members 25 are closed, and the holder 3 is pushed by the tips of the claw members 25. Also good. In this case, it is possible to prevent the influence due to the variation in the gripping position of the holding tool 3 by the hand 21, and to make the movement amount (the amount moved by pushing) of the holding tool 3 substantially constant.
  • a sensor 27 for detecting the growth status of the plant 2 of the holder 3 held by the hand 21 is attached to the front surface of the drive block 26 of the hand 21, for example.
  • the sensor 27 is, for example, a reflective photosensor or an infrared sensor that can detect the height of the leaf 2b of the plant 2.
  • the detection result by the sensor 27 is transmitted to a control unit (not shown), and the growth status of the plant 2 is determined by comparing with a predetermined threshold value, for example. If it is determined that the growth state is poor, the hand 21 does not move the holder 3 to the rail 4 but conveys it to a disposal site, for example.
  • the sensor 27 should just be a thing which can detect the growth condition of the plant 2, and is not limited above.
  • a weight sensor for judging the growth status of the plant 2 by weight may be used.
  • the sensor 27 may be installed in a place other than the drive block 26, or may be installed in the actuator 30 instead of the hand 21.
  • the robot 8 may be arranged on both sides of the cultivation shelf 7 in the front-rear direction. In this case, on the rear side, the robot 8 may perform an operation in place of the U-turn unit 12, the pusher 13, the carry-in / out loader 14, and the like.
  • the actuator 30 may have a multi-axis configuration (for example, six axes) having three or more axes. For example, by using a 6-axis actuator that can turn, the position of the hand 21 and the rail 4 can be easily aligned, and the installation accuracy of the shelf 9 of the cultivation shelf 7 can be reduced. Thereby, the cultivation shelf 7 can be made compact.
  • the outgoing rail 4a has an outlet 4q at the rear end
  • the rail 4b has a supply port 4p at the rear end.
  • the holders 3 and the spacers 3s are supported in each rail 4 so as to be alternately arranged in the front-rear direction.
  • the U-turn unit 12 includes a plate 50, a crank mechanism portion 51, a cylinder 52, and a pusher 55.
  • the plate 50 has the same number of receiving portions 50a as the rails 4a (also the same number as the rails 4b. In this example, 6), and these receiving portions 50a are located on the front side at positions corresponding to the rails 4a (or the rails 4b). It protrudes like a comb.
  • the crank mechanism 51 converts the expansion / contraction operation of the cylinder 52 into a horizontal movement operation of the plate 50 and transmits it, and also converts the pusher 55 into a front / rear operation.
  • the cylinder 52 extends and contracts the rod 52a connected to the crank mechanism 51.
  • the pusher 55 (not shown in FIG. 11A and FIG. 11B for simplicity) is installed on the upper side of the plate 50 so as to be movable in the front-rear direction. As shown in FIGS. 11C and 11D, the pusher 55 has the same number of protrusions 55a as the rails 4b (the same number as the rails 4a. In this example, 6), and these protrusions 55a correspond to the rails 4b. It protrudes in the shape of a comb at the front side.
  • the U-turn unit 12 is configured such that the plurality of receiving portions 50a of the plate 50 are rear end portions of the outlets 4q of the plurality of outgoing rails 4a by the operation of the crank mechanism portion 51 by the cylinder 52.
  • the plate 50 is moved so as to be positioned at the position.
  • the U-turn unit 12 waits.
  • the hand 21 of the robot 8 holds one holding tool 3 and supplies it to the supply port 4p, and pushes the holding tool 3 by one pitch.
  • the pushing operation by the hand 21 is repeated for all the outgoing rails 4a, whereby the holders 3 are pushed out one by one from the outlets 4q of the outgoing rails 4a.
  • the U-turn unit 12 receives a plurality of holders 3 (shown by hatching in the drawing) pushed out one by one from the outlets 4q of the plurality of outgoing rails 4a by a plurality of receiving portions 50a.
  • the U-turn unit 12 moves the plate 50 to the right by the rail 1 pitch (interval between the rails 4 adjacent in the left-right direction) by the operation of the crank mechanism 51 by the cylinder 52.
  • the receiving part 50a of the plate 50 is located in the rear side edge part of the supply port 4p of the return rail 4b adjacent to the going rail 4a.
  • the holder 3 and the spacer 3s are not positioned in the supply port 4p of the return rail 4b by the previous pushing operation by the pusher 55, and the supply port 4p is in an empty state.
  • the U-turn unit 12 moves the pusher 55 forward by one pitch of the holder 3 with the operation of the crank mechanism 51 by the cylinder 52.
  • the plurality of protrusions 55a of the pusher 55 push the holder 3 on the receiving portion 50a and insert it into the supply port 4p (empty state) of the return rail 4b.
  • the U-turn unit 12 further advances the pusher 55 forward by one pitch of the holder 3 by the operation of the crank mechanism 51 by the cylinder 52.
  • the plurality of protrusions 55a of the pusher 55 pushes the holder 3 at the supply port 4p of the return rail 4b by one pitch toward the front side, and the plurality of holders 3 and spacers on the return rail 4b are pushed. Slide 3s forward by one pitch.
  • the U-turn unit 12 receives the plurality of holders 3 and the spacers 3s that are slid intermittently on the B-bound rail 4a one pitch at a time. Then, the U-turn unit 12 moves the holder 3 and the spacer 3s to the return rail 4b and inserts them. Then, the U-turn unit 12 is intermittently slid forward one pitch at a time on the return rail 4b by pushing the holder 3 and the spacer 3s toward the front side, and makes a U-turn toward the robot 8 side.
  • the configuration and operation of the U-turn unit 12 described above are merely examples, and configurations other than those described above may be used.
  • the U-turn unit may be configured using an actuator such as a motor that can rotate.
  • the configuration can be simplified and the cost can be reduced by adopting a single-axis actuator configuration using a cylinder as in the present embodiment.
  • the arrangement interval PW in the direction in which the rails 4 are arranged side by side depends on the growth status of the plant 2 Is set. Specifically, the arrangement interval PW is set to an interval such that the leaves 2b do not overlap when the plant 2 held by the holder 3 grows most in the stage, for example.
  • the interval PWa between the rails 4 is such that the leaves 2b do not overlap at the front end of the rail 4 where the newly sprouted small plant 2 grows most in the shelf 9A.
  • the interval PWa is about L / 18 obtained by dividing the width L of the shelf 9A by the number 18 of the rails 4.
  • the interval PWb between the rails 4 is such that the plant 2 grown to some extent moved from the A-stage rail 4 is the front end of the return rail 4b that grows most in the shelf 9B. Is set to such a size that the leaves 2b do not overlap.
  • the interval PWb is about L / 12 obtained by dividing the width L of the shelf 9B by the number 12 of the rails 4.
  • the interval PWc between the rails 4 is such that the plant 2 that has grown to some extent moved from the B-stage rail 4 grows up to the shipping state in the shelf 9C.
  • the size is set such that the leaves 2b do not overlap each other.
  • the interval PWc is about L / 6 obtained by dividing the width L of the shelf 9C by the number 6 of the rails 4.
  • interval is an example and you may set the arrangement
  • the insertion number N of the spacers 3s in each stage in other words, the arrangement interval PD of the holders 3 in the rail longitudinal direction is set according to the growth state of the plant 2 in the stage. Specifically, the insertion number N (arrangement interval PD) is set such that the leaves 2b do not overlap when the plant 2 held by the holder 3 grows most in the stage, for example. In the present embodiment, since the newly sprouted small plant 2 is moved in the A-stage shelf 9A, the insertion number N of the spacers 3s is set to zero. That is, the arrangement interval PDa of the holders 3 is set to 1 ⁇ p, where p is the length in the rail longitudinal direction of one holder 3.
  • the plant 2 that has grown to some extent moved from the A-stage rail 4 is moved, so the number N of spacers 3s inserted is set to 1. That is, the arrangement interval PDb of the holder 3 is set to 2 ⁇ p.
  • the C-stage shelf 9C the further grown plant 2 moved from the B-stage rail 4 is moved, so the number N of spacers 3s inserted is set to 2. That is, the holder disposition interval PDc is set to 3 ⁇ p.
  • the number of inserted spacers 3s is merely an example, and may be set to a number other than the above.
  • the pusher 13 is moved to the holder 3. Is pushed toward the front, and the holder 3 is pushed in by one pitch.
  • the plurality of holders 3 on the rail 4 are simultaneously slid forward one pitch at a time, and as a result, the holder 3 moves to the vacant outlet 4q at the front end of the rail 4.
  • the pushing by the pusher 13 may be performed individually for each of the rails 4 or may be performed for a plurality of A-stage rails 4 at a time.
  • the holder 3 By pushing in by the pusher 13, the holder 3 is slid by one pitch along a plurality of rails 4 (an example of the first rail) arranged in parallel at the interval PW in the A stage, and is moved to the front side over a predetermined period. Moved towards.
  • the robot 8 moves the hand 21 to the outlet 4q of the A-stage rail 4, and grips and receives the holder 3 with the hand 21. Then, the robot 8 moves the holder 3 to the outgoing rail 4a among the plurality of B-stage rails 4, and inserts (places) the holder 3 into the supply port 4p. At this time, the supply port 4p of the outgoing rail 4 is in an empty state because the spacer 3s is previously inserted by the hand 21 and is slid by one pitch. As a result, the holder 3 has a B-stage rail 4a (second rail) arranged in parallel at a distance PWb (an example of the second interval) wider than the A-stage interval PWa (an example of the first interval). Example).
  • the hand 21 When the hand 21 is inserted into the supply port 4p of the outgoing rail 4, the hand 21 pushes the holding tool 3 toward the rear side by one pitch while holding the holding tool 3. As a result, the plurality of holders 3 and the spacers 3s on the outgoing rail 4 are slid backward by one pitch.
  • the robot 8 has a series of operations of moving, inserting, and pushing the above-described holder 3 from the A-stage rail 4 to the B-stage rail 4a at the outlets 4q of the plurality of A-stage rails 4. This is sequentially performed for each of the holders 3.
  • the U-turn unit 12 On the rear side of the outgoing rail 4a, the U-turn unit 12 sequentially receives the holders 3 pushed out from the outlet 4q of the outgoing rail 4a by the receiving portion 50a of the plate 50.
  • the U-turn unit 12 moves the plate 50 in the direction in which the rails 4 are arranged side by side, and the plurality of holding tools 3 received by the plurality of receiving portions 50a are adjacent to the going rail 4a. It is located at the rear end of the supply port 4p of the return rail 4b.
  • the U-turn unit 12 moves the pusher 55 forward, pushes the plurality of holding tools 3 by one pitch with the plurality of protrusions 55a, and puts the holding tools 3 into the empty supply port 4p of the return rail 4b. insert. Furthermore, the U-turn unit 12 moves the pusher 55 further forward, and pushes the plurality of holding tools 3 by one pitch from the supply port 4p with the plurality of protrusions 55a. As a result, the plurality of holders 3 and the spacers 3s on the return rail 4b slide forward by one pitch. As a result, the holders 3 move to the open outlets 4q at the front end of the return rail 4b.
  • the holding tool 3 Due to the pushing by the robot 8 and the pushing by the U-turn unit 12, the holding tool 3 is slid by one pitch along the going rail 4a and the returning rail 4b (an example of the second rail) in the B stage, for a predetermined period. Is moved toward the rear side and the front side.
  • the robot 8 moves the hand 21 to the outlet 4q, and grips and receives the holder 3 moved to the outlet 4q of the return rail 4b by the hand 21.
  • the robot 8 moves the holder 3 gripped by the hand 21 to one of the plurality of C-stage rails 4 and inserts (places) the holder 3 into the supply port 4p. .
  • the supply port 4p of the rail 4 is vacant because the spacer 3s is inserted by the hand 21 and is slid by one pitch.
  • the holder 3 has a C-stage rail 4 (an example of the second rail) arranged in parallel at a distance PWc (an example of the second interval) wider than the B-stage interval PWb (an example of the first interval). ).
  • the hand 21 When the hand 21 is inserted into the supply port 4 p of the rail 4, the hand 21 pushes in one pitch toward the rear side while holding the holder 3. As a result, the plurality of holders 3 and the spacers 3s on the C-stage rail 4 are slid backward by one pitch. By pushing in by the robot 8, the holder 3 is slid by one pitch along the plurality of rails 4 arranged in parallel at the interval PWc in the C stage, and moved toward the rear side over a predetermined period.
  • the robot 8 performs a series of operations of moving, inserting and pushing the B-stage return rail 4b from the B-stage return rail 4b to the C-stage rail 4 to remove the plurality of return rails 4b at each stage of the B stage. This is sequentially performed for each of the holders 3 positioned at the outlet 4q.
  • the loading / unloading loader 14 arranges the shipping pallet Po, and a plurality of holding tools 3 pushed out one by one from each rail 4 are attached to the shipping pallet Po and received. It is carried out to the carry-in / out conveyor 15.
  • the plant cultivation system 1 of the present embodiment includes the holder 3 that holds the plant 2 to be cultivated for each strain, and the rail 4.
  • the rail 4 supports the plurality of holders 3 so as to be movable along the longitudinal direction, and each time the holder 3 is supplied from one side in the longitudinal direction, the plurality of holders 3 are directed toward the other side in the longitudinal direction. It is configured to move in accordance with the supplied holder 3. Thereby, there exists the following effect.
  • a plurality of holders 3 that hold the plant 2 to be cultivated for each strain are supported by the rail 4 so as to be movable along the longitudinal direction.
  • the rail 4 each time the holder 3 is supplied from one side in the longitudinal direction, the plurality of holders 3 are moved according to the holder 3 supplied toward the other side in the longitudinal direction.
  • the plant cultivation system 1 can be simplified, downsized, and reduced in cost.
  • the sanitary plant 2 can be provided, and the environmental conditions optimal for the plant 2 (for example, strict CO 2 concentration for humans, irradiation of light with poor visibility such as red and blue, etc.) ) Makes it possible to grow the plant 2.
  • the environmental conditions optimal for the plant 2 for example, strict CO 2 concentration for humans, irradiation of light with poor visibility such as red and blue, etc.
  • the plant cultivation system 1 has a spacer 3s that defines a distance in the longitudinal direction of the holder 3 by being inserted between the plurality of holders 3.
  • the rail 4 supports a plurality of spacers 3s so as to be movable in the longitudinal direction. Each time the spacers 3s are supplied from one side, the holder 3 and the spacers 3s are supplied toward the other side. Configured to move in response to.
  • the interval between the plants 2 in the rail longitudinal direction can be adjusted according to the growth state of the plants 2. .
  • the plant cultivation system 1 has a cultivation shelf 7 on which a plurality of rails 4 are installed.
  • Each of the plurality of rails 4 has a supply port 4p through which at least one of the holder 3 and the spacer 3s is supplied at one end thereof, and at least one of the holder 3 and the spacer 3s is provided at the other end thereof. It has an outlet 4q to be taken out.
  • each of the plurality of rails 4 installed on the cultivation shelf 7 has a supply port 4p at one end and an outlet 4q at the other end.
  • an automatic machine pushher, U-turn unit, robot, etc.
  • workability can be improved.
  • the cultivation shelf 7 has shelf portions 9 arranged in a plurality of stages, and the rails 4 are installed on each of the shelf portions 9.
  • the cultivation space of the plant 2 can be increased while suppressing the installation space of the plant cultivation system 1 by making the cultivation shelf 7 into a multistage structure.
  • the freedom degree of system design can be raised, such as changing the structure of each shelf part 9 according to the growth condition of the plant 2.
  • a plurality of rails 4 are arranged side by side on the shelf 9, and the plurality of shelves 9 of the cultivation shelf 7 are different from each other in the intervals in the direction in which the rails 4 are arranged in parallel (that is, , A stage shelf 9A, B stage shelf 9B, C stage shelf 9C).
  • interval between the plants 2 in a rail juxtaposition direction can be adjusted according to the growth condition of the plant 2 by moving the holder 3 to the other shelf part 9 from which a rail space
  • each of the plurality of rails 4 is horizontally installed on the cultivation shelf 7.
  • the culture solution 48 can be stored inside the rail 4, so that it is not necessary to provide a water tank separately from the rail 4, and the configuration can be simplified. Further, it is possible to prevent the holder 3 and the spacer 3s from moving due to gravity.
  • the plant cultivation system 1 is arrange
  • the robot 8 is transported to the supply port 4p.
  • interval between the plants 2 in a rail juxtaposition direction is automatically adjusted according to the growth condition of the plant 2 by moving the holder 3 to the other rail 4 from which a rail space
  • the interval between the plants 2 in the rail longitudinal direction can be automatically adjusted according to the growth state of the plants 2. Can do. Therefore, the transplanting operation can be automated.
  • the robot 8 has a hand 21 that grips at least one of the holder 3 and the spacer 3s, and at least two directions perpendicular to the longitudinal direction and perpendicular to each other (left and right direction and up and down direction). And an actuator 30 to be moved.
  • the robot 8 moves the hand 21 along the parallel arrangement direction (left-right direction) of the rails 4 and the stacking direction (vertical direction) of the shelf portions 9 with respect to the plurality of rails 4 installed on the cultivation shelf 7. It is possible. Therefore, the robot 8 can transport at least one of the holder 3 and the spacer 3 s to the arbitrary rail 4 of the cultivation shelf 7.
  • the actuator 30 moves the hand 21 along the longitudinal direction.
  • the robot 8 can push and move the holder 3 or the spacer 3 s located at the supply port 4 p of the rail 4 using the hand 21. Therefore, since the robot 8 can cause the holder 3 and the spacer 3s to carry out the push-type transfer, a mechanical transfer mechanism such as a motor is not necessary, and the plant cultivation system 1 is simplified, downsized, and reduced in cost. Can be
  • the hand 21 has a pair of claw members 25 formed with groove portions 28a for supporting the holder 3 and the spacer 3s.
  • the leaf 2 b of the plant 2 can be grown upward while the root 2 c of the plant 2 is hung down and immersed in the culture solution 38. it can.
  • the holder 3 and the spacer 3s have the protrusions 33a and 33b and the facing portion 32b, the rail 3 can be smoothly slid. Further, since the holder 3 and the spacer 3s have the support portion 35, the certainty of various operations (receiving, moving, pushing, etc.) by the hand 21 can be improved.
  • the holder 3 and the spacer 3s are formed of common parts.
  • the cost can be reduced as compared with the case where the holder 3 and the spacer 3s are configured.
  • the design of the rail 4 that supports both the holder 3 and the spacer 3s, the hand 21 that holds both, and the like becomes easy.
  • the holder 3 holding the plant 2 to be cultivated for each strain is provided on the first rail 4 arranged in parallel at a first interval over a predetermined period. Moving the holder 3 along the second rail 4 arranged in parallel at a second interval wider than the first interval, and moving the holder 3 over a predetermined period to the second And moving along the rail 4 of the plant.
  • the holder 3 that holds the plants 2 to be cultivated for each strain is attached to the A-stage rail 4, the B-stage rail 4, and the C-stage rail 4 over a predetermined period. Move along. Thereby, it is possible to grow the plant without human intervention by applying light to the leaves 2b while moving along the rails 4 with respect to the holder 3 on which the plant 2 has germinated after sowing. . Therefore, cultivation from the germination of the plant 2 to before harvesting can be automated.
  • the interval between the plants 2 in the rail juxtaposition direction can be adjusted according to the growth state of the plants 2. it can. Therefore, since the operation
  • the robot 8 includes a sensor 27 that is disposed on the hand 21 and detects the growth status of the plant 2 of the holder 3 held by the hand 21.
  • the sensor 27 detects the growth status of the plant 2 when the hand 21 of the robot 8 holds the holder 3. Thereby, for example, when the growth state is poor, the holder 3 can be transported to the disposal place without being transported to the rail 4. As a result, since only the plants 2 having good growth conditions are arranged on the cultivation shelf 7, the cultivation space can be effectively utilized.
  • the pallet Pc has a plurality of notched recesses 60 for mounting the plurality of holders 3.
  • the interval between the recesses 60 is substantially the same as the interval PWc between the rails 4 in the C-stage shelf 9C.
  • the robot 8 holds the pallet Pc on which the plurality of holders 3 are mounted by the hand 21 and pushes the pallet Pc toward the rear side, thereby directing the plurality of holders 3 supported by the rails 4 to the rear side at a time. Can be slid. Therefore, the pushing operation at the C stage by the robot 8 can be made efficient.
  • the pallet Pc can also be used as a spacer by inserting the pallet Pc between the holders 3 and moving it along the rail 4.
  • the holder 3 (plant 2) can be arrange
  • the holder 3 plant 2 closely by making the C space
  • the cultivation shelf 7 may have a shelf part in which a plurality of types of rail groups having different intervals in the parallel arrangement direction of the rails 4 are arranged together. An example of this modification is shown in FIG.
  • two types of rail groups 65 ⁇ / b> A and 65 ⁇ / b> B having different intervals in the juxtaposed direction of the plurality of rails 4 arranged side by side are arranged on the shelf 9 ′ included in the cultivation shelf 7. ing.
  • the rail group 65A has a wide interval in the juxtaposed direction of the rails 4 and the rails 4 are roughly arranged.
  • the rail group 65B has a narrower interval in the juxtaposed direction of the rails 4 than the rail group 65A, and the rails 4 are denser. Has been placed.
  • the hole 34 of the holder 3 is filled with the medium 36, the seed 63 of the plant 2 sown with the medium 36 is held, and the plant 2 is grown.
  • a net-like sheet 64 is attached to the bottom of the hole 34 of the holder 3 ′, and the seed 63 of the plant 2 sown with the net-like sheet 64 is held, Grow 2
  • the seed 63 can be held without a medium.
  • robot 8 ' is comprised so that turning is possible, and the cultivation shelf 7 is arrange
  • two cultivation shelves 7 are arranged so as to sandwich the robot 8 ′.
  • four cultivation shelves 7 are arranged so as to surround the robot 8 ′.
  • the robot 8 ′ performs the same operation as the robot 8 in the above embodiment while sequentially facing the plurality of cultivation shelves 7 by the turning movement or the turning operation.
  • the plant cultivation system can be simplified, downsized, and reduced in cost.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Hydroponics (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)

Abstract

L'invention vise à fournir un système de culture de plante, grâce auquel un procédé de culture de plante après germination jusqu'à la récolte peut être automatisé. L'invention décrit un système de culture de plante (1) pour la culture d'une plante comprenant : des supports (3) qui retiennent chacun une réserve d'une plante (2) en culture ; et un rail (4) qui assure le support de la pluralité de supports (3) de sorte qu'ils soient mobiles le long de la direction longitudinale et qui est conçu de telle sorte que chaque fois qu'un support (3) est alimenté d'un côté dans la direction longitudinale, plusieurs supports (3) se déplacent vers l'autre côté dans la direction longitudinale en réponse au support (3) alimenté tel que décrit ci-dessus.
PCT/JP2015/075510 2015-09-08 2015-09-08 Système de culture de plante et procédé de culture de plante WO2017042891A1 (fr)

Priority Applications (3)

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JP2017538763A JP6598088B2 (ja) 2015-09-08 2015-09-08 植物栽培システム及び植物栽培方法
CN201580082945.5A CN108024506B (zh) 2015-09-08 2015-09-08 植物栽培系统及植物栽培方法
PCT/JP2015/075510 WO2017042891A1 (fr) 2015-09-08 2015-09-08 Système de culture de plante et procédé de culture de plante

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CN110036899A (zh) * 2018-01-16 2019-07-23 株式会社安川电机 植物栽培系统以及植物栽培方法
JP2019216685A (ja) * 2018-06-22 2019-12-26 菱熱工業株式会社 植物栽培装置、植物栽培方法
JP2020150794A (ja) * 2019-03-18 2020-09-24 株式会社ファームシップ 植物栽培装置および植物栽培方法
US10785928B2 (en) 2016-12-09 2020-09-29 Eden Works, Inc. Methods systems and apparatus for cultivating densely seeded crops
JP2021010380A (ja) * 2020-10-29 2021-02-04 株式会社安川電機 植物保持具
JP2021019549A (ja) * 2019-07-29 2021-02-18 株式会社安川電機 植物栽培システム
JP2021078472A (ja) * 2019-11-22 2021-05-27 株式会社大気社 移載装置、定植板および栽培システム
US11116156B2 (en) 2016-04-21 2021-09-14 Upward Enterprises Inc. Stacked shallow water culture (SSWC) growing systems, apparatus and methods
US11154016B2 (en) 2017-06-14 2021-10-26 Grow Solutions Tech Llc Systems and methods for managing a weight of a plant in a grow pod
CN114097474A (zh) * 2021-11-17 2022-03-01 黑龙江省农业科学院经济作物研究所 一种分体式的便捷型工业大麻培育系统
JP2022047955A (ja) * 2020-09-14 2022-03-25 株式会社安川電機 植物栽培システム及び植物栽培方法
WO2023163006A1 (fr) * 2022-02-28 2023-08-31 株式会社デンソー Dispositif de culture de plantes

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CN115814878B (zh) * 2022-11-29 2023-10-27 深圳市国赛生物技术有限公司 文库制备系统

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JP2019115293A (ja) * 2017-12-27 2019-07-18 株式会社安川電機 植物栽培システム及び植物栽培方法
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CN110036899B (zh) * 2018-01-16 2021-06-15 株式会社安川电机 植物栽培系统以及植物栽培方法
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JP2019122297A (ja) * 2018-01-16 2019-07-25 株式会社安川電機 植物栽培システム及び植物栽培方法
JP2019216685A (ja) * 2018-06-22 2019-12-26 菱熱工業株式会社 植物栽培装置、植物栽培方法
JP2020150794A (ja) * 2019-03-18 2020-09-24 株式会社ファームシップ 植物栽培装置および植物栽培方法
JP7160342B2 (ja) 2019-03-18 2022-10-25 株式会社ファームシップ 植物栽培装置および植物栽培方法
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JP2021010380A (ja) * 2020-10-29 2021-02-04 株式会社安川電機 植物保持具
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CN114097474A (zh) * 2021-11-17 2022-03-01 黑龙江省农业科学院经济作物研究所 一种分体式的便捷型工业大麻培育系统
WO2023163006A1 (fr) * 2022-02-28 2023-08-31 株式会社デンソー Dispositif de culture de plantes

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