JP2008212052A - Seedling taking-out apparatus for grafting process - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a seedling taking-out apparatus for a grafting process, capable of commonly stably handling without giving damage, both grafting seedlings which are raised to an extent to develop seed leaves in a cotyledon form and seedlings in a wide growing level including spindly growing seedlings with long hypocotyl. <P>SOLUTION: This seedling taking-out apparatus for a grafting process is composed of a pulling-up apparatus which pulls up the hypocotyl of grafting seedlings raised in a raising seedling container, a holding hand (22) which holds the hypocotyl of the pulled seedlings, and a cutter (23) which cuts the vicinity of the root of the held hypocotyl. The pulling-up apparatus is formed by setting a pulling-up tool (21) which can move up and down, and stroke changing means (25a and 25s) which change the operating stroke. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to grafting seedlings that have been raised with a seedling device to such an extent that a bicotyledonous cotyledon is developed, and that has a pulling device, a gripping hand, a cutter, etc., and separately takes out the seedlings for preparation of grafting processing. The present invention relates to a seedling extraction device.

  The grafting seedling extraction device constitutes a grafting seedling production device together with the graft production processing robot body as described in Patent Document 1 previously proposed by the present applicant. This grafted seedling production apparatus consists of a rootstock seedling transporting mechanism and a hogi seedling transporting mechanism that are arranged approximately symmetrically, an adhesive part disposed at a grafting processing position in the center of the machine body, and a grafting below that A grafting seedling extraction device faces the both capture sections to take out rootstock and spikelet seedlings, and a graft production processing robot body grafts to produce grafted seedlings.

In this case, the grafting seedling removal device is configured to hold the grafting seedling of the seedling raising device conveyed by the seedling conveying mechanism upright by the pulling device, hold it by a holding hand, and cut it by a cutter with a predetermined length. Take out seedlings, ready for grafting.
JP 2006-238805 A

  However, in the case of grafting seedlings of the seedling device, the growth state of the seedlings is not constant depending on the growth conditions and the timing of grafting treatment. Even if it is raised, the upper stroke required for raising it will be insufficient and it will be supported at the middle position of the hypocotyl, and the impact during transfer will be applied to the hypocotyl and the hypocotyl will be bent or broken, etc. As a result, there is a problem that the grafting treatment seedling extraction device must be configured according to the size of the seedling.

  The problem to be solved is that, with regard to grafted seedlings grown to the extent that the cotyledons are expanded in a bilobal form, the seedlings in a wide range of growth stages, including the long seedlings with long hypocotyls, are handled in a stable and common manner without causing damage. An object of the present invention is to provide a seedling extraction device for grafting treatment.

  In order to solve the above-mentioned problem, the invention according to claim 1 is a pulling device for raising the hypocotyl of a grafted seedling grown in a nursery, and a grasping hand for grasping the hypocotyl of the raised seedling; In the grafting seedling extraction device comprising a cutter that cuts the vicinity of the root of the grasped hypocotyl, the pulling device includes a pulling tool that can move up and down, and a stroke changing means that changes the operating stroke. It is characterized by.

  The raising device raises the hypocotyl of the upright seedling by raising the lifting tool in the range from the root vicinity of the seedling hypocotyl to the vicinity of the cotyledon development part even if the seedling falls down. The grafting hand is gripped and the cutter cuts its root side to prepare for grafting treatment.In this case, when handling a long seedling with a long hypocotyl, the raising tool is raised to the vicinity of the cotyledon deployment part of the hypocotyl. By adjusting the operating stroke of the raising tool by the stroke changing means so as to move, the seedling can be raised according to the length of the hypocotyl.

According to a second aspect of the present invention, in the configuration of the first aspect, a conveying means is provided for conveying and supporting the grafted seedling grown in the nursery device to a predetermined position, and the supporting height position of the conveying means is adjusted. And a vertical adjustment means.
The grafting seedlings grown in the seedling raising device are transported by the transporting means and supported at a predetermined position, and the gripping position of the gripping hand can be optimized by changing the vertical position of the transporting means by the vertical adjustment means.

The grafted seedling production apparatus of the present invention has the following effects.
Since the invention according to claim 1 enables the raising of the seedling according to the length of the hypocotyl by the stroke changing means, avoiding the damage caused by the middle support of the lengthy seedling, without depending on the difference in the growing conditions, Stable seedling can be taken out.

  In the invention according to claim 2, in addition to the effect of claim 1, since the holding position of the holding hand can be optimized by the vertical adjustment means, the pulling device adapted to the cotyledon developing part from the root of the seedling by the pulling device. By combining with the raising, appropriate seedling can be taken out widely corresponding to the growth degree of the seedling.

Embodiments specifically configured based on the above technical idea will be described below with reference to the drawings.
1 and 2 are a plan view and a side view of the right half of the graft seedling production apparatus.
The grafted seedling production apparatus 1 is centered on the grafted robot main body 1a that grafts the safflower and the rootstock, and the grafted seedlings on both sides (only the right half is shown on the front side in FIG. 1) are used as the safflower and rootstock. Left and right capture units 2 and 2 for individual capture, left and right pretreatment units 3 and 3 for pretreating grafted seedlings received from the capture units 2 and 2, respectively, and pretreated hogi and rootstock Receiving and bonding, a bonding processing unit 7 and a grafted seedling sending unit 8 for sending a bonded one as a grafted seedling to the front side of the machine body are arranged so that the left and right are substantially symmetrical. Further, between the left and right capturing units 2 and 2 and the left and right pre-processing units 3 and 3, left and right relay units 9 and 9 that are temporarily held to deliver the grafting seedling W are disposed. .

  Explaining the side (right side in the figure) of handling the hogi in the configuration on the left and right sides of the machine body, the take-in section 2 includes a carry-in mechanism 11 for sequentially carrying the hogi seedling W forward to the front side, and on the carry-in mechanism 11 A grafting seedling extraction device 12 for individually grasping and extracting the hotwood seedling W as a spikelet, and a lateral transfer mechanism 13 that supports the grafting seedling extraction device 12 so as to be movable in the width direction of the machine body are provided.

Specifically, the carry-in mechanism 11 includes a belt conveyor or the like that is provided with a vertical adjustment unit 11a for height adjustment and moves along the side of the graft robot main body 1a, and expands the cotyledons in a bilobal shape. By moving the cell tray of the seedling device in which a large number of seedlings W... Grown in the seedling pot are grid-arranged and fed at the arrangement pitch, the seedling W is carried in and supported at a predetermined position.
The horizontal transfer mechanism 13 is configured by a linear slider or the like that can control the graft treatment seedling extraction device 12 to the left and right within a range up to a position that crosses the carry-in mechanism 11 and faces the front of the relay unit 9.

(Seedling extractor for grafting treatment)
As shown in the side view of FIG. 3, the grafting treatment seedling extraction device 12 is awakened with a pulling tool 21 capable of vertical movement S as a pulling device for raising the hypocotyl A of the grafting seedling. And a cutter 23 for cutting the vicinity of the root of the grasped hypocotyl A by an opening / closing operation. The gripping hand 22 and the cutter 23 are supported by a front / rear cylinder 24 so as to be movable back and forth.

  The pulling tool 21 is formed by bending a wire rod so as to surround three directions of a grafting seedling, and a vertical cylinder in which an air cylinder is arranged in a vertical shape so as to connect and support the base portion 21b to drive up and down. 25, and the vertical cylinder 25 is configured so that the raising tool 21 can be moved up and down in a range S from the vicinity of the root of the hypocotyl A lower than the cutter 23 to above the gripping hand 22.

  As shown in the enlarged view of the main part (at the time of low-order mounting), the lower end of the vertical cylinder 25 adjusts the mounting height position H within the range of the length of the base 21b of the pull-up tool 21 with a screw shaft or the like. A mounting portion 25a is configured for possible mounting. Further, the vertical cylinder 25 is provided with a position-adjustable stopper 25s so that the stroke upper limit position can be adjusted, thereby forming the vertical movement stroke adjusting means of the pulling tool 21 together with the adjustment of the mounting portion 25a.

  The grafting seedling extraction device 12 having the above-described configuration raises the pulling tool 21 so that the seedling is raised upright even when the seedling is fallen, and the gripping hand 22 grips the hypocotyl A of the upright seedling. Then, the cutter 23 cuts its root side, so that preparation for grafting as a scrub can be made. In this case, when handling a long seedling with a long hypocotyl A, the operating stroke range of the pulling tool 21 is adjusted by adjusting the stopper 25s and the mounting part 25a so that the pulling tool 21 moves up to the vicinity of the cotyledon deployment part. By changing, the seedling W can be raised according to the length of the hypocotyl A. Therefore, it is possible to secure the upright posture of the primate seedling, so that it is possible to stably take out the seedling by avoiding damage such as bending or bending due to the middle support of the primate seedling in the inclined posture without depending on the growth conditions. It becomes.

(Another configuration example)
Next, another configuration example of the grafting seedling extraction device will be described. In the following description, the same members as those described above are denoted by the same reference numerals, and description thereof is omitted.
As shown in FIG. 5, the grafting seedling removal device 32 supports the pulling tool 21 by a long stroke vertical cylinder 35, and includes an upper limit stopper 35 s and a lower limit that define an upper limit position and a lower limit position of the stroke. A stopper 35t is provided on the vertical cylinder 35.

  Specifically, as shown in FIGS. 6 and 7, respectively, a plan view and a front view of the main part, the position of the air cylinder as a long-stroke vertical drive means is arranged on the upper part of the vertical cylinder 35 in the vertical shape. An upper limit stopper 35s whose upper limit position can be adjusted by a screw or the like is provided, and similarly, a lower limit stopper 35t whose lower limit position can be adjusted by a position adjusting screw or the like is provided below the vertical cylinder 35. By this vertical direction driving means, it is possible to raise the seedling by adjusting the stroke range of the vertical movement of the raising tool 21 in accordance with the length of the hypocotyl as described above, and the height position of the loading mechanism 11 is adjusted. Even when the gripping position of the gripping hand 22 is adjusted, the stroke range of the up-and-down movement of the pulling tool 21 can be matched, so that the seedling can be stably held.

(Operation control)
The operation control of the grafting seedling removing device is performed by a predetermined flow of the gripping hand 22 and the cutter 23 by the front and rear cylinders 24 as shown in a flowchart of the operation timing of the gripping hand 22 and the cutter 23 in the case of the rootstock processing. Extrusion to the position (S1, S1a), where the gripping hand 22 is "closed" (S2), and the cutter 23 is "closed" (S4) after approximately 0.1 second interval (S3). Take control.
On the other hand, in the case of Hogi, the operation procedure of the gripping hand 22 and the cutter 23 is reversed, that is, the operation control is performed by the procedure of “closing” the gripping hand 22 and “closing” the cutter 23 after a predetermined interval. do.

  According to the above control procedure, in the case of processing a hard rootstock, the cutting can be processed reliably and thanks to its shaft diameter and weight, it can be processed without the occurrence of tilting. Since the seedling is soft, it can be cut well while suppressing the inclination by reversing the case of the rootstock, and the adverse effect on the next process due to the inclination can be eliminated.

(Cutting guide)
Regarding the inclination of the seedling in the above processing, even if the raising tool 21 of the grafting seedling removal device is effective in preventing the cell 3 surface from falling down, the response to the remaining one surface is lacking. When the seedling is guided to the holding hand slit on the back plate and gripped, the seedling is pushed and positioned, so if the gripping position and the budding position in the cell are far apart, There was a tendency for inclination to occur (particularly in the case of hogi).

  In order to solve such a problem, a guide plate 23a is provided above the cutter 23 so as to be parallel to the cell surface when the chuck is opened, as shown in the plan view of FIG. 9 (a) and (b). . By configuring the cutter 23 in this manner, it is possible to improve alignment and supply accuracy by preventing a fallen seedling and preventing tilting during transportation.

(Cotyledon lifting mechanism)
In addition, in the conventional grafting robot, the cotyledon is angled and the seedlings are inclined at the time of cutting so that the cotyledon escapes from the cutter blade, but the leaves are damaged by the shape and hardness of the cotyledon and hypocotyl. In many cases, the tilting is not stable at the time of cutting, and it is impossible to tilt the supply stand for the automatic feeding because of the swinging operation.

  In order to solve this problem, as shown in the plan view and the side view of FIGS. 10 and 11, respectively, the cutting seedling W is placed between the cutter blade locus T at the cutting position of the seedling W and the hand holding hand. A bar 41 on the slope that guides the cotyledons L so as to be placed on the cutter trajectory T at the cutting position is provided so as to be vertically adjustable. By configuring the means for lifting the cotyledons L in this way, it is possible to improve the graft success rate and stabilize the cutting accuracy.

(control panel)
In the grafting robot device by the grafting robot main body and the seedling automatic seeding device arranged on both sides thereof, as shown in the sketch of the panel of FIG. 12, each of the three devices operates independently, “House” 42a, When each mode of "link" 42b, 42c in which the tree seedling device and the grafting robot main body are linked and "link" 42d in which all three units are linked is set, and each mode is selected, the relay circuit Is configured to switch the IO setting. For example, in the case of a grafting robot alone, seedling detection is input from a sensor, and in conjunction, output from a seedling device is detected and seedling detection is performed.

  Due to the configuration of the operation modes 42a to 42d, there is a case where three units are moved while being docked and moved depending on the position of each operating part, so an “initial / release” switch 43 is provided and set to the initial position. Then, each moves to a position where it does not buffer, and any one of the three units can be moved or adjusted independently, so that workability can be improved and cost can be reduced. Therefore, it is possible to avoid the troublesome operation of switching with a plurality of select switches attached to the grafting robot main body and a seedling automatic seedling feeding device arranged on both sides thereof as in the prior art.

(Grafting system)
Next, the grafting work system will be described.
As shown in FIG. 13, the grafting work system has a grafting work conveyor 51 and a position where the grafting clip C, the hotwood X, and the rootstock Y are easily supplied one by one on the conveyor. A feeding device 52, a rootstock feeding device 53, and a grafting clip feeder 54 are arranged. As shown in the timing chart of FIG. 14, the work cycle constitutes a control for supplying the hogi X, the rootstock Y, and the grafting clip C one set at a time.

  By constructing the grafting work system as described above, grafting incidental work (clipping work, cutting of cuttings, cutting of rootstock, etc.) is eliminated, and the worker P can concentrate on the grafting work, so that the work efficiency can be improved. it can.

(Seedling production method for seedling device)
With regard to the method for producing seedlings used in the automatic grafting seedling supply device, the conventional (ordinary) seedling method produces short and hard seedlings when grown at low temperature and low irrigation, and long (adult) soft seedlings when grown at high temperature and multiple irrigation. As the seedlings grow up and the length of the hypocotyl becomes extremely large, the seedling supply requires the length of the hypocotyl and the hardness of the seedling because of the handling mechanism that controls the removal of the seedling, the direction of the leaf, and the height. It was difficult to adapt automated equipment and other equipment, but this problem was solved by the following method, so that seedlings with long hypocotyls could be supplied, and raising seedling management could be facilitated. .

  That is, as a method for producing seedlings suitable for the grafted seedling automatic feeding device, seedlings with short hypocotyls that are well-aligned by low temperature and low irrigation are grown and the day before the grafting treatment is scheduled (before the main leaves begin to appear) In addition, by placing them in a dark / high temperature (30 ° C) environment (using the germination room) for 12 hours, they are uniformly grown to 10 mm to 15 mm to form a straight, good seedling. And By handling the seedlings in advance in this way, the automatic grafting seedling supply device takes out the seedlings from the seedling tray, and the length and hardness are suitable for controlling the direction and height of the leaves. Seedlings can be produced.

It is a principal part top view of a graft seedling production apparatus. It is a side view of a grafted seedling production apparatus. It is a side view of the seedling extraction device for grafting treatment. It is a principal part enlarged view of the seedling extraction apparatus for grafting processing. It is a side view of another seedling extraction device for grafting treatment. It is a principal part top view of the seedling extraction apparatus for grafting processing of FIG. It is a principal part front view of the seedling extraction apparatus for grafting processing of FIG. It is a flowchart of the operation control in the case of a rootstock. It is a top view which shows the open / close state (a) (b) of a cutter. It is a principal part top view of a cotyledon raising means. It is a principal part side view of a cotyledon raising means. It is a sketch of an operation panel. It is equipment arrangement | positioning figure of a grafting work system. It is a work cycle of the grafting work system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Graft seedling production apparatus 1a Grafting robot main body 2 Take-in part 11 Carry-in mechanism 11a Height adjustment part 12 Graft treatment seedling take-out device 13 Lateral transfer mechanism 21 Lever 21b Base 22 Grasping hand 23 Cutter 24 Front / rear cylinder 25s Stopper (Stroke change means )
25a Mounting part (Stroke changing means)
25 Vertical cylinder 32 Seedling removal device for graft treatment 35 Vertical cylinder 35s Upper limit stopper (Stroke changing means)
35t Lower limit stopper (Stroke changing means)
A hypocotyl L cotyledon W grafted seedling (hogi seedling)

Claims (2)

A pulling device for raising the hypocotyl of a grafted seedling grown in a nursery, a grasping hand (22) for grasping the hypocotyl of the raised seedling, and a cutter for cutting the vicinity of the root of the grasped hypocotyl (23) In the seedling removal device for graft treatment,
The pulling device includes a pulling tool (21) capable of moving up and down, and stroke changing means (25a, 25s) for changing an operation stroke thereof.   A conveying means (11) for conveying and supporting the grafted seedling grown in the seedling raising device to a predetermined position is provided, and a vertical adjustment means (11a) for adjusting the supporting height position of the conveying means (11) is provided. The seedling extraction device for grafting treatment according to claim 1, wherein

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