EP1906724A1

EP1906724A1 - Method and device for grafting plants

Info

Publication number: EP1906724A1
Application number: EP06769404A
Authority: EP
Inventors: Ronnie Johannes Antonius Krabbe
Original assignee: Graftomatic VoF
Current assignee: Graftomatic VoF
Priority date: 2005-07-26
Filing date: 2006-07-26
Publication date: 2008-04-09
Also published as: EG24654A; WO2007013804A1; MA29747B1

Abstract

The invention relates to a method for cutting living vegetable tissue, for instance for the purpose of grafting or pruning plants or trees, or for harvesting of fruit, comprising of forming at least one incision in the tissue with a jet of fluid. The invention also relates to a device for cutting living vegetable tissue, for instance for the purpose of grafting or pruning plants or trees or for harvesting fruits, comprising means generating a fluid jet for the purpose of forming at least one incision in the tissue.

Description

METHOD AND DEVICE FOR GRAFTING PLANTS

The present invention relates to a method and device for cutting living tissue such as vegetable tissue, for instance for the purpose of grafting or pruning plants or trees, or for instance harvesting of fruit.

The invention comprises of cutting the tissue of for instance at least one first plant with a fluid jet, in order for instance to prepare a grafting process to be carried out in per se usual manner, which comprises of in fact combining the first and a second plant.

The method according to the invention can preferably be automated with a device according to the invention in a continuous (repeating) process to enable the realization of relatively large numbers of cutting processes, for instance for grafting purposes. The method can preferably be carried out without any interruptions to speak of. It has not been found feasible in the prior art to realize a practically continuous process for great (er) numbers of successive grafting processes. The reason for this is that use is made in the known art of cutting tools such as knives to form incisions. The knives are on the one hand expensive and on the other always subject to wear. It is for this reason that attempts at automated grafting processes for larger numbers of plants never came to anything due to the still occurring regular interruptions for the purpose of replacing knives. Under such circumstances there has therefore not been any success thus far in realizing an automatic or continuously repeating grafting process, and the art has advanced no further than manual grafting. This has not enhanced speed and effectiveness. It has thus still not been possible in the art to fulfil the need to increase the rate of grafting, and thereby increase the numbers of successful grafting processes.

In addition, cutting processes based on cutting tools such as knives also have other drawbacks which decrease the speed and reduce efficiency, i.e. the transfer of germs via the knives. The transfer of germs via the knives must be countered in the known art by cleaning the knives regularly, even if these knives do not then need to be replaced, i.e. when the knives are for instance not yet worn. The additional disruptions for cleaning the knives result in still further reduction in the number of successful grafting processes per unit of time, even when they are carried out manually. The present invention has for its object to reduce, and preferably obviate the drawbacks of the prior art in the field of for instance the grafting of plants, for which purpose there is provided according to the invention a method and a device as defined in the appended claims, in particular the independent claims.

With a method and a device according to the invention interruptions for replacing worn knives can be reduces, if not minimized. In a grafting process, wherein in an embodiment of the invention both pieces of plant material are treated (cut) with a jet of fluid, the use of conventional cutting means such as knives can even be wholly avoided. The transfer of germs can further be reduced, if not avoided, particularly and additionally by an adequate cleaning of the fluid if it is reused.

Within the thus defined scope of the invention it is possible to envisage and to realize diverse preferred embodiments, several of which are discussed in the figure description hereinbelow. An embodiment of the invention will thus be described hereinbelow in more detail with reference to the accompanying figures. The figures relate to a non- limitative example of an embodiment of a device and a method according to the invention, in which the same and/or similar parts, components and elements are designated in the diverse views with the same reference numerals, and in which:

Fig. 1 shows a perspective view of a configuration 1 forming part of a device according to the present invention for realizing the method according to the invention;

Fig. 2 shows a cross-sectional side view through a more comprehensive part of the device according to the invention, a detail of which is already shown in fig. 1;

Fig. 3 shows a side view corresponding with fig. 2 with partly cut-away parts and with additional and/or alternative components and elements;

Fig. 4 is a schematic bottom or top view of the operation of the device shown in fig. 1-3; and

Fig. 5 shows a detail designated with arrow V in fig. 3.

Fig. 1 shows a perspective view of a configuration 1 of a (part of a) device 11 according to the invention for realizing the method, likewise according to the present invention. This configuration 1 comprises a first gripper 2 which is suitable and adapted to grip a stem or stalk or other part of a first vegetable tissue shown by way of example as plant 6 in figure 2. A spray nozzle 4 is directed at first gripper 2, or at least at the vicinity thereof, at a predetermined angle which can amount for instance, though not exclusively, to 45^°. Spray nozzle 4 serves to form at least one incision and preferably even a cut with a jet of fluid, and via a conduit 8 is in operational connection with a pump 5 which feeds spray nozzle 4 with a fluid via conduit 8. The fluid can comprise water or another liquid. It is however also possible to consider using gases to form a fluid jet. Spray nozzle 4 is fixedly attached to a holder (not shown) to the side of gripper 2 and can be detached from the holder.

The holder, and therewith spray nozzle 4, can be arranged in stationary position. In such an embodiment it is favourable, or even preferable, to have the first gripper 2 move relative to the holder, preferably in a direction along spray nozzle 4, so that an incision can be made, with a jet of fluid to be generated by spray nozzle 4, in the stem or stalk of the first vegetable tissue of plant β, this plant 6 herein being gripped by first gripper 2, or it can even be cut through completely.

In an alternative embodiment (not shown) the first gripper 2 is stationary^' and a holder with spray nozzle 4 fixed therein can be moved along reciprocally in front of the gripper. It is also possible to realize both relative movements . In an embodiment in which spray nozzle 4 is movable, the conduit arranged between pump 5 and spray nozzle 4 is preferably flexible or at least bendable. In embodiments with a fixedly disposed holder, or at least a fixed spray nozzle 4, a fixed conduit 8 can suffice.

In the embodiment shown in the figures the spray nozzle 4 is arranged in stationary position.

In the embodiment shown in fig. 1 a second gripper 3 is also arranged. This can serve to grip a stem or stalk of the same plant 6, or to grip a branch or other part of another, second plant tissue 7. When a fluid jet acts on the stem, stalk, branch etc. of plant tissue 6 by means of spray nozzle 4, this part of the plant tissue can be held fast on either side of a formed incision or cut by the individual first gripper 2 and second gripper 3.

The shown figures relate however to an embodiment wherein the second gripper 3 is used to bring a (part of a) second plant or vegetable tissue 7 into the vicinity of parts of the plant 6 or plant tissue gripped by first, gripper 2 and treated by the jet of fluid from spray nozzle 4. If first gripper 2 and second gripper 3 are then brought sufficiently close together, as shown on the left-hand side in figures 2 and 3, a connection can be established between the plant β or plant part gripped by first gripper 2 and treated with the jet of fluid from spray nozzle 4 and the (part of a) second plant 7 gripped in second gripper 3. In order to make such a connection use can be made of a clip 49, bracket, holder or other assist means known per se in the prior art. It will be necessary here to utilize a (robot) arm or similar component to arrange such a clip 49. Clip 49 can however optionally also be arranged manually. Modification of such clips 49 or brackets, in order to make them suitable for automatic placing, is not precluded either, at least not in respect of the prior art brackets or clips which must be arranged manually. It is noted that pump 5 must be considered capable of generating a considerable pressure for the fluid jet which must act via spray nozzle 4 on a part of the plant gripped by first gripper 2. A pressure to be generated with pump 5 can be as high as 2000 to 3000 bar, although this is only stated by way of a non-limitative example. Other values of the pressure to be generated with pump 5 which must be deemed at least adequate for the intended application can be determined with tests for diverse species of plant and applications.

Fig. 2 shows a side view in vertical section of a device 11 according to the present invention, with a number of the configurations 1, shown essentially in fig. 1, in connection with additional components and parts according to the present invention. Figure 3 shows a more comprehensive view of an embodiment of a device 11 according to the present invention.

Device 11 comprises particularly a central shaft 9 which is hollow and arranged in stationary position relative to a base 10. On the underside of central shaft 9 a first turntable 17 is mounted for rotation about bearings 18, 19. A number of the first grippers 2 is disposed on first turntable 17. First turntable 17 can be rotated around central shaft 9 by means of a drive comprising a belt (not shown) trained round a wheel 20. In a driven movement of turntable 17 first grippers 2 are co-displaced in a rotating movement which is indicated in figure 4 as a circular path 21. This path 21 is defined in a curve disc 22 fixedly mounted on central shaft 9. First grippers 2 are mounted on a block 23 having thereon a leg 24 protruding into a curve of curve disc 22. Blocks 23 are arranged on slide rods 25, which protrude through first turntable 17. Blocks 23 with first grippers 2 thereon are thus moved around central shaft 9 in a movement imposed by the first turntable. Using the curve in curve disc 22, grippers 2 can be displaced up and downward in height direction relative to first turntable 17 using slide rods 25 depending on positions taken up along the path or trajectory 21 of first grippers 2, as can be seen clearly from comparison of the design of curve disc 22 on the left and the right in figures 2 and 3, wherein the first grippers on the left in figures 2 and 3 are positioned higher than on the right in these figures.

The first and second grippers 2, 3 comprise normally open arms 32, 33, wherein the grippers can be energized with sliding blocks 34, 35 acting on arms 32, 33.

The sliding blocks 34 associated with the first grippers are coupled to legs 24 by means of a coupling rod 36 in order to move sliding block 34 forward or rearward relative to slide rods 25 and, depending on a position taken up along trajectory 21, to thus selectively open or close the arms 32 of first grippers 2. Further arranged through central shaft 9 is a drive shaft 12 which is mounted in bearings 13 and 14 and which is connected on the underside thereof to a drive element, in the embodiment shown here a belt (not shown) trained round a wheel 15. On the top side the drive shaft 12 is coupled to a second turntable 16 having vertical slide rods 26 and horizontal slide rods 27 thereon for radially and vertically displaceable suspension of a block 28, on which a second gripper 3 is arranged. Block 28 engages with a leg 29 in a curve of a second curve disc 30 in similar manner as block 23 in order to pass through a path or trajectory 31 as shown in figure 4. This path 31 is by no means circular in top view and has rather an elliptic or oval shape. In this path 31 or this trajectory height differences provided along path 31 are realized, as will be apparent once again from the comparison of the design of curve disc 30 on the left and right-hand sides of figures 2 and 3. In addition, there is provided in second curve disc 30 an additional curve which serves to selectively open and/or close the arms of second grippers 3.

The sliding blocks 35 associated with second grippers 3 are coupled to an additional leg 38 by means of a coupling rod 37 for the purpose of moving sliding block 35 forward or rearward relative to slide rods 26 and thus, depending on a position taken up along trajectory 31, selectively opening or closing the arms 33 of second grippers 3.

^■ As shown clearly in the (top or) bottom view of figure 4, the separate paths or trajectories of respectively the first and second grippers 2, 3 provide a supply point 39 for supplying the plants 6 and a delivery point 40 for delivering the plants 7.

At supply point 39 use is made of a transmission 42 for supplying plants 6 synchronously with turntable 16. Device 11 herein comprises a guide track 43 as shown in figure 5 along a spindle shaft 44 for feeding pots 45 with plants 6 therein over guide track 43 at a rate dictated by the coupling between pots 45 and the spindle shaft and by the transmission 42 for a rotation speed of spindle shaft 44. Following the action of a fluid jet generated by spray nozzle 4 a remnant (stem or stalk and foliage) of plants 6 is discharged between discharge belts 47, 48, whereafter the part of the plants 6 to be combined with plants 7 continues on its way along path 21 in the situation in which it is gripped by first grippers 2.

Located further along is delivery point 40, where two conveyor belts 41 are disposed. In, at or behind delivery point 40 in the direction of movement the stem of a plant 7 is severed with a jet of fluid and the root system on the stem is discharged with the trunk between conveyor belts 41. The remnant (stem or stalk and foliage) is clamped in second grippers 3 and carried to the position shown on the left of the drawing in fig. 2 (designated II-II in fig. 4) in order to be combined with the root system and the stem or stalk of plants 6 by means of clip 49.

From this combining position the turntables 16, 17 rotate further to a removal point 46, where the grafted and thus combined plants are removed using device 11. Described by way of example in the foregoing with reference to the accompanying figures is a possible embodiment to which the invention, as defined in the following claims, cannot be deemed limited in spirit or by the definitions according to the claims. Diverse additional and alternative embodiments are for instance possible within the scope of the present invention, all of which will occur to the skilled person after examination of the foregoing description. Other types of gripper can for instance be applied than those shown and described here. The supply of plants 6 or plant (parts) 7 can also take place manually, or in ways other than those disclosed here. For the supply of plant parts 7 it is also possible to apply a system similar to that for the supply of plants 6. Synchronizing the supply of plants 6 or plant parts 7 can further also be realized in any way or ways other than that/those described.

Claims

1. Method for cutting living vegetable tissue, for instance for the purpose of grafting or pruning plants or trees, or for harvesting of fruit, comprising of forming at least one incision in the tissue with a jet . of fluid.

2. Method as claimed in claim 1, further comprising of combining the first vegetable tissue comprising the incision with a second vegetable tissue.

3. Method as claimed in claim 2, further comprising of gripping at least the first vegetable tissue comprising the incision in a first gripper; gripping the second vegetable tissue in a second gripper; and driving the first and the second gripper in a rotating - though not exclusively circular - movement.

4. Method as claimed in claim 3, comprising of driving the first and the second gripper respectively in separate rotating movements.

5. Method as claimed in at least claim 2 and at least either of the claims 3 and 4, comprising of bringing together the first and the second gripper at a predetermined point in the rotating movement or movements; and combining the first vegetable tissue comprising the incision and the second vegetable tissue.

6. Method as claimed in claim 5, comprising of arranging a clip connecting the first vegetable tissue comprising the incision and the second vegetable tissue at least at the predetermined point in the rotating movement or movements.

7. Method as claimed in at least claim 3, comprising of supplying the first vegetable tissue at a supply point in the movement of the first gripper.

8. Method as claimed in claim 7, further comprising of providing the jet of fluid in the direction of movement of the first gripper at or behind the supply point.

9. Method as claimed in at least claim 3, comprising of delivering the second vegetable tissue at a delivery point in the movement of the second gripper.

10. Method as claimed in at least claims 4, 7 and 9, comprising of providing a distance between the supply point and the delivery point in radial direction relative to the rotating movements .

11. Method as claimed in at least claim 2, further comprising of forming at least one incision in the second vegetable tissue with a jet of fluid prior to the step of combining.

12. Device for cutting living vegetable tissue, for instance for the purpose of grafting or pruning plants or trees or for harvesting fruits, comprising means generating a fluid jet for the purpose of forming at least one incision in the tissue.

13. Device as claimed in claim 11, further comprising means for combining the vegetable tissue comprising the incision and a second vegetable tissue.

14. Device as claimed in claim 11 or 12, comprising means for performing a step in at least one of the foregoing claims 3-10.