JP2011200196A - Pollinating robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic pollination device dispensing with expensive and short-life bees or workers necessitating labor cost.SOLUTION: The pollinating robot is provided with a traveling device 121, an identification apparatus 125 to identify a normal flower and an unopened flower, a vibrator 124 to vibrate the flower and perform pollination treatment, a pollinated position memorizing device to memorize positions finished with pollination treatment, a controller to control the vibrator 124 in a manner to vibrate only the flower identified to be the normal flower by the identification apparatus 125 and pollinate flowers excluding flowers at positions identified to be finished with pollination treatment by the pollinated position memorizing device, and a harvesting device 136 to harvest fruits.

Description

  The present invention belongs to the technical field of a pollination robot that performs a pollination process by applying vibration to a flower.

In a low-stage dense planting method for tomatoes, it is known to produce fruits by pollination of flowers or the like (see Patent Document 1).
As a method of performing pollination processing, there are a method of using a bee for pollination, a manual method, and the like.

JP 2009-77694 A

  In the method of using the bee for pollination to promote pollination, the bee for pollination is expensive, and the bee for pollination has a short life of 2 to 3 months. Become. In the method of manual work for promoting pollination, an operator is required, and labor and labor costs of the operator are required, resulting in an increase in cultivation cost.

  This invention makes it a subject to aim at the cost reduction in a pollination process, and also aim at the cost reduction of cultivation.

In order to solve the above problems, the following technical measures were taken.
That is, the invention according to claim 1 is a pollination robot provided with a vibration device (124) for performing pollination treatment by applying vibration to a flower.

The invention according to claim 2 is the pollination robot according to claim 1 provided with a traveling device (121) and an identification device (125) for discriminating between normal flowers and non-shaped flowers.
The invention according to claim 3 is a pollination robot according to claim 2, further comprising a control device that controls the vibration device (124) so as to apply vibration only to a flower identified as a normal flower by the identification device (125). did.

The invention according to claim 4 is the pollination robot according to any one of claims 1 to 3, wherein a pollination-completed position storage device that stores a position where pollination has already been performed is provided.
The invention according to claim 5 is the pollination robot according to claim 4 provided with a control device that controls to perform pollination processing except for the position where the pollination processing has already been performed in the pollination completed position storage device.

  The invention according to claim 6 is the pollination robot according to any one of claims 1 to 5 provided with a harvesting device (136) for harvesting fruits.

  According to the first aspect of the present invention, the pollination robot can vibrate the flowers with the vibration device 124 to perform pollination treatment. Therefore, it is possible to reduce the labor of bees for pollination and workers, and the pollination treatment. The cost can be reduced, and as a result, the cost of cultivation can be reduced.

  According to the invention of claim 2, in addition to the effect of the invention of claim 1, the pollination robot can be moved by the traveling device 121 and pollination processing can be performed at various places in the cultivation space such as a cultivation facility, and the identification device 125 is normal. Since the pollination process can be performed only on the flower identified as the flower and the pollination process on the non-shaped flower can be omitted, the pollination process can be performed efficiently.

  According to the invention according to claim 3, in addition to the effect of the invention according to claim 2, the vibration device 124 automatically gives vibration only to the flower identified by the identification device 125 as the normal flower by the control device. Therefore, the pollination process can be performed more efficiently.

  According to the invention according to claim 4, in addition to the effect of the invention according to any one of claims 1 to 3, since the position where the pollination processing has already been performed is stored by the pollination completed position storage device, When performing pollination processing again in the cultivation facility, it is possible to omit performing pollination processing again on the same flower that has already undergone pollination processing, and to determine whether the operator has already performed pollination processing Further, it is possible to prevent an erroneous determination as to whether or not the pollination process has already been performed by the operator, to efficiently perform the pollination process, and to erroneously determine that the pollination process has already been performed on the flowers that have not been pollinated. Therefore, the amount of cultivated harvest can be increased.

  According to the invention according to claim 5, in addition to the effect of the invention according to claim 4, the pollination processing is automatically performed by the control device except the position where the pollination processing has already been performed in the pollination completed position storage device. Since the labor of the worker in the process can be further omitted, the pollination process can be performed more efficiently.

  According to the invention according to claim 6, in addition to the effect of the invention according to any one of claims 1 to 5, the fruit can be harvested by the harvesting device 136 while performing pollination treatment, And harvesting work can be performed simultaneously, and work efficiency can be improved.

Front view showing a pollination robot The figure which shows the flow of pollination work and pollination position image image Front view showing a pollination robot and a harvesting robot The figure which shows the flow of the harvest work based on pollination processing, and a pollination position image image Front view showing a pollination harvesting robot Diagram showing the flow of pollination work and harvesting work The figure which shows a control robot and a chemical | medical solution storage tank Side view showing the main parts of grafting seedling production equipment Plan view showing the main part of the grafted seedling production device Plan view showing rootstock pretreatment unit, hogi pretreatment unit and adhesion treatment unit Plan view showing the regulating member Front view showing restriction member Side view showing rootstock cutting device Side view showing Hogi cutting device Plan view showing a part of the take-in part omitted Plan view with enlarged main part of grafting seedling production equipment Side view of the main part of the grafted plant production equipment Enlarged side view of gripping hand Top view of hand mechanism in upper and middle gripping states (a) (b) Operation state plan view of the cutter mechanism (a) and its B-B line sectional view (b) Operation plan of the first lifting tool Operational side view of the first lifting tool Front view of standing movement of the first lifting tool Top view showing first and second lifting tools Top view showing different second lifting tools Top view showing the hand tip of the middle hand mechanism Operation procedure diagram of Hogi seedling take-in operation Operation plan view of the gripping hand preparation state (a) and gripping state (b) Top view of hand mechanism showing seedling separator Plan view of direction correction operation in the transfer process Plan view of the main part of the alignment holding means Side view of main part of alignment holding means (a) and its B-B line sectional view (b) Side views showing before and after the delivery operation of the alignment holding means (a) (b) Operation procedure diagram for handing over Hogi seedlings Plan views before and after the first alignment operation (a) and (b) Plan views before and after the second alignment operation (a) and (b) Plan views (a) and (b) before and after the alignment operation of the main alignment member and the sub-alignment member Diagram showing the operation panel Side view showing different sub-alignment members Plan view showing different sub-alignment members Plan view showing different sub-alignment members Plan view showing the hand tip of different hand mechanisms Plan view showing guide plate and push plate Front view showing safety cover Side view showing safety cover Top view showing the opening / closing member The top view which shows the extrusion surface of a clip extrusion apparatus, and the clip of an open state

One embodiment of the present invention will be described below.
The pollination robot 133 includes a traveling carriage 121 having a total of four traveling wheels 120 on the front, rear, left and right, an upper and lower frame 122 erected from the traveling carriage 121, and a control that is fixedly supported on the upper portion of the upper and lower frame 122. A box 123, a vibration device 124 that can swing up and down with respect to the control box 123, and a photographing device 125 that serves as an identification device provided above the control box 123 are provided. The traveling carriage 121 is configured to travel on the pipe rail 127 provided in the passage 126 between the cultivation strips in the cultivation facility such as a greenhouse, and is configured to travel by driving the traveling wheels 120 by a built-in traveling motor. It has become. In addition, the said pipe rail 127 also serves as the hot water pipe which flows warm water generally in order to heat the inside of cultivation facilities.

  The vibration device 124 includes an arm portion 129 that swings up and down around a horizontal axis 128, and a vibrator (vibrator) 130 provided at the tip of the arm portion 129. The arm portion 129 swings up and down by driving a swing motor provided therein. In addition, the position of the vibrator 130 is changed by changing the arm length of the arm portion 129 by driving an extension cylinder provided in the arm portion 129. The vibrator (vibrator) 130 is configured to vibrate when the vibration generator 131 is driven. The photographing device 125 includes a camera 132 that photographs a cultivated plant at a height within a predetermined range, and is configured to photograph approximately the lower half of the cultivated plant.

  Then, when the traveling switch is turned on, the traveling carriage 121 automatically travels at a predetermined traveling speed, and when the photographing device 125 detects a flower, the traveling stops. Note that the photographing device 125 is configured to detect that there is a flower when photographing a red color by color. After the photographing device 125 detects a flower and stops traveling, the photographed image is subjected to image processing, and compared with the image images of normal flowers and non-shaped flowers set and input in advance, and whether or not the flower is a normal flower is identified. When it is identified as an unshaped flower, the traveling of the traveling carriage 121 is resumed. When the normal flower is identified, an input signal is issued from the photographing device 125 to the control device in the control box 123, and the vibrator 130 is positioned at the position of the normal flower or in the vicinity of the normal flower by the output signal from the control device. The oscillating motor and the telescopic cylinder are driven. And the vibration generator 131 is driven for a predetermined time (for example, 5 seconds) by the output from the control device to vibrate the vibrator 130. At this time, since the vibrator 130 is in contact with the flower or a leaf in the vicinity of the flower, even if the vibrator 130 is not in contact with the flower but in contact with the leaf, the vibration is transmitted to the flower and vibrates the flower. Can do. This vibration makes it easy for pollen to scatter, so that pollination can be promoted. When this pollination process (vibration application) is completed, the swing motor and the telescopic cylinder are driven to return the vibrator 130 to the original standby position by the output signal from the control device, and the traveling of the traveling carriage 121 is resumed. Similarly, when the photographing apparatus 125 detects a flower, the traveling is stopped and the operation as described above is performed.

  In addition, the position where the vibrator 130 vibrates in the cultivation facility is stored as the position where the pollination processing has already been performed by the pollination completed position storage device in the control device. This position is stored as a three-dimensional position based on the travel position of the traveling carriage 121, the swing position of the arm portion 129 by the swing motor, and the expansion / contraction position of the telescopic cylinder. In addition, as a determination method of the traveling position of the traveling carriage 121, in addition to using the GPS (Global Positioning System), the distance measurement from two places provided in the cultivation facility, the traveling distance of the traveling carriage 121, etc. Can be considered.

  Then, when the pollination process is performed again at a later date, if the control device determines that the position identified as the normal flower by the photographing device 125 is the position stored by the pollination completed position storage device, the arm portion 129 swings and expands and contracts. The vibration of the vibrator 130 is not performed by the vibration generator 131, and the traveling of the traveling carriage 121 is resumed. Therefore, the control device controls to perform the pollination process except for the position where the pollination process has already been performed in the pollination completed position storage device.

  Further, the control box 123 of the pollination robot 133 is provided with transmission means for transmitting the position data stored in the pollination completed position storage device. This transmission means transmits data to a separately provided harvesting robot 134, and the harvesting robot 134 searches for fruits that can be harvested in the vicinity based on the received position data, and harvests the fruits.

  As with the pollination robot 133, the harvesting robot 134 includes a traveling carriage 121 having a total of four traveling wheels 120 on the front, rear, left and right, an upper and lower frame 122 erected from the traveling carriage 121, and an upper portion of the upper and lower frames 122. A control box 123 that is fixedly supported and a photographing device 125 that is an identification device provided above the control box 123 are provided, and a harvesting hand is used instead of the vibration generating device 131 and the vibrator 130 of the vibration device 124 of the pollination robot 133. 135 and a harvesting device 136 provided with a cutting blade. The harvesting device 136 includes a harvesting arm portion 137, a swing motor, and an expansion / contraction cylinder in the same manner as the vibration device 124. The harvesting device 136 sandwiches the upper stem root of the fruit harvested by the harvesting hand 135, and the sandwiched stem portion. The upper side of the machine is cut with a cutting blade, and the fruit is conveyed to a separately provided harvesting container by the operation of a swing motor and an expansion cylinder, and the harvesting hand 135 is released to harvest the fruit into the harvesting container. Yes.

  Then, when the traveling switch is turned on, the traveling carriage 121 automatically travels at a predetermined traveling speed, stops traveling in the vicinity based on the received position data, and the fruit that can be harvested by the photographing device 125 is collected. Explore. The photographing device 125 is configured to discriminate fruits that can be harvested based on the color and size of the fruit. The photographed image is subjected to image processing, and compared with an image image having a preset color and size. For example, when the fruit to be harvested is a tomato, a fruit having a dark red color and a size that is greater than or equal to a predetermined size is determined to be a fruit at an appropriate harvest time. When no harvestable fruit is found, the travel of the traveling carriage 121 is resumed and the vehicle travels to the next nearby position based on the received position data. When a harvestable fruit is found, an input signal is issued from the photographing device 125 to the control device in the control box 123, and the harvesting hand 135 and the cutting blade are located at the upper position of the fruit by the output signal from the control device. The oscillating motor and the telescopic cylinder are driven. Then, according to the output from the control device, the harvesting hand 135 and the cutting blade are driven as described above to harvest the fruit. If there are other harvestable fruits, the fruits are subsequently harvested as described above. When all the harvestable fruits are harvested, the swinging motor and the telescopic cylinder are driven to return the harvesting hand 135 and the cutting blade to the original standby position by the output signal from the control device, and the traveling cart 121 travels. To resume. In the same manner, the vehicle stops traveling in the vicinity based on the received position data and performs the above-described operation.

In addition, both the harvesting robot 134 and the pollination robot 133 may work simultaneously in the cultivation facility, or may work individually.
The harvesting robot 134 is configured to search for fruits that can be harvested mainly in the vicinity of the pollination process based on the received position data, so that it is easy to search for fruits that can be harvested, and the harvesting work efficiency is improved. be able to.

  Moreover, the harvesting device 136 can be provided in the pollination robot 133 so that the pollination robot and the harvest robot can be used together. Specifically, a harvesting device 136 is provided on the side opposite to the vibration device 124 with respect to the control box 123, and a harvesting photographing device 125 for photographing fruits on the harvesting device 136 side is additionally provided. This pollination harvesting robot 138 performs pollination treatment on the cultivation line on one side of the passage 126 and can perform harvesting work on the cultivation line on the other side of the passage 126, so that pollination treatment and harvesting work can be performed simultaneously, improving work efficiency. To do. The traveling stop of the traveling carriage 121 in the pollination harvesting robot 138 is made based on the position of the normal flower identified by the image capturing device 125 for pollination processing or the position stored in the pollinated position storage device.

  As described above, various forms of the pollination robot 133 and the harvesting robot 134 have been described. However, in order to search for a fruit that can be harvested based on the position stored by the pollinated position storage device, the traveling cart 121 is stopped. It is desirable to stop traveling based on the position where the pollination process was performed a predetermined number of days ago. Because it takes at least a few days from the pollination treatment until the fruit ripens to a state where it can be harvested due to the effect of the pollination treatment. This is because the work efficiency should be improved.

  As described above, the pollination robot 133 is provided with the vibration device 124 that vibrates the flowers and performs the pollination treatment. The vibration device 124 can vibrate the flowers and perform the pollination treatment. Workers' labor can be reduced, cost reduction in pollination processing can be achieved, and consequently, cultivation costs can be reduced.

  In addition, the pollination robot 133 is provided with a traveling carriage 121 serving as a traveling device and a photographing device 125 serving as an identification device for identifying normal flowers and non-shaped flowers, and the traveling device 121 moves the pollination robot 133 to grow cultivation facilities and the like. Pollination processing can be performed in various places in the space, and pollination processing can be performed only for flowers identified as normal flowers by the identification device 125, and pollination processing for non-shaped flowers can be omitted, so that pollination processing can be performed efficiently.

  In addition, the pollination robot 133 is provided with a control device that controls the vibration device 124 so as to apply vibration only to the flower identified as the normal flower by the identification device 125, and vibrates only the flower that is identified as the normal flower by the identification device 125 by the control device. Since the device 124 automatically vibrates, the labor of the worker in the pollination process can be further omitted, so that the pollination process can be performed more efficiently.

  In addition, the pollination robot 133 is provided with a pollinated position storage device that stores the position where the pollination processing has already been performed, and the position where the pollination processing has already been performed is stored by the pollination completed position storage device. When performing pollination processing, it can be omitted to perform pollination processing again on the same flower that has already undergone pollination processing, and the operation of determining whether the worker has already performed pollination processing can be omitted, and It is possible to prevent misjudgment as to whether or not the pollination treatment has already been performed by the operator, to efficiently perform the pollination treatment, and to prevent misjudgment that the pollination treatment has already been performed on the flowers that have not been pollinated. It is possible to increase the yield of the harvest.

  In addition, the pollination robot 133 is provided with a control device that controls to perform the pollination processing except the position where the pollination processing has already been performed in the pollination completed position storage device, and the control device automatically performs the pollination processing in the pollinated location storage device. Since the pollination process is performed except for the position where the pollination is performed, the labor of the operator in the pollination process can be further omitted, so that the pollination process can be performed more efficiently.

  The pollination harvesting robot 138, which is a kind of pollination robot, is provided with a harvesting device 136 for harvesting fruits, and the fruits can be harvested by the harvesting device 136 while performing pollination processing. It can be done at the same time and work efficiency can be improved.

  In addition to the above-described pollination robot 133 and harvesting robot 134, those capable of running on the pipe rail 127 of the passage 126 are required to perform cultivation management work and harvesting work such as leaf cutting work and bud cutting work. There are a work cart on which an operator is boarded, a control robot 139 for spraying a chemical solution on cultivated plants, and the like. The work carriage includes a lifting platform on which an operator gets on, and can raise and lower the lifting platform in accordance with the working height of the cultivated plant so that the worker can easily work. The control robot 139 includes a spray nozzle 140 that sprays a chemical solution toward the cultivation strips on the left and right sides.

  The chemical solution sprayed by the control robot 139 is stored in a chemical solution storage tank 141 provided separately from the control robot 139, and the chemical solution is supplied from the chemical solution storage tank 141 to the control robot 139 through the supply hose 142. The supply hose 142 is automatically drawn out or wound up by the hose winding device 143 according to the travel of the control robot 139. The control robot 139 is provided with a spray amount setting device (spray amount adjustment dial) 144 for setting the spray amount of the chemical solution. Based on the setting of the spray amount setting device 144, the rotation speed of the discharge pump of the chemical solution, that is, the discharge amount Change and set. In general, while the control robot 139 reciprocates in one passage 126, the chemical solution is sprayed to perform the chemical solution spraying operation. The chemical solution storage tank 141 is provided with a liquid level sensor 145 constituted by an electrode rod.

  Both the chemical storage tank 141 and the control robot 139 are provided with a transmission / reception device 146 so that both data can be transmitted and received between the chemical storage tank 141 and the control robot 139. The setting data of the spray amount of the spray amount setting device 144 on the control robot 139 side is transmitted to the chemical solution storage tank 141 side, and on the basis of the reception data, the control robot 139 travels once in the passage 126 while spraying the chemical solution. When the chemical solution storage amount in the chemical solution storage tank 141 based on the detection of the liquid level sensor 145 is smaller than the required chemical solution amount, an alarm of the control robot 139 is activated by transmission from the chemical solution storage tank 141 side. Thus, an operator who works while walking with the control robot 139 may check the alarm and supply the chemical solution to the chemical solution storage tank 141 after the operation in the passage 126 is completed. There is no need to return to the chemical solution storage tank 141 during the operation on the passage 126 and perform the chemical solution supply operation, and the chemical solution supply operation can be easily performed.

A grafted seedling can be used as a seedling for cultivating a plant in a cultivation facility. Next, the graft seedling production apparatus 1 for producing the graft seedling will be described.
The graft seedling production apparatus 1 is centered on a graft robot body la that grafts the rootstock and the hogi, on the left side (upper side in FIG. 8) on the left side (upper side in FIG. 8), and on the right side (FIG. 8). On the left side of the front surface of the grafting robot main body la from the rootstock taking-in part or the Hogi taking-in part 2 to the rootstock, hogi Rootstock pretreatment unit (pretreatment unit) 3 and Hogi pretreatment unit (pretreatment unit) 4 that receive the seedlings respectively as received from the rootstock pretreatment unit 3 or Hogi pretreatment unit 4 in the center A bonding processing unit 7 for bonding the rootstock and the hogi, and a grafting seedling sending unit 8 for sending the bonded grafted seedling from below are arranged so as to be substantially symmetrical, and the front side of the hogi taking-in unit 2 Is provided with an operation panel lp.

  The rootstock preprocessing unit 3 includes a rootstock transport arm 61 that is rotated by driving a root actuator 60 that is pneumatically operated, and the rootstock seedling from the rootstock take-in section is driven by the rootstock transport arm 61. The rootstock transport arm 61 rotates 90 degrees to transport the rootstock seedling to the cutting position 62, and then the rootstock transport arm 61 further rotates 90 degrees to transport the rootstock seedling to the joining position 63. The rootstock seedling is cut by the rootstock cutting device 64 at the cutting position, and one leaf of the dicotyledon is cut off. The excision portion that should be cut off by the cutting device 64 may adhere to the seedling to be transported, but the excision portion is removed on the transport path from the cutting position 62 to the joining position 63. A resin brush 65 is provided, and an air nozzle 66 that blows air is provided on the rootstock transport arm 61 so that the excised portion is reliably dropped so that the grafted seedlings can be joined appropriately.

  The hotwood pre-processing unit 4 includes a hotwood transfer arm 68 that is rotated by driving the rotary actuator 67 of the hotwood side that is operated by air pressure. Grasping the seedlings, the spike transfer arm 68 is rotated 90 degrees to transfer the spike seedlings to the cutting position 69, and then the spike transfer arm 68 is further rotated 90 degrees to transfer the spike seedlings to the joining position 63. . At the cutting position 69, the hogi seedling is cut by the hogi cutting device 70, and the lower part of the hypocotyl is cut off. In addition, although the excision part which should be cut off by the cutting device 69 may adhere to the seedling to be transported, the excision part is removed on the transport path from the cutting position 69 to the joining position 63. Therefore, a resin brush 71 and an air nozzle 72 for blowing air are provided to reliably drop the cut portion so that the grafted seedlings can be joined appropriately.

  The adhesion processing section 7 feeds the clip feeder 73 for feeding the grafted seedlings one by one, and the clip 101 fed by the clip feeder 73 in a state where the rootstock seedling and the seedling seedling reach the joining position 63. A clip supply device 74 is provided for supplying the seedling seedlings and the hogi seedlings one by one. Note that when the rootstock transport arm 61 and the hotwood transport arm 68 reach the joining position 63, the cutting surfaces of the rootstock seedling and the hogi seedling are matched to join the seedling.

  The clip 101 includes a pair of left and right grip portions 102 and a pair of left and right opening / closing portions 103, and the grip portion 102 and the opening / closing portion 103 constitute a left and right clip piece, and the left and right clip pieces. The gripping part 102 and the opening / closing part 103 are in contact with each other to form a pivot point, and when the left and right opening / closing parts 103 are closed, the left and right gripping parts 102 are opened. The left and right grips 102 are biased toward the closing side by a spring 104, and are configured to close when there is no external force.

  The clip supply device 74 is provided with a guide rail 105 serving as a transfer path for the clip 101, and the grip portion 102 is continuously moved in the posture toward the upper transfer side in the guide rail 105 by the feeding action of the clip 101 by the clip feeder 73. The clip 101 is transferred. The end of the guide rail 105 has a narrow left and right width. When the clip 101 is transferred to the end of the guide rail 105, the clip 101 closes the left and right open / close sections and opens the left and right grips 102. The left and right opening / closing operation members 107 of the clip opening / closing device 106 that inherits the clip 101 from the end of the guide rail 105 are opened to open the left and right opening / closing portions 103 and close the left and right holding portions 102. Further, the clip 101 is sequentially supplied to the joining position 63 by the clip pusher 108 provided at the terminal end of the guide rail 105.

  The end surfaces of the left and right opening / closing operation members 107 with which the left and right opening / closing portions 103 of the clip 101 come in contact have an opening inclined surface 147 whose joining position 63 side becomes narrower in accordance with the angle of the left and right opening / closing portions 103 with the clip 101 opened. I have. On the side of the joining position from the end of the opening slope 147, there is provided an extrusion slope 148 that becomes wider on the joining position 63 side. Therefore, when the clip 101 is opened by the left and right opening / closing operation members 107, the opening inclined surface 147 reliably holds the left and right opening / closing portions 103, and the clip 101 prevents displacement. When the clip 101 is pushed out after closing the left and right grips 102 of the clip 101, the left and right opening / closing parts 103 are smoothly pushed out while being guided by the pushing inclined surface 148.

  The end surfaces 149 on the rotation fulcrum side of the left and right grips 102 of the clip 101 are positioned on a straight line (on the same plane) with the clip 101 open. As a result, the flat extrusion surface 108a of the clip extrusion device 108 acts on the end surfaces 149 of the left and right grips 102, and the clip 101 can be reliably pushed out. Therefore, the clip 101 can be supplied to the joining position 63 with high accuracy. When the clip 101 is pushed out and released by the clip pusher 108 after the clip 101 is closed, the end face 149 is bent left and right, but the seedling is already gripped by the clip 101. Even if the position is slightly shifted, there is no problem. The extrusion surface of the clip extrusion device 108 is constituted by a leaf spring, and the next clip 101 is greeted by the return operation of the clip extrusion device 108.

  A restriction member 109 is disposed at a position on the extension of the guide rail 105. The restricting member 109 is formed of a transparent resin-made plate extending in the vertical direction, and is disposed at a position where the front end of the clip 101 that opens and closes by the clip opening and closing device 106 at the joining position 63 (the front end of the grip portion 102) contacts. Yes. Therefore, the clip 101 transferred to the joining position 63 is regulated so that the front end contacts the regulating member 109 with the left and right grips 102 opened and is not further conveyed. The restricting member 109 is fixed to the distal end portion of the moving arm 111 that rotates back and forth by the restricting member moving device 110 that is a rotary actuator, and from below the restricting position that contacts the clip 101 at the joining position 63. Thus, it is configured to move to the retreat position where it moves to the front side and retreats from the restriction position.

  Therefore, first, the restriction member 109 in the retracted position is moved from the front side to the restriction position by the restriction member moving device 110. By the extension of the rootstock transfer arm 61 and the spikelet transfer arm 68, the rootstock seedling and the spikelet seedling are supplied from the left and right to the joining position 63 to bring the seedling into a joined state. At this time, the seedling is guided to an appropriate position of the joining position 63 by the regulating member 109. The left and right end portions of the restricting member 109 are configured in an arc shape or a taper shape, and can be smoothly guided without being caught. Then, the clip 101 is supplied to the joining position 63 by the clip pusher 108 with the left and right grips 102 opened, but the clip 101 comes into contact with the regulating member 109 and is positioned at an appropriate position. The space between the left and right gripping portions 102 where the clip 101 is opened is a gripping area. In this gripping area, rootstock seedlings and spikelet seedlings transported by the rootstock transport arm 61 and the spikelet transport arm 68 are provided. The hypocotyl junction is located. That is, the joint part of the hypocotyl of the rootstock seedling and the hogi seedling is located in a space surrounded by the left and right grips 102 and the regulating member 109. After that, the left and right opening / closing operation members 107 of the clip opening / closing device 106 are opened to open the left and right opening / closing parts 103 to close the left and right gripping parts 102, and the rootstock seedlings and the hogi seedlings are sandwiched and fixed by the clips 101. Also at this time, since the restricting member 109 is at the restricting position and the pop-out of the clip 101 is restricted, the posture and the position of the clip 101 are prevented from being inappropriate by the operation of closing the left and right gripping portions. In addition, the seedling can be held at a desired position in the grip portion 102. After closing the left and right grips 102, the regulating member 109 is moved to the retracted position by the regulating member moving device 110. Thereafter, the clip 101 is pushed out by the clip extrusion device 108, and the grafted seedling is released together with the clip 101 to the grafted seedling sending unit 8. The grafted seedling sending unit 8 transports the grafted seedling to the container. Since the regulating member 109 is transparent, the operator can easily see the joining condition of the seedlings without getting in the way, and the occurrence of a large number of defective grafted seedlings caused by improper adjustment of each part or the like is prevented. To do. As a result, the adjustment work of each part of the rootstock pretreatment unit 3, the hogi pretreatment unit 4 and the adhesion treatment unit 7 can be easily performed, and the adjustment work time can be shortened.

  The transporting operation of the rootstock seedling to the cutting position 62 by the rootstock transport arm 61 and the transporting operation to the cutting position 69 of the seedling by the stock transporting arm 68 are performed by the rootstock transporting arm 61 and the transporting arm 68 respectively The operation starts synchronously with the holding of the seedlings together, but the speed adjustment device (flow rate control valve) on the ear is operated to reduce the air flow to the rotary actuator 67 on the ear and reduce the ear. The operation speed of the tree transport arm 68 is slightly slower than the operation speed of the root transport arm 61, and the timing at which the stock transport arm 68 reaches the cutting position 69 is the timing at which the root transport arm 61 reaches the cutting position 62. Than later. Then, when it is detected by the rotation position detection sensor (reed switch) on the hogi side that the hogi transport arm 68 has reached the cutting position 69, the root cutting machine 64 and the hogi are detected. The cutting device 70 starts a cutting operation. Accordingly, the cutting devices 64 and 70 can be operated in a state where the rootstock transport arm 61 and the hotwood transport arm 68 have surely reached the cutting positions 62 and 69, respectively. In addition, the rotational position detection sensor (reed switch) for detecting the cutting position on the rootstock side can be omitted, and the cost can be reduced. In addition, by slowly transporting the seedlings that are lighter than the rootstock seedlings, the balance of the seedlings is lost and the posture of the seedlings deteriorates. It is possible to prevent a problem that the bonding state is deteriorated. Conventionally, the rootstock transport arm and the hogi transport arm were operated at the same operating speed, so depending on the length of the air hose on the rootstock side and the hogi side, the degree of bending, the degree of damage, etc. When the operating speed of one of the arm and hogi transport arm slows down, when it is detected that the cutting speed reaches the cutting position on the fast operating speed side, the cutting is performed before the slow operating speed reaches the cutting position. There is a risk that the device will operate and cutting of the seedlings will be inappropriate.

  Similarly, the transport operation of the rootstock seeds to the joining position 62 by the rootstock transport arm 61 and the transporting operation of the seedling seedlings to the joint position 69 by the stock transporting arm 68 are carried out by the rootstock cutting device 64 and the stock cutting device 70. The operation is started in synchronization with the completion of the cutting operation of the timber. However, the speed adjustment device (flow rate control valve) on the rootstock side is activated to reduce the air flow rate to the rotary actuator 60 on the rootstock side, and the rootstock The operation speed of the transfer arm 61 is slightly slower than the operation speed of the hotwood transfer arm 68, and the timing at which the rootstock transfer arm 61 reaches the joining position 62 is determined from the timing at which the transfer wood transfer arm 68 reaches the cutting position 69. Also delay. Then, when it is detected by the rotation side detection sensor (reed switch) on the rootstock side that the rootstock transport arm 61 has reached the cutting position 62, the clip supply device 74 performs the clip supply operation. To start. As a result, the clip can be supplied in a state where the rootstock seedling and the seedling seedling have reached the joining position 63, and the rootstock seedling and the seedling seedling can be properly fixed. The rate can be improved, and the rotational position detection sensor (reed switch) for detecting the joining position on the hogi side can be omitted, thereby reducing the cost. In addition, by slowly transporting the rootstock seedling in a state where one leaf has been cut, the balance of the rootstock seedling is lost, the posture of the seedling is deteriorated, and a problem that the joined state of the grafted seedling is deteriorated can be prevented.

  The rootstock cutting device 64 includes a cutting blade 75, a petiole supporter 76 that supports the petiole on the cutting side, and a cotyledon presser 77 that presses the remaining cotyledon from above. The cutting blade 75 and the petiole support 76 are moved by a back-and-forth moving cylinder 78 operated by air pressure, approach the rootstock seedling at the cutting position 62, and the petiole support 76 contacts and holds the petiole (FIG. 13). (See (2)). The forward / backward movement cylinder 78 is inclined so that the rootstock seedling side is at a high position, and the cutting blade 75 and the petiole support 76 are configured to approach the rootstock seedling from the lower side and do not interfere with the cotyledon of the seedling. is doing. Thereafter, the cotyledon pressing member 77 is rotated downward by the cotyledon pressing rotary actuator 79 operated by air pressure, and the cotyledon is pressed from above by the cotyledon pressing roller 80 provided at the tip of the cotyledon pressing tool 77 (FIG. 13 (3 )reference). In this state, the cutting blade 75 is moved along a linear movement locus obliquely upward by the cutting cylinder 81 that is operated by air pressure, and the embryonic axis and one leaf of the seedling are cut and cut off (see FIG. 13 (4)). When the seedling is cut, the cutting blade 75 and the petiole support 76 are retracted from the rootstock seedling by the back-and-forth moving cylinder 78 (see FIG. 13 (5)), and then the cotyledon presser 77 is rotated upward to return to the original position. At the same time, the cutting blade 75 is moved obliquely downward by the cutting cylinder 81 to return to the original position (see FIG. 13 (1)).

  Therefore, since the seedlings are cut along a linear movement trajectory, the cutting surface becomes flat, the jointing rate of the grafted seedlings can be improved, and the root of the remaining cotyledon can be cut off as much as possible, and the growth of the grafted seedlings is good Can be maintained. Conventionally, the cutting blade is moved along a rotational movement trajectory to cut the seedling, so that the cutting surface becomes curved and hinders the improvement of the jointing rate of the grafted seedling and cuts so that the root of the remaining cotyledon is scooped up. May hinder the growth of grafted seedlings. Further, the seedling can be cut at an appropriate position by the petiole support 76 and the cotyledon presser 77, and further, by adjusting the mounting angle of the cutting cylinder 81, the seedling is cut by a rotational movement trajectory. Thus, the cutting angle can be easily adjusted.

  The hogi cutting device 70 includes a cutting blade 82 and a hypocotyl support 83 that supports the hypocotyl (lower side) hypocotyl. The cutting blade 82 and the hypocotyl support 83 are moved by the forward / backward movement cylinder 84 that is operated by air pressure, approach the seedlings at the cutting position 69, and the hypocotyl support 83 is held in contact with the hypocotyl. (See FIG. 14 (2)). Note that the forward / backward movement cylinder 84 is inclined so that the hogi seedling side becomes higher, so that the cutting blade 82 and the hypocotyl support 83 approach the hogi seedling from the lower position and do not interfere with the cotyledons of the seedling. It is composed. In addition, the cutting blade 82 is located in the back side (lower side) of a cotyledon in the state which approached the hogi seedling. Then, the cutting blade 82 is moved along a linear movement locus obliquely downward by the cutting cylinder 85 operated by air pressure, and the lower part of the embryonic axis of the seedling is cut and cut off (see FIG. 14 (3)). When the seedling is cut, the cutting blade 82 and the hypocotyl support 83 are retracted from the hogi seedling by the forward / backward moving cylinder 84 (see FIG. 14 (4)), and the cutting blade 82 is moved obliquely upward by the cutting cylinder 85. To return to the original position (see FIG. 14A).

  Therefore, since the seedling is cut along a linear movement trajectory, the cutting surface becomes flat and the jointing ratio of the grafted seedling can be improved, and the cutting blade 82 is on the back side (lower side) of the cotyledon while approaching the seedling. Therefore, the cotyledons can be prevented from being removed, and the growth of grafted seedlings can be maintained well. Conventionally, the cutting blade is moved along a rotational movement trajectory to cut the seedling. Therefore, the cutting surface becomes a curved surface and hinders the improvement of the jointing rate of the grafted seedling, and in the seedling where the cotyledon is large and hangs down, the cutting blade is the cotyledon. There is a risk that the cotyledon may be excised or damaged, and the growth of the grafted seedling may be hindered. Further, the seedling can be cut at an appropriate position by the hypocotyl support 83, and further, by adjusting the mounting angle of the cutting cylinder 85, the cutting angle is compared with the configuration in which the seedling is cut by a rotational movement locus. Can be adjusted easily. In addition, since the cutting blade 82 cuts the seedling at an intermediate position between the scrub carrier hand 68 and the hypocotyl support 83, the cutting position of the seedling is stabilized.

  Note that the cutting blade 75 of the rootstock cutting device 64 and the cutting blade 82 of the hogi cutting device 70 are arranged obliquely so as to be separated from the seedlings toward the joint position 63 side in a plan view, and have a forward angle with respect to the seedling to be cut. Move and cut the seedlings. Thus, cutting of the seedlings can be performed smoothly while suppressing cutting resistance of the seedlings, and each seedling is cut from the tip side (the front side at the joining position (cutting position side)) of the clip holding portion for fixing the grafted seedlings. Therefore, the cutting end where the cutting position of the seedling is likely to be displaced at the time of cutting is the back side (the rear side at the joining position 63 (the side opposite to the cutting positions 62 and 69)) of the clip. Since the holding accuracy of the seedlings is increased on the back side in the part, the joining rate of the grafted seedlings can be improved.

In addition, since the said rootstock taking-in part and the hogi taking-in part are bilaterally symmetrical and are the same structures, the following is demonstrated about the hogi taking-in part 2. FIG.
As for the hogi take-in side, the hogi take-in part 2 is a carry-in mechanism for sequentially carrying in and transferring a cell tray in which a large number of hogi seedlings (seedlings) W grown in a seedling pot on the side of the grafting robot body la are arranged in a grid. 11 and a gripping hand 12 that performs a gripping operation by cutting the hypocotyl while individually gripping the seedling W as a spikelet so that it can be advanced and retracted by the advance / retreat mechanism 12b with respect to the seedling W on the carry-in mechanism 11. The gripping hand 12 is composed of a transfer mechanism 13 that supports the gripping hand 12 so as to be laterally movable in the left-right direction, a direction correcting member 14 arranged on the transfer stroke, and the like. In addition, the hogi seedling W transferred from the hogi taking-in section 2 is temporarily held at the hogi delivery position (delivery position) R between the hogi taking-in section 2 and the hogi preprocessing section 4. A delivery holding mechanism 15 is provided.

  Specifically, the carry-in mechanism 11 is configured by a belt conveyor or the like that moves along the side of the graft robot body la, and each time the seedlings in a horizontal row are taken out, the transfer mechanism 11 sequentially moves at the cell tray arrangement pitch. The Hogi seedling W is carried into a predetermined position. The transfer mechanism 13 is configured so that the position of the gripping hand 12 can be controlled from side to side in the range from the carrying mechanism 11 to the delivery holding mechanism 15 at one side of the graft seedling production apparatus 1, and delivered in a row of seedlings on the cell tray. In order to take out the seedling from the holding mechanism 15 side, the gripping hand 12 supplies the seedling to the delivery holding mechanism 15 and then sequentially moves left and right to the left and right positions of the seedling to be taken out (cell with the seedling). In order to interfere with the transfer process by the transfer mechanism 13, a rod-shaped member or a direction correcting member 14 using a vertical axis roller with reduced rotation resistance is disposed in a drooping manner. The direction correcting member 14 is disposed slightly closer to the carry-in mechanism 11 than the position facing the delivery holding mechanism 15 at a position immediately before the end of the left-right transfer path of the transfer mechanism 13. In addition, the delivery holding mechanism 15 is provided with an alignment member 16 that regulates the cotyledon deployment direction when the hogi seedling W received from the gripping hand 12 is held. The delivery holding mechanism 15 and the alignment member 16 form an alignment holding means.

Next, the gripping hand 12 of the hogi taking-in unit 2 will be described in detail.
As shown in FIG. 18, an enlarged side view of the gripping hand 12 opens and closes the upper hand mechanism 21 and the middle hand mechanism 22 that grip the upper and middle parts of the hypocotyl A of the hogi seedling W and the lower hand mechanism 22. The cutter mechanism 23 for cutting the lower part of the hypocotyl A of the hogi seedling W is arranged in a three-tiered manner so that it can be moved forward and backward integrally by the advance / retreat mechanism 12b, and the lifting tool 24 can be moved up and down independently on its side. It comprises and comprises. Further, a rod-like stopper 25 for preventing rotation is set up from the cutter mechanism 23 at a position where it can interfere with the cotyledon L in the vicinity of the grasped hypocotyl A. The upper and lower three-stage hands composed of the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are provided so that the vertical distance can be adjusted, and the vertical distance between the hands can be adjusted according to the length of the hypocotyl of the seedling. It changes and it is set as the structure which can hold a seedling appropriately according to the cultivar seedling and the kind of seedling.

  As shown in FIG. 19A showing a plan view of the gripping state, the upper hand mechanism 21 has a gripping position at the tip of the left and right open / close arms 21a, 21a that is larger than the diameter dimension of the fertilizer shaft A of the safling seedling. Is formed so that the hypocotyl A of the seedling can be freely fitted and held, and an adjustment bolt 21b for setting the clearance limit is provided. As shown in FIG. 19B showing a plan view of the gripping state of the middle stage, the middle hand mechanism 22 is larger than the diameter dimension of the stalk fertilizer shaft A at the gripping positions at the tips of the left and right open / close arms 22a and 22a. A notch C in the front-rear direction is formed so that the hypocotyl A of the hogi seedling can be held loosely. The both hand mechanisms 21 and 22 hold the hogi seedling so that it can rotate around its embryo axis while ensuring the accuracy of the holding position of the hogi seedling.

  The cutter mechanism 23 has an operation state plan view (a) and a BB sectional view (b) thereof as shown in FIG. And the peripheral edge is formed high so as to constrain movement of the hypocotyl A after cutting. The blade 23b is attached to the open / close arm 23a opposite to the graft robot body la in the left-right direction among the left and right open / close arms 23a, 23a. The opening / closing arm 23a on the side of the grafting robot main body la is provided with a restriction guide 114 for restricting the hypocotyl A from entering the proximal end side of the opening / closing arms 23a, 23a. The regulation guide 114 regulates the hypocotyl A so that the misalignment of the hypocotyl A can be prevented and the blade 23b can be cut smoothly. The regulation guide 114 is arranged above the left and right opening / closing arms 23a, 23a and the blade 23b, and the proximal side of the opening / closing arms 23a, 23a is closer to the blade 23b so that the hypocotyl A is guided to the blade 23b side. It is the composition which is located.

Both the hand mechanisms 21 and 22 and the cutter mechanism 23 form a loose-fitting gripping mechanism that loosely grips the hypocotyl so that it can be rotated while cutting the root side of the saplings as a spikelet.
The lifting tool 24 includes a first lifting tool 41 and a second lifting tool 42. The first lifting tool 41 is inclined forward and downward to the root position of the hogi seedling W, and is the same as the delivery holding mechanism 15 side, that is, the side on which the gripping hand 12 moves left and right to take out the seedling. It is formed by a rod having a tip 41t bent so as to reach the back from the side of the seedling W. By setting the distal end portion 41t and the side portion 41s that bends and extends to the base portion thereof at a substantially right angle, the hypocotyl A that has fallen due to the ascending motion of the lifting tool 41 is raised as shown in the front view of the standing motion of FIG. can do. The support part 41b of the lifting tool 41 is configured so that the front-rear position and the height position can be adjusted in accordance with the positional relationship with respect to the hogi seedling.

  Further, a second lifting tool 42 is provided on the opposite side to the first lifting tool 41 with respect to the seedling W. This second lifting tool 42 is formed by a rod bent so as to be positioned on the side of the seedling on the side opposite to the delivery holding mechanism 15 so as to take out the seedling on the side where the gripping hand 12 moves left and right. The cylinder 43 is provided so as to be able to advance and retract. The tip 42a of the second lifting tool 42 located on the side of the seedling is horizontal, like the tip 41t of the first lifting tool 41, and slightly higher than the tip 41t of the first lifting tool 41. And it is provided so that it may cross | intersect by planar view in the state protruded by the back-and-forth movement cylinder 43. Accordingly, the ascending movement of the first lifting tool 41 causes the second lifting tool 42 to move upward, so that the seedling can be lifted upright from both the left and right sides and the rear side of the seedling. The seedling can be properly gripped. In particular, in a cell tray with a narrow cell pitch, it is possible to prevent the seedling hand 12 from being gripped and transferred to the adjacent seedling side on the side where the gripping hand 12 has moved left and right by the second lifting tool 42 while being transferred. Further, it is possible to prevent the seedling from being transferred by the gripping hand 12 while being entangled with the adjacent seedling and the gripping posture of the seedling becoming inappropriate. Further, since the other lifting tool 42 is also moved up and down by the vertical movement mechanism of one lifting tool 41, the vertical movement mechanism can be simplified. In addition, since the second lifting tool 42 is bent so that the midway part protrudes toward the gripping hand 12 (side away from the adjacent seedling) in plan view, it does not interfere with the second lifting tool 42. In addition, the opening / closing amount of the gripping hand 12 can be maintained at a predetermined level, and the second lifting tool 42 is less likely to interfere with adjacent seedlings, thereby facilitating seedling removal. The second lifting tool 42 may be configured by providing an oblique portion in plan view as shown in FIG.

  Since the lifting tool 24 is configured to lift the seedling from three directions, the seedling that falls to the other side (the gripping hand 12 side) cannot be erected. Therefore, on the cell tray of the carry-in mechanism 11, a tilt restricting tool 44 is provided over the left and right width of the cell tray. The fall restricting tool 44 is composed of a rotatable roller so as not to roughen the culture medium in the cell or become a resistance to transporting the cell tray by the carry-in mechanism 11, and is appropriate on the grasping hand 12 side of the seedling to be taken out by the grasping hand 12. It is located above the cell to act on.

  Further, in each of the hand mechanisms 21 and 22 of the gripping hand 12, one of the pair of left and right opening and closing arms 21a and 22a has one opening and closing arm 21a and 22a positioned on the delivery holding mechanism 15 side (right side). 15 and a seedling separating tool 45 extending to the left and right opposite side (left side, the other opening / closing arm 21a, 22a side). This seedling separating tool 45 is composed of a bar, and includes a base portion 45a extending in the left-right direction (left side) and a distal end portion 45b extending bent from the base portion 45a to the front side, and is disposed slightly above the open / close arms 21a, 22a. Has been. The tip 45b of the seedling separating tool 45 is located above the other opening / closing arm 21a, 22a in a state where the pair of opening / closing arms 21a, 22a are open, and extends slightly inward in the gripping direction in a substantially front-rear straight direction. The angle is toward the inside in the gripping direction with respect to the angle of the left and right opening / closing arms 21a, 22a. On the other hand, when the pair of opening / closing arms 21a, 22a is closed, the opening angle is located on the outer side (left side) of the other opening / closing arms 21a, 22a, and the outward angle becomes the outer side of the holding direction toward the tip. Accordingly, when the grasping hand 12 moves forward by the advance / retreat mechanism 12b to grasp the seedlings on the cell tray, the pair of opening / closing arms 21a and 22a are opened so that the tip 45b of the seedling separating tool 45 does not interfere with the seedling to be grasped. Is inserted between the seedling and the adjacent seedling. When the pair of open / close arms 21a and 22a are closed, the tip 45b of the seedling separating tool 45 rotates and moves to the adjacent seedling side (left side), and the seedling to be gripped is separated from the adjacent seedling to entangle the seedling. It comes to solve.

The harvesting operation of the sabor seedling by the gripping hand 12 having the above configuration is performed according to the operation procedure diagram of FIG.
First, as shown in the operation plan view of the ready state in FIG. 28A, the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are prepared in a closed state at the retracted position (S1). By the lateral movement of the transfer mechanism 13 in the outward direction of the seedling production apparatus 1, the tip 41 t of the first lifting tool 41 is inserted into the back position of the hogi seedling W from the side of the hogi seedling W on the carry-in mechanism 11. After that, the front and rear moving cylinder 43 is extended to project the second lifting tool 42 to the front side so that the front end portion is located on the side of the seedling in plan view and intersects the front end portion 41t of the first lifting tool 41, The fall of the hogi seedling W is corrected by the ascending operation (S2) of the first lifting tool 41 and the second lifting tool 42. Therefore, since the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are laterally moved, the gripping hand 12 is unlikely to interfere with the seedlings of the cell tray during the lateral movement, and the seedling taken out by the lateral movement. It is possible to prevent the seedlings from being stored in the pocket and prevent the seedling from being taken out poorly. The upper hand mechanism 21 and the middle hand mechanism 22 are formed with a curved surface on the upper side of the lateral movement so that they do not easily interfere with the seedling and do not damage the seedling. The lifting tool 24 is positioned at substantially the same height as the cutter mechanism 23 before the ascending operation (S2). As a result, the cutter mechanism 23 can be brought close to the upper surface of the cell, the cutter mechanism 23 can cut the root of the seedling, and even with a seedling with a short hypocotyl that is nurtured in winter, the hand mechanisms 21 and 22 can properly Can be taken out.

  Next, as shown in the operation plan view in the gripping state of FIG. 28B, the hand mechanisms 21 and 22 and the cutter mechanism 23 are opened and advanced (S3), and then both the hand mechanisms 21 and 22 are closed (S4). Thus, the hypocotyl A of the hogi seedling W is loosely fitted and held in the notches B and C at the tips of the hand mechanisms 21 and 22, and then the cutter mechanism 23 is closed (S5), whereby the lower stage of the hypocotyl A is cut. The lower end of the seedling W is supported by the cutter mechanism 23 so as to be rotatable. Here, the hand mechanisms 21 and 22 and the cutter mechanism 23 are retracted (S6) and then laterally moved (S7) in the center direction of the grafted seedling production apparatus 1, thereby individually picking up the seedlings from the carry-in mechanism 11. be able to. Note that the retreat distance of the hand mechanisms 21, 22 and the cutter mechanism 23 in S6, that is, the advance / retreat operation stroke by the advance / retreat mechanism 12b, is set to such a length that the seedling to be taken out from the cell tray does not completely interfere with the adjacent seedling in the process of S6. ing.

  A seedling guide 112 is provided between the upper hand mechanism 21 and the middle hand mechanism 22 and between the middle hand mechanism 22 and the cutter mechanism 23, respectively. The seedling guide 112 is advanced by the seedling guide cylinder 113 prior to the advancement of the hand mechanisms 21 and 22 and the cutter mechanism 23 so that the hogi seedling W to be taken out is in an upright posture and the seedling is removed. This is to prevent defects. The seedling guide 112 retreats simultaneously with the retreat of the hand mechanisms 21 and 22 and the cutter mechanism 23.

  Further, in the transfer process by the transfer mechanism 13, as shown in the plan view of the direction correcting operation in FIG. 30, when the gripping hand 12 that grips the hogi seedling moves laterally from the gripping position B to the delivery position C, The cotyledon interferes with the direction correcting member 14 when passing through the vicinity of the direction correcting member 14 disposed so as to interfere with the transfer process and the cotyledon deployment direction of the hogi seedling W is greatly inclined with respect to the transfer direction. Thus, the hogi seedling is rotated so that the cotyledon unfolding direction is substantially aligned with the transfer direction. At this time, even if the hogi seedling is excessively rotated, the cotyledon of the seedling hits the sub-alignment member 46 that is an angled plate-shaped alignment member provided at a position facing the delivery holding mechanism 15 and The rotation range is restricted. The sub-alignment member 46 is provided so that its vertical position can be adjusted, so that the posture of the seedling or the cotyledon deployment direction does not become incorrect due to direct contact with the hypocotyl A or the cotyledon of the seedling transferred by the transfer mechanism 13. The position can be adjusted according to the size and type of the seedling.

  The transfer mechanism 13 is configured such that the gripping hand 12 is laterally moved by an air cylinder that slides by air pressure from a compressor, and the gripping hand 12 is moved into a loading mechanism 11 and a cell tray on the loading mechanism 11 by a stroke sensor provided in the cylinder. If it is detected that the position has reached the position immediately before the direction correcting member 14 from above, the flow rate of air supplied to the cylinder is controlled to be reduced, the transfer speed is reduced, and the transfer speed at the transfer end portion is reduced. It has become. The position where the transfer speed is decelerated is set to the same position regardless of the transfer start end position which is the left and right position of the seedling to be taken out (cell where the seedling is located). In the return stroke in which the gripping hand 12 moves from the delivery position of the delivery holding mechanism 15 to the cell tray side on the carry-in mechanism 11 to grip the next seedling, the gripping hand 12 moves laterally at a normal fast transfer speed. The lifting tool 24 remains in the lifted state until the transfer speed of the transfer mechanism 13 is decelerated at the transfer end portion, and the posture of the seedling is increased by interfering with other seedlings by transferring the seedlings. It prevents things from getting worse. At the same time as the transfer speed of the transfer mechanism 13 is reduced, the transfer mechanism 13 is lowered below the cutter mechanism 23 so as not to interfere with the seedling delivery process.

  When the gripping hand 12 is in a stopped state such as an abnormal stop or an interruption operation by the operator after the seedling is taken out and raised, when the reset operation is performed, the gripping hand 12 is transferred by the transfer mechanism 13 to the original origin position. Although it tries to return to the position R, it will interfere with the delivery holding mechanism 15 because the gripping hand 12 is in a raised state. Therefore, a sensor for detecting that the gripping hand 12 is in the lowered position is provided, and when the reset operation is performed, the gripping hand 12 is gripped by the transfer mechanism 13 only when the gripping hand 12 is detected in the lowered position. The hand 12 is laterally moved to the delivery position R.

Next, the alignment holding means using the delivery holding mechanism 15 configured at the delivery position R and the alignment member will be described.
The delivery holding mechanism 15 is arranged to face the gripping hand 12 that moves forward so as to receive the seedlings at the advanced position of the gripping hand 12. As shown in FIG. 31, a plan view of the main part is shown in FIG. 31, and a side view of the main part (a) and a cross-sectional view along line B-B of FIG. 32 are shown in FIG. An upper hand mechanism 31 that grips the head part, a middle hand mechanism 32 that grips the middle stage part of the hypocotyl A below, and an excessive height of the hypocotyl A at the intermediate height position between the hand mechanisms 31 and 32 are regulated. The delivery position R includes a stopper 33 and a lifting mechanism 34 that adjusts the height position of the stopper 33 and the stopper 33.

  The middle hand mechanism 32 is configured to move downward while gripping the seedling by a downward movement cylinder (downward movement mechanism). As a result, the hypocotyl A of the grasped seedling is lowered downward until the cotyledon deployment base at the top of the seedling comes into contact with the upper surface of the upper stage hand mechanism 31, so that the vertical position of the seedling becomes a predetermined position. Note that the gripping force of the upper hand mechanism 31 is set to be smaller than the gripping force of the middle hand mechanism 32. When the embryonic axis A of the seedling is pulled down by the middle hand mechanism 32, the hypocotyl A slides in the upper hand mechanism 31. Be lowered. Further, in the downward movement of the middle stage hand mechanism 32 to the lower end of the middle hand mechanism 32 after the cotyledon unfolding base of the seedling abuts against the upper stage hand mechanism 31 and is supported at a predetermined position while the middle stage hand mechanism 32 is moving downward, the seedling is predetermined. The hypocotyl A of the seedling slides in the middle stage hand mechanism 32 while being held in position. The grip surface of the middle stage hand mechanism 32 is configured by fixing two front and rear elastic bodies (sponges) 47 to each of the pair of hands 32a, and the elastic body (sponge) 47 is used to center the position of the embryonic axis A of the seedling. It is the structure which presses and holds the embryonic axis A of the seedling from four directions. With this elastic body (sponge) 47, the gripping force of the middle stage hand mechanism 32 can be set large, and the area of the gripping surface is large for the thick hypocotyl A and the area of the gripping surface is small for the thin hypocotyl A. The gripping force of the middle stage hand mechanism 32 is set according to the size (thickness of the hypocotyl A), and the seedling can be appropriately pulled down by the middle stage hand mechanism 32.

  A main alignment member 16 serving as an alignment member is disposed at a position where the cotyledon of the hogi seedling is received above the delivery holding mechanism 15. The main alignment member 16 is a flat plate-like member that regulates the expansion direction of the cotyledonous cotyledons, and forms a guide portion 35 with a ridge extending vertically at the center position. In order to distribute the cotyledons of the received seedlings to the left and right, the guide part 35 has a mountain shape in cross section and forms the surface smoothly and with low friction.

  In the delivery operation of the alignment holding means having the above-described configuration, the cotyledons L and L of the hotwood seedling W are pressed against the main alignment member 16 when the hotwood seedling W is delivered to the delivery holding mechanism 15 by the advance operation of the gripping hand 12. The cotyledons L and L are distributed to the left and right by the guide portion 35 so that the cotyledon deployment axis is aligned along the main alignment member 16.

  The above delivery operation will be described in detail with reference to the operation procedure diagram of FIG. 34. After picking up the hogi seedling from the carry-in mechanism 11 and aligning the gripping hand 12 gripping the hypocotyl with the front of the delivery holding mechanism 15, first, As shown in the plan views before and after the first alignment operation in FIGS. 35 (a) and 35 (b), the gripping hand 12 including the cutter mechanism 23 is closed, that is, the lower end of the hypocotyl A is the cutter mechanism 23. The cotyledon deployment direction is aligned via the main alignment member 16 by reciprocating to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b with the grip of the middle stage hand mechanism 22 loosened while being received (S11). The

  Next, as shown in the plan views before and after the second alignment operation in FIGS. 36 (a) and 36 (b), by opening the cutter mechanism 23 (S12), the hand mechanism 21 of the gripping hand 12 receives the cotyledons L and L. Adjust the height of the seedling W. By reciprocating to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b in this state (S13), the cotyledon strikes the main alignment member 16 and the cotyledon deployment direction is aligned.

  When the gripping hand 12 is reciprocated by the advance / retreat operation of the advance / retreat mechanism 12b as described above, as shown in the plan view before and after the alignment operation of FIG. Since the similar sub-alignment member 46 is also disposed opposite to the retracted position on the gripping hand 12 side, the cotyledon of the seedling comes into contact with the alignment member twice for each reciprocation of the gripping hand 12. An efficient alignment operation is possible. The advancing / retreating mechanism 12b includes an advancing / retreating cylinder, an extension position sensor for detecting that the advancing / retreating cylinder is extended to a position where the seedling grasped by the grasping hand 12 hits the main alignment member 16, and a grasping hand 12. A contraction position sensor for detecting that the advance / retreat cylinder contracts to a normal position such as when the gripped seedling hits the sub-alignment member 46, that is, when the seedling is transferred by the transfer mechanism 13. Therefore, the gripping hand 12 is reciprocated by repeating the expansion and contraction operation of the advancing / retreating cylinder so that the extension position sensor and the contraction position sensor are alternately detected.

  In the drawing, the sub-alignment member 46 is shown in the same direction as the desired cotyledon alignment direction. However, the sub-alignment member 46 is slightly inclined toward the cotyledon direction before correction by the direction correction member 14 with respect to the alignment direction. May be. This allows the sub-alignment member 46 to gradually approach the desired cotyledon direction before applying the cotyledons to the main alignment member 16 and aligning the cotyledons, forcibly damages the seedling. Thus, the orientation of the cotyledons can be corrected smoothly and stably. Further, the guide portion 35 of the sub-alignment member 46 may be eliminated. Accordingly, it is possible to prevent the seedling from being laterally moved and hitting the guide portion 35, and to prevent the seedling from being damaged, and to smoothly correct the orientation of the cotyledon according to the flat sub-alignment member 46 by the lateral movement of the seedling. Can do.

  After the alignment operation, the grasping hand 12 is advanced to the delivery holding mechanism 15 (S14), and then the cutter mechanism 23 is closed (S15), whereby the hypocotyl A is cut at a predetermined position and the lengths are aligned. At this time, even if the hypocotyl A is bent, the stopper 33 at the intermediate height position between the hand mechanisms 31 and 32 restricts excessive entry of the hypocotyl A, so that the hypocotyl A can be cut reliably. Can do.

  After cutting the hypocotyl A, the cutter mechanism 23 is opened and both hand mechanisms 31, 32 of the delivery holding mechanism 15 that has received the hogi seedling W are closed (S16), and then the upper and lower hand mechanisms 21, 22 of the gripping hand 12 Is opened and the seedling is lowered by the downward movement of the middle hand mechanism 32 of the delivery holding mechanism 15 on the receiving side to the predetermined holding height (S17), and then the gripping hand 12 is retracted (S18).

  In this way, after the delivery is completed, the grip hand 12 is returned to the carry-in mechanism 11 side, so that the next hogi seedling can be taken up. By repeating this series of operations, the seedlings can be sequentially taken from the carry-in mechanism 11 and grafted by the grafting robot body 1a. In the seedling delivery process, the lifting tool 24 is lowered below the cutter mechanism 23 so as not to obstruct the seedling delivery.

  By the way, the operation panel 1p for controlling the operation of the seedling taking-in unit 2 is carried in by the power switch 48 for turning on / off the power of the seedling taking-in unit 2, the mode switch 49 for setting the operation mode, and the carrying-in mechanism 11 A tray selection switch 50 for setting the type of the cell tray to be operated, a start switch 51 for starting the operation, a stop switch 52 for stopping the operation, a reset switch 53 for returning each operation unit to the initial state, and a seedling position on the cell tray A setting changing unit 54 that can arbitrarily set the number of seedling rows in the cell tray is provided. The mode switch 49 is an operation region selection means for selecting an operation region in the operation of the start switch 51, and is automatically operated so as to continuously supply seedlings to the pretreatment unit 3 successively until the stop switch 52 is operated. It is possible to switch between a position, a manual position that operates until one seedling is supplied to the pretreatment unit 3, and a step position that operates for each of the operation steps S1 to S7 and S11 to S18. The tray selection switch 50 is a setting switching means for switching and setting the horizontal position where the gripping hand 12 takes out the seedling and the transport pitch of the carry-in mechanism 11, and the 72-hole position for the 72-hole cell tray and the 128-hole cell tray The 128 hole position and a manual setting position (MS) arbitrarily set by the setting changing unit 54 can be switched. The 72-hole cell tray is a cell tray in which cells are provided in 12 rows and 6 rows, and the 128-hole cell tray is a cell tray in which cells are provided 16 rows and 8 rows. Therefore, since the cell arrangement pitch varies depending on the type of the cell tray, the tray selection switch 50 is used to switch the cell tray according to each cell tray. The gripping hand 12 sequentially takes out the seedlings in the horizontal row of the cell tray from the delivery holding mechanism 15 side. The number of seedlings is counted by the control device in the operation panel 1p, and the number of horizontal seedlings based on the setting of the tray selection switch 50 is obtained. Then, the cell tray is transported by the carry-in mechanism 11. Accordingly, in order to determine that all the seedlings in the horizontal row have been taken out, in order to check the left and right positions of the seedlings taken out by the gripping hand 12, a confirmation command for the left and right positions from the control device (PLC) to the air cylinder of the transfer mechanism 13 The speed of control is improved and the working efficiency can be improved as compared with the case where the determination is made based on the input from the air cylinder.

  Further, the grafting robot main body la is provided with a control panel 55 including a control device that collectively controls the grafting seedling manufacturing apparatus 1 including the grafting robot main body la, the rootstock capturing unit, and the hogi capturing unit 2. ing. The control panel 55 is provided with operation switching means such as a change-over switch that can turn on / off the operations of the grafting robot main body la, the rootstock taking section, and the hogi taking section 2. By this operation switching means, it is possible to operate all or part of the grafting robot main body la, rootstock capturing part and hogi capturing part 2, and manufacture grafted seedlings in various work forms. Work can be done. For example, when it is desired to supply a rootstock that requires accuracy of the cutting position for seedling joining to the rootstock pretreatment unit 3 with high accuracy when the hypocotyl length is short, the grafting robot main body la and the hogi capturing unit 2 are The operation of the rootstock take-in section can be stopped by operating. Alternatively, when the seedling is not grown in the cell tray, the seedling capturing unit 2 is stopped and the seedling is manually supplied, or when it is desired to join the seedling manually, the capturing unit 2 is operated to graft the robot. The operation of the main body la can be stopped. When both rootstock and hogi are supplied manually, only the grafting robot main body la needs to be operated.

  As described above, in the grafted seedling production apparatus 1, the take-in unit 2 serving as a seedling supply apparatus that supplies each seedling one by one loosens the seedling so that the embryonic axis of the seedling can be rotated while cutting the root side of the received seedling. By the loose fitting holding mechanism by the holding hand 12 that can be held, the transfer mechanism 13 that supports the loose fitting holding mechanism and moves in the lateral direction, and by interfering with the cotyledons of the seedlings at the transfer end portion in the transfer mechanism 13 A direction correction member 14 and a sub-alignment member 46 for adjusting the cotyledon deployment direction to the transfer direction are provided, and the transfer mechanism 13 causes the direction correction member 14 to transfer seedlings so that the transfer speed at the transfer end portion is low. The transfer speed is reduced immediately before the cotyledon interferes.

  Therefore, when the loose-fitting gripping mechanism receives a seedling having a bicotyledonous cotyledon, this loosely grips the hypocotyl while turning the root side of the seedling as a hogi or rootstock, It is transferred by the transfer mechanism 13 that supports the loose-fitting gripping mechanism. This transfer speed is decelerated immediately before the cotyledon of the seedling interferes with the direction correcting member 14 and becomes low at the end of the transfer process, and the end of the transfer process. When the direction correcting member 14 and the sub-alignment member 46 interfere with the cotyledons of the seedlings, the cotyledon unfolding direction is aligned with the transfer direction. Is bonded to rootstock or hogi to produce grafted seedlings.

  Therefore, the direction correction member 14 and the sub-alignment member 46 interfere with the cotyledon of the seedling on the transfer stroke of the transfer mechanism 13 so that the cotyledon deployment direction is aligned with the transfer direction. 14, the cotyledon of the seedling interferes, and the cotyledon of the seedling strikes the direction correcting member 14 and the hypocotyl of the seedling is prevented from rotating excessively. Can be supplied accurately and stably in any orientation. Therefore, since the seedling is transferred to the delivery position while the arrangement direction is regulated by the grafting seedling production apparatus, accuracy of grafting processing by the subsequent pretreatment units 3 and 4 and the adhesion processing unit 7 is ensured, which is troublesome. Every time grafting is done efficiently without the need for manual work. Further, the transfer speed of the transfer mechanism 13 is decelerated immediately before the end of transfer, and the return stroke of the transfer mechanism 13 for picking up the next seedling and most of the transfer path of the seedling by the transfer mechanism 13 (decelerates). In most cases, the gripping hand 12 is transferred at a high speed, so that the work efficiency in grafting seedling production is improved.

  Further, since the direction correcting member 14 and the sub-alignment member 46 are provided at the transfer end portion by the transfer mechanism 13, after correcting the cotyledon deployment direction of the seedling with the direction correction member 14 and the sub-alignment member 46, The cotyledon deployment direction of the seedlings can be aligned with high accuracy without shifting the cotyledon deployment direction of the seedlings in the lateral direction.

  As shown in FIGS. 39 to 41, the sub-alignment member 46 may be formed of a flat plate material facing in the transfer direction (left-right direction) of the transfer mechanism 13. At this time, the distance l from the hypocotyl of the seedling transferred to the transfer terminal portion of the transfer mechanism 13 is shorter than the cotyledon length a of the seedling and equal to or longer than one half of the cotyledon width b. When the position of the sub-alignment member 46 is set, only the cotyledon facing in the front-rear direction hits the sub-alignment member 46 so that the orientation of the cotyledon can be corrected to the desired left-right direction. As shown in FIG. 41, when the flat plate member of the sub-alignment member 46 is arranged slightly obliquely so that it is on the side farther from the seedling (rear side) toward the upper transfer side (left side) of the transfer mechanism 13, It is possible to prevent the seedling transferred by the mechanism 13 from being caught on the end of the sub-alignment member 46, and the seedling can be transferred smoothly.

  In the above description, in order to align the cotyledon unfolding direction of the seedling with high accuracy, the direction correcting member 14 composed of a roller and the sub-alignment member 46 composed of a plate material are provided together, but only one of them is provided. It is good also as a structure which changes the cotyledon expansion | deployment direction of a seedling. When only the sub-alignment member 46 is provided, the sub-alignment member 46 interferes with the cotyledon of the seedling and becomes a direction correcting member that matches the cotyledon deployment direction with the transfer direction.

  In the above description, a plurality of main alignment members 16 and sub-alignment members 46 are provided to face each other. However, for example, only one main alignment member 16 may be provided. At this time, since the cotyledon of the seedling contacts with the alignment member 16 only once for one reciprocation of the gripping hand 12, the gripping hand 12 is operated twice as much as four reciprocations so that the cotyledon of the seedling contacts the alignment member 16 four times. What is necessary is just to make it the structure made to contact. In this way, when the gripping hand 12 is reciprocated a plurality of times by the advance / retreat mechanism 12b, the advance / retreat cylinder is extended until the extension position sensor detects it, and the seedling is brought into contact with the alignment member 16, but in the return stroke, the contraction position sensor In order to stop the contraction operation of the advancing / retreating cylinder just before detecting by the timer, the advancing / retreating cylinder is operated and stopped for a predetermined time by a timer, and the advancing / retreating cylinder is extended again to apply the seedling to the alignment member 16 for the second and subsequent times. It can be set as the structure which performs a contact. As a result, in the contracting operation of the advancing / retreating cylinder and the extending operation for extending the advancing / retreating cylinder so that the seedling is again applied to the alignment member 16, these working distances and operating times can be shortened, and the seedling aligning operation a predetermined number of times. On the other hand, the time required for the alignment process can be shortened, and the work efficiency of the seedling supply work and the grafted seedling production work can be improved.

  As shown in FIG. 42, the gripping surfaces of only the left and right open / close arms 21a, 22a of the hand mechanisms 21, 22 of the grip hand 12 are inclined in plan view with the open / close arms 21a, 22a being closed. It may be set. Thereby, when gripping the hypocotyl A having an elliptical cross section, the orientation of the hypocotyl A is corrected so that the major axis of the ellipse is directed in the front-rear direction, and the cotyledon that extends in the minor axis direction of the ellipse Can be directed left and right. Therefore, the gripping hand 12 is a kind of direction correcting member for adjusting the cotyledon unfolding direction of the seedling to the transfer direction. In addition, after closing the pair of left and right open / close arms 21a and 22a, the pair of left and right open / close arms 21a and 22a are slid in the forward and backward directions to promote the rotation of the embryonic axis A of the seedling, It is also conceivable to correct the orientation of the hypocotyl A so that the axis is directed in the front-rear direction. In this case, it is desirable that the gripping surfaces of the pair of left and right opening / closing arms 21a and 22a be flat surfaces facing in the front-rear direction so that the hypocotyl A can rotate smoothly.

  In addition, when sowing seedlings in the cell of the cell tray for raising seedlings, if the orientation of the seeds to be seeded in advance is set so that the cotyledons of seedlings develop in a desired direction, the take-out part 2 sets the cotyledon development direction of the seedlings. Alignment work can be done smoothly. Specifically, if the seeds are sown so that the major axis direction of the oval seed faces the longitudinal direction (front-rear direction) of the cell tray, the cotyledon development direction of the seedling to be nurtured is the longitudinal direction of the cell tray (front-rear direction). Any seedling is rotated by about 90 degrees with the direction correcting member 14 or the sub-alignment member 46 to align the cotyledon deployment direction, and the cotyledon of the seedling is aligned with the direction correcting member 14 or the sub-alignment. Since the contact with the member 46 is surely corrected, the cotyledon deployment direction of the seedling can be corrected appropriately with high accuracy. Alternatively, the seeds are sown so that the major axis direction of the oval seeds faces the short direction (left and right direction) of the cell tray, and the cotyledon deployment direction of the seedling to be nurtured is the short direction (left and right direction) of the cell tray. Further, the rotation angle of the embryonic axis of the seedling by the direction correcting member 14 or the sub-alignment member 46 can be reduced to facilitate the correction of the cotyledon deployment direction. In any case, the cotyledon deployment direction of the seedling to be nurtured can be set to a desired direction, so that the operation of aligning the cotyledon deployment direction of the seedling can be smoothly performed in the take-in part 2. As a means for sowing in a desired direction, the seed alignment plate of the sowing machine is vibrated to align the seeds so that the major axis direction is in a predetermined direction, and the seeds are adsorbed by a seed adsorption nozzle. It may be possible to sow the cell tray so that the orientation does not change.

  A guide plate 151 having a V-shaped guide groove 150 for guiding the embryonic axis of the seedling is provided immediately above the upper hand mechanism 31 of the delivery holding mechanism 15 on the hogi side. A seedling detection sensor 152, which is a photoelectric sensor that detects that a seedling hypocotyl has been supplied, is provided at the end of the guide groove 150, and the seedling detection sensor 152 detects the seedling so that the upper hand of the delivery holding mechanism 15 The mechanism 31 and the middle stage hand mechanism 32 are closed to hold the seedling. However, if the embryonic axis of the seedling is bent, the embryonic axis of the seedling may not be supplied to the terminal portion of the guide groove 150, and the embryonic axis of the seedling may not be detected by the seedling detection sensor 152. Therefore, a push plate 153 for pushing the seedling into the upper hand mechanism 21 of the gripping hand 12 is provided, and the embryonic axis of the seedling is pushed into the guide groove 150 side by the push plate 153 by the advancement operation of the advance / retreat mechanism 12b. Yes. Further, the pushing surface 154 serving as an end face of the pushing plate 153 has a V shape substantially matching the guide groove 150, so that the embryonic axis of the seedling can be reliably supplied to the terminal portion of the guide groove 150. Note that the pushing plate 151 is configured so that at least the pushing surface 154 portion is transparent and is not erroneously detected by the seedling detection sensor 152.

  The delivery holding mechanism 15 grips the seedling by detecting the seedling of the seedling detection sensor 152. When the seedling detection sensor 152 detects the seedling again at the start of the grafting process by the grafting robot body la, the grafting process is started. Yes. If the seedling detection sensor 152 does not detect the seedling at the start of the grafting process, the upper hand mechanism 31 and the middle hand mechanism 32 of the delivery holding mechanism 15 are opened, and the fact that there is no seedling is indicated by a lamp display or the like. Interrupt the migration. Thus, the seedling once supplied to the delivery holding mechanism 15 by the gripping hand 12 is not properly supplied to the delivery holding mechanism 15 by turning around the gripping hand 12, and the other side by starting the grafting process It is possible to prevent such rootstock seedlings or hogi seedlings from being wasted. When seedlings are directly supplied to the delivery holding mechanism 15 by hand, rootstock seedlings or ears on the other side by starting the grafting process without hesitating the seedlings in an appropriate state. It is possible to prevent the seedling from being wasted. The timing at which the seedling detection sensor 152 detects the seedling again at the start of the grafting process may be a predetermined time after the seedling detection sensor 152 detects the seedling when the delivery holding mechanism 15 grips the seedling. A configuration that can be appropriately changed and adjusted according to the operation speed of each device, the state of the seedling, the work timing of the worker, and the like may be used.

  A safety cover 154 is provided to cover the rootstock preprocessing unit 3, the hogi preprocessing unit 4 and the adhesion processing unit 7 of the grafting robot main body la. By rotating and opening the safety cover 154 upward, maintenance of the rootstock pretreatment unit 3, the hogi pretreatment unit 4 and the adhesion treatment unit 7 can be performed. It is dangerous if the operator mistakenly operates the operation panel lp during the maintenance work and the grafted seedling production apparatus 1 is activated. Therefore, if the operation panel 1p is arranged at a position where at least a part of the safety cover 154 is overlapped, and the safety cover 154 is opened, the operation switch 155 of the operation panel 1p cannot be operated. Can be planned. In the illustrated example, in the normal mode, the opened safety cover 154 is positioned on the right side where the operation switch 155 on the front surface of the operation panel 1p is disposed. In addition, when performing maintenance work while operating each part of the grafted seedling production apparatus 1, when the operation panel 1p is switched to the maintenance mode by long-pressing the maintenance switch, the operation switch 155 is moved to the left side of the operation panel 1p, that is, safety The operation switch 155 can be operated even when the cover 154 is switched to a position where it does not overlap and the safety cover 154 is opened. The operation by the operation switch 155 at the time of maintenance is only an operation for each step of each part, and is limited as compared with the normal mode. The operation panel 1p in this case is a liquid crystal display panel.

  The grafted seedlings are cured in a high humidity curing chamber. An illumination device is provided in the curing cabinet, and the photosynthesis of seedlings is promoted by the illumination of the illumination device. The illuminance of the lighting device can be changed and adjusted by an illuminance adjusting device such as a dimming dial using an inverter. Therefore, the illuminance can be set to the extent that the leaves of the hogi will not dry out due to lighting, photosynthesis can be promoted while preventing seedling wilting and improving seedling quality, and lighting can be applied from the time of warehousing. Can be shortened. Conventionally, on the first day of warehousing, the lighting was turned off in order not to dry the seedlings, and the warehousing period was extended due to the delayed spectral synthesis. The illuminance by the illuminance adjusting device may be automatically set. That is, when curing in a curing chamber for 4 days, for example, the illuminance is 25% on the first day, the illuminance is 50% on the second day, the illuminance is 75% on the third day, and the illuminance is 100% on the fourth day. The illuminance can be increased and the acclimatization effect of the seedling after curing can be improved.

  121: traveling device, 123: control box, 124: vibration device, 125: photographing device, 133: pollination robot, 136: harvesting device

Claims (6)

  A pollination robot provided with a vibration device (124) for performing pollination treatment by applying vibration to a flower.   The pollination robot according to claim 1, further comprising a traveling device (121) and an identification device (125) for discriminating between normal flowers and non-shaped flowers.   The pollination robot according to claim 2, further comprising a control device for controlling the vibration device (124) so as to apply vibration only to a flower identified as a normal flower by the identification device (125).   The pollination robot according to any one of claims 1 to 3, further comprising a pollinated position storage device that stores a position where the pollination processing has already been performed.   The pollination robot according to claim 4, further comprising a control device that controls to perform pollination processing except for a position where the pollination processing has already been performed in the pollination completed position storage device.   The pollination robot according to any one of claims 1 to 5, further comprising a harvesting device (136) for harvesting fruits.

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