JP2000224919A - Apparatus for automatic grafting - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate problems that a grafted nursery plant is tilted downward by the weight of a root ball and caught by other parts located near a holding tool feeding means and smooth grafting operation may not be continued to cause deterioration of the operating efficiency when completing the operation and then discharging the grafted nursery plant because the root ball is in a free state at the time of using a stock nursery plant having the root ball. SOLUTION: This apparatus is obtained by installing a holding tool feeding means 16 for feeding a holding tool 4 toward a joining part 3 of a scion nursery plant 1 and a stock nursery plant 2 fed to a joining site 15 and further freely detachably providing a root ball receiver 6 for receiving the root ball part 5 of the stock nursery plant 2 at a lower position of the joining part 3 in a machine casing.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grafting apparatus for producing grafted seedlings by bonding spikelets and rootstock seedlings.

[0002]

2. Description of the Related Art A grafted seedling is manufactured by gripping a joint between a scion seedling and a rootstock seedling by a gripping means.

[0003]

However, when a rootstock seedling with a root pot is used, the root pot is in a free state. Depending on the weight of the pot, it may be inclined downward and be caught by other parts near the gripper supply means, and the grafting operation may not be continued smoothly, resulting in a decrease in work efficiency.

[0004]

SUMMARY OF THE INVENTION The present invention provides an automatic grafting apparatus for solving the above-mentioned problems, and employs the following technical means. That is, a gripper supply means for supplying a gripper 4 toward the joint 3 between the earling 1 and the rootstock 2 is provided, and the root pot 5 of the rootstock 2 is located below the joint 3. An automatic grafting device provided with a receiving root pot receiver 6 is provided.

[0005]

When the scion seedlings 1 and the rootstock seedlings 2 are supplied manually or automatically, the seedlings 1 and 2 are cut, the cutting operation is performed to supply the cut seedlings to the joining place, and the gripper at the joint 3 The joining operations of the seedlings according to No. 4 are sequentially performed to produce grafted seedlings. In this operation, the root pot portion 5 of the rootstock seedling 2 sent to the joining place is received by the root pot receiver 6.

[0006]

As described above, the gripping operation at the joint 3 and the discharging operation of the grafted seedlings can be performed well, so that the grafting operation efficiency can be improved.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be specifically described below with reference to the drawings. First, the structure of the automatic grafting device 7 will be described. A grafting main body 11 for producing a grafted seedling 10 by a grafting device 9 covered with a cover 8.
And a conveyor 12 for transporting the grafted seedlings 10 to manufacture the grafted seedlings 10.

The grafting device 9 has a scion seedling receiving device 13 on one side and a stocking seedling receiving device 14 on the other side, and the gripping device 4 is aligned and conveyed to a joining place 15 in the center. A gripper supply device 16 is provided. The gripper 4 includes a pair of gripping pieces 4b each having a gripping portion 4a at a distal end thereof, and a discontinuous ring-shaped spring 4c for closing the gripping portion 4a when no load is applied.
And so on.

Then, the scion seedling receiving device 13 and the joining place 1
5 is provided with a scion seedling supply device 17 for transporting the scion seedlings 1 from the scion seedling receiving device 13 to the joining place 15 and supplying the scion seedlings 1 to the joining place 15. Between the rootstock seedlings 2, a rootstock seedling supply device 18 is provided for transporting the rootstock seedlings 2 from the rootstock seedling receiving device 14 to the joining place 15 and supplying them. In addition, a scion seedling cutting device 19 is provided in the process of transferring the scion seedlings 1 by the scion seedling supply device 17, and the scion seedling supply device 18 is set in the process of transferring the scion seedlings 2 by the rootstock seedling supply process A cutting device 20 is provided.

An operation panel 21 is provided on the upper part of the grafting main body 11, and includes a counter 22 for counting and displaying the number of grafts, an alarm buzzer 23 for notifying an alarm when an abnormality occurs, a caution lamp 24 for calling attention, and a power switch. 25, "Off"
A dial-type mode changeover switch 26 for selecting "manual", "automatic" and "adjustment" operations, an operation switch 27 for selecting "start" and "stop", a crop switch 28,
A step switch 29 capable of performing cutting, feeding, joining and the like for each step, a reset switch 30 for returning the operation to an initial state, a scion gripping force capable of adjusting a gripping pressure on the scion seedling 1 before cutting. Adjustment switch 31,
An operating pressure gauge 32 and the like are provided.

The gripper supply device 16 is driven by the vibration of a vibrating device (not shown) as a driving source, and has a dish-shaped storage portion 33 having a spiral passage for storing a large number of grippers 4. An aligning portion 34 having a communicating passage and being aligned in a row while guiding the gripping tool 4, and the hogi seedling 1 in which the gripping tool 4 guided to the tip of the aligning portion 34 has been sent to the joining place 15. And an extruding tool 35 for extruding toward the joint 3 between the base material 2 and the rootstock 2.

At the joint side end of the aligning portion 34, a guide start end is formed in an arcuate surface, and a guide end is formed in a substantially linear surface, and a stenosis rail 36 is fixed at an interval A in the lateral direction. are doing. The distance A is determined when the gripper 4 passes.
Is provided so as to open the grip portion 4a. Following the guide end of the stenosis rail 36, there is provided an opening / closing guide 37 which is reciprocated in the lateral direction by an air cylinder (not shown). In the longitudinal direction of the guide surface 38 of the opening / closing guide 37, a slope 38a is formed which gradually decreases in width from the guide start end toward the guide intermediate portion, and further has a width slightly larger than the thickness t of the spring 4c of the gripper 4 ( A spring guide 38b having about 1.5t) is provided.

When the opening / closing guide 37 completes the inward movement, the opening / closing guide guide surface 38 is configured so as to be substantially collinear with the guide surface 36a of the stenosis rail 36 or at a position slightly retreated. I have. The extruding tool 35 is an extruding cylinder 39 provided so as to be able to reciprocate in the direction of the passage of the alignment section 34.
And an extruding plate 40 that can be brought into contact with the center of the gripper 4 at the tip and is detachably attached to the tip of the pushing cylinder 39.

When the gripper 4a of the gripper 4 reaches the position for gripping the joint 3 of the seedlings 1 and 2 by the pushing action of the pushing plate 40, the rear end of the gripper 4 is narrowed. At a position separated from the screw 36. The rear end of the flat plate is bent upward so that the angle α formed by the vertical surface 6a and the horizontal surface 6b is greater than 90 degrees (about 105 degrees in the embodiment). And vertical surface 6a
Form a long hole 6c which is long in the longitudinal direction, and
Is provided detachably on the machine frame 41 located below the camera frame 41 and is provided so that the position can be changed in the vertical direction.

Accordingly, when the root mortar receiver 6 is attached to the machine frame 41, the lateral surface 6b is inclined downward, and its tip is located below the joining place 15 and slightly behind the rear surface of the root mortar part 5. It is provided long so that it is located in. Reference numeral 42 denotes the joined seedling receiving devices 13 and 14, the seedling supply devices 17 and 18, the seedling cutting devices 19 and 20, the joining place 15, and the like. A connector cover formed of a transparent material (in the embodiment, a synthetic resin) that can be opened and closed in the vertical direction.

A magnifying glass (a convex lens is used in the embodiment) 43 on the upper wall of the joint cover 42 opposing the joint place 15 so that the transfer-side end of the gripper supply device 16 can be enlarged and viewed. Is provided. Therefore, the joining operation state, the adjustment state when the joining position is adjusted, and the like can be easily visually confirmed. In normal operation, the connector cover-4
When 2 is not in the closed position, the danger signal output from a sensor (not shown) that detects this is taken into the control device 44, so that the control device 44 does not output the drive command signal for the grafting operation. That is, the devices that perform the grafting work do not operate.

However, if the operation of "adjustment" is selected by operating the dial type mode changeover switch 26, the joint cover 42 is not in the closed position regardless of the continuous operation or the step operation, Even if there is no cover 42, the system can be operated. In this case, when the operation switch 27 is operated to "start", an operation command signal is output from the control device 44 to the caution lamp 24 and the alarm buzzer 23, so that the caution lamp 24 is turned on. And inform the worker.

Then, the operation of the grafting work process continues 5
When the routine is performed (five times), the command signal for the operation of the grafting operation process output from the control device 44 is stopped. Therefore, when the joining cover 42 is opened and adjustment or inspection of the grafting device is performed, it is possible to grasp whether each device functions normally. At this time, the attention lamp 24
Is lit, and furthermore, an alarm is notified from the alarm buzzer 23 to notify the operator, so that the operator can know that there is a dangerous state.

FIG. 11 relates to a remote maintenance system, in which a personal computer 45 and a modem (transmission) 4 are connected.
6. A modem (reception) 47 and the grafting device 9 are connected so as to be able to send and receive information.
6 and a modem (reception) 47 are connected via a telephone line so that information can be transmitted. The cover of the grafting device 9 is also provided.
8, a remote system operation indicator 48 is provided.

Thus, when the remote maintenance is operated by operating the personal computer 45, the grafting device 9 can be compatible with the remote control from a remote place. Can easily know that remote maintenance of the grafting device 9 is in progress. The communication system may be a full-duplex (DATA) system, and may be a start-stop synchronous system so that transmission and reception are possible.

It is possible to perform maintenance at a remote location, change the status, monitoring, setting change, and modify the program of the grafting device 9 from a remote location, and further facilitate services and information provision to users. obtain. In the embodiment shown in FIG. 12, a wireless line (mobile phone in the embodiment) 4 is used instead of the modem (reception) 47.
9 and the communication adapter 50, the selection range of the installation location of the grafting device 9 can be increased, and the quality of service to the user is improved.

Although not shown, each work such as grafting work is provided so as to be performed by a preset control program. Next, the operation will be described. First, the operator turns on the power switch 25 and the operation switch 27, and sets the mode change switch 2
After automatically selecting 6, the hypocotyl of the scion seedling 1 is set in the scion seedling receiving device 13, and the hypocotyl of the stock seedling 2 is set in the stock seedling receiving device 14.

Then, in response to a signal from a sensor (not shown) that has sensed this, the hand is moved inward in the horizontal direction by operating means that uses the air that has received the control signal from the control device 44 as a drive source, and Grab one hypocotyl. And
When the scion seedling supply device 17 is rotated by approximately 90 degrees and stopped at a position facing the scion seedling cutting device 19, the scion seedling cutting device 19 is rotated and returned to the original position with this timing. Returning to this, at the time of this rotation, the cutting blade cuts a substantially predetermined position of the hypocotyl having cotyledons located on the near side. When the cutting of the hypocotyl is completed, the spikelet seedling supply device 17 is further rotated by 90 degrees so as to face the joining place 15.

On the other hand, the rootstock 2 is also transported to the position facing the joining place 15 by the rootstock supply device 18 while the rootstock seedling 2 is being rotated. A substantially predetermined position is cut by a cutting blade provided at 20. Subsequently, the air chuck of the scion seedling supply device 17 moves to a predetermined position in front, and the air chuck of the stock seedling supply device 18 also moves to a predetermined position in front, so that the cut surface of the scion seedling 1 and the stock are removed. Press the cut surface of seedling 2. At this time, since the root pot portion 5 of the rootstock seedling 2 is received by the root pot receiver 6, it can be prevented from swinging back and forth or left and right.

The gripper 4 is conveyed by the gripper supply device 16 from the storage section 33 through the passage to the alignment section 34 of the stenosis rail 36, where it is aligned in a line. And
The gripper 4 which has moved to a predetermined position on the stenosis rail 36 is transferred to the joining place 15 by an extrusion plate 40 which moves in the same direction through an extrusion cylinder 39 which reciprocates. And the rootstock 2 are extruded.

At this time, the joint side end of the alignment portion 34 is formed by forming a guide start end on an arcuate surface and a guide end end on a substantially linear surface with a stenosis rail 36 having an interval A in the lateral direction. The gripping tool 4 opens the gripping portion 4a when it passes. Then, when the gripper 4 passes the guide surface 38 of the opening / closing guide 37 which reciprocates in the lateral direction by an air cylinder, following the guide end of the stenosis rail 36, the width of the gripper 4 sequentially increases from the guide start end toward the guide intermediate portion. Because of the narrow slope 38a, the guide surface 38 can be smoothly entered from the stenosis rail 36, and the clogging of the gripper 4 can be prevented.

Further, although the spring 4c of the gripper 4 passes along the spring guide 38b of the guide surface 38, the spring 4c has a width slightly larger than the thickness t of the spring 4c. The movement is regulated and the guide of the gripper 4 is made smooth. Thereafter, when the gripper 4a of the gripper 4 reaches a predetermined position, the rear end of the gripper 4 separates from the stenosis rail 36, and the opening / closing guide 37 is moved outward by an air cylinder at the same timing. Therefore, the gripper 4a is closed to grip the joint 3 of the seedlings 1 and 2. At this time, since the root pot portion 5 is supported by the root pot receiver 6, the postures of the seedlings 1 and 2 are stabilized, and the holding of the joint 3 by the holding portion 4a can be enhanced.

After the joining operation, the extruded plate 40
Although the connector 4 pushed by this falls down in the pushing direction, the lateral surface 6b of the root basin 6 is inclined downward on the discharge side, so that the root basin 5 also falls in the same direction, and the grafted seedling 10
Falls smoothly onto the conveyor 12. When the opening / closing guide 37 completes the inward movement, the opening / closing guide guide surface 38 is configured so as to be substantially collinear with the guide surface 36a of the stenosis rail 36 or at a position slightly retreated. There is no catch of the gripper 4.

In addition, when the gripper 4a of the gripper 4 reaches the position for gripping the joint 3 of the seedlings 1 and 2 by the pushing action of the pushing plate 40, the rear end of the gripper 4 is narrowed. Since it is located at a position separated from the rail 36, the reliability of the closing action of the gripper 4a is improved. In addition, since the root pot receiver 6 can adjust the position of a longitudinal direction, the adaptability of the conditions of the rootstock 2 can be improved.

When the joining operation is completed, the spikelet seedling supply device 17
And the air chuck of the rootstock seedling supply device 18 alternately returns to the original predetermined position, rotates toward the spikelet seedling receiving device 13 and the rootstock seedling receiving device 14, respectively, and stands by for the next operation. . Then, the grafted seedlings 10 that have fallen on the conveyor 12 are transported to the transport termination part, where they are subjected to the next operation such as acclimatization. In the case of manual operation, the mode changeover switch 26 is set from automatic to manual. Then, when the step switch 29 is pressed, the scion seedling supply device 17 moves forward toward the scion seedling receiving device 13 to perform a grasping operation of the seedling, and the stock seedling supplying device 18 moves toward the stock seedling receiving device 14. Move forward and perform the gripping operation of the rootstock seedling.

Subsequently, when the step switch 29 is pressed, the spikelet seedling supply device 17 and the rootstock seedling supply device 18 are moved to about 9
Rotate 0 degrees. Thereafter, each time the step switch 29 is turned on, the following one operation is performed in order. Further, when the reset switch 30 is turned on, the operation is returned to the initial state. Therefore, it is effective when it is desired to return to the work start position during manual work.

When the step switch 29 and the reset switch 30 are turned on at the same time, the same operation as the automatic operation is performed according to the control program. Therefore, even if there are no grafted seedlings, each operation can be performed normally. You can easily find out if it is done. Thereby, maintenance efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a plan view of an automatic grafting device.

FIG. 2 is a plan view of the grafting device main body.

FIG. 3 is a front view of an operation panel.

FIG. 4 is a front view of the gripper supply device.

FIG. 5 is a side view of a distal end portion of the gripper supply device.

FIG. 6 is a plan view showing the operation of the gripper.

FIG. 7 is a side view showing the operation of the gripper.

FIG. 8 is a side view of the opening / closing guide.

FIG. 9 is a plan view of a joint cover.

FIG. 10 is a front view of a connector cover.

FIG. 11 is an external view of a remote system.

FIG. 12 is an external view of another embodiment of the remote system.

FIG. 13 is a flowchart.

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 1 ear tree seedling 2 rootstock seedling 3 joint 4 gripper 5 root pot part 6 root pot receiver

Claims (1)

[Claims] 1. A gripper supply means for supplying a gripper 4 toward a joint 3 between a scion seedling 1 and a rootstock seedling 2 is provided.
An automatic grafting device comprising a root pot receiver 6 for receiving the root pot portion 5 of the rootstock seedling 2 at a position below the root.