JP2014108067A - Grafted seedling producing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve work efficiency of a grafting work, improve junction accuracy of grafted seedlings, and obtain excellent grafted seedlings.SOLUTION: In a grafted seedling producing apparatus, a rootstock intake section is provided on one of right/left sides of a grafting robot main body la, a scion intake section is provided on the other of right/left sides of the grafting robot main body la. The rootstock intake section and the scion intake section include: a carry-in mechanism 11 which carries in a seedling tray that houses seedlings; a gripping hand 12 which grips and takes out a seedling from the seedling tray on the carry-in mechanism 11 and supplies it to the grafting robot main body la side; and a position change mechanism which changes positional relationship between the carry-in mechanism 11 and the gripping hand 12. The apparatus is provided with an operation device 157 which operates the position change mechanism of the rootstock intake section and the scion intake section, a holding body 159 which holds the operation device 157 is provided so as to be displaced to the rootstock intake section side or the scion intake section side from the lateral central position of the grafting robot main body 1a, and the operation device 157 is removed from the holding body 159 to be movably configured.

Description

  This invention belongs to the technical field of a grafted seedling production apparatus that joins rootstock seedlings and hogi seedlings to produce grafted seedlings.

  A rootstock take-in part that takes in rootstock seedlings is provided on the left and right sides of the grafting robot body that grafts rootstock seedlings and hogi seedlings. A stocking part is provided, and the rootstock taking part and the hogi taking part are loaded into the seedling tray containing the seedling, and the seedling is picked up from the seedling tray on the loading mechanism and supplied to the grafting robot main body side. And a position changing mechanism for changing the positional relationship between the carry-in mechanism and the gripping hand, the carry-in mechanism is constituted by a conveyor, and the seedling pick-up position is arranged on the terminal end side of the carry-in path of the carry-in mechanism, The mechanism is configured to sequentially transfer the seedlings in the seedling tray one row at a time to the seedling extraction position, and sequentially take out the seedlings one by one from the horizontal row seedlings transferred to the seedling extraction position by the gripping hand. The shaft is loosened so that it can move in a flexible gripping space. An alignment member that contacts the seedling cotyledons and aligns the seedling in a desired direction is provided on the seedling transport path by the gripping hand, and the seedling cotyledons are brought into contact with the alignment member multiple times by the reciprocating movement of the gripping hand. There is a grafted seedling production device configured.

  The position changing mechanism is configured by a pantograph type lifting mechanism that lifts and lowers the loading mechanism, and by each lifting handle arranged on the side of each loading mechanism of the rootstock taking part and the hogi taking part in a plan view. It is configured to be operated. The alignment member is formed of a plate material having a mountain-shaped cross section, and a delivery holding mechanism that temporarily holds the seedlings to deliver the seedlings from the rootstock taking part and the hogi taking part to the grafting robot body. It arrange | positions at the position (refer patent document 1).

JP 2011-135800 A

  An object of the present invention is to improve the working efficiency of grafting work and improve the joining accuracy of grafted seedlings to obtain a good grafted seedling.

In order to solve the above problems, the following technical measures were taken.
That is, the invention according to claim 1 is provided with a root take-up portion for taking in rootstock seedlings on the left and right sides of the grafting robot main body (la) for grafting rootstock seedlings and hogi seedlings. la) on the other side of the left and right side is provided with a hogi taking-in portion for taking in the hogi seedling, and the rootstock taking-in portion and the hogi taking-in portion have a carrying-in mechanism (11) for carrying in a seedling tray containing the seedlings; Changed the positional relationship between the gripping hand (12) that grips and takes out the seedling from the seedling tray on the loading mechanism (11) and supplies it to the grafting robot body (la) side, and the loading mechanism (11) and the gripping hand (12). And a holding body for holding the operating device (157) provided with an operating device (157) for operating the root changing portion and the position changing mechanism (154) of the hogi taking portion. (159) is more than the left and right center position of the grafting robot body (1a). With parts side or scion taking portion provided by offset on and the grafted seedling producing device movably configured removed operating device (157) from the holding member (159).

  Further, the invention according to claim 2 is the grafted seedling according to claim 1, wherein the holding body (159) is provided by being shifted to the rootstock take-in portion side with respect to the left and right center position of the grafting robot main body (1a). A manufacturing apparatus was used.

  Moreover, the invention which concerns on Claim 3 provides the rootstock taking-in part which takes in a rootstock seedling in the right-and-left one side of the grafting robot main body (la) which grafts a rootstock seedling and a hogi seedling, la) on the other side of the left and right side is provided with a hogi taking-in portion for taking in the hogi seedling, and the rootstock taking-in portion and the hogi taking-in portion have a carrying-in mechanism (11) for carrying in a seedling tray containing the seedlings; A grasping hand (12) for grasping and taking out seedlings from a seedling tray on the carrying-in mechanism (11) at the seedling taking-out position on the carrying-in mechanism (11) and feeding them to the grafting robot body (la) side, and a carrying-in mechanism (11) And a position changing mechanism for changing the positional relationship between the gripping hand (12), the carry-in mechanism (11) is constituted by a conveyor, and the seedling removal position is arranged on the terminal end side of the carry-in path of the carry-in mechanism (11). The position changing mechanism is arranged on the start end side of the carry-in route of the carry-in mechanism (11). By rotating the around the dynamic fulcrum shaft carrying mechanism (11) up and down, and the structure and the grafted seedling producing device for changing the vertical height of the seedling tray at the seedling pick-up position.

  Further, the invention according to claim 4 is provided with a rootstock take-in portion for taking in rootstock seedlings on the left and right sides of the grafting robot main body (la) for grafting rootstock seedlings and hogi seedlings. la) on the other side of the left and right side is provided with a hogi taking-in portion for taking in the hogi seedling, and the rootstock taking-in portion and the hogi taking-in portion have a carrying-in mechanism (11) for carrying in a seedling tray containing the seedlings; A grasping hand (12) for grasping and taking out seedlings from a seedling tray on the carrying-in mechanism (11) at the seedling taking-out position on the carrying-in mechanism (11) and feeding them to the grafting robot body (la) side, and a carrying-in mechanism (11) And a position change mechanism for changing the positional relationship between the gripping hand (12) and a seedling sensor for detecting that all seedlings for one seedling tray on the carry-in mechanism (11) are in an appropriate position. An alarm is generated based on the detection that the seedling sensor is in an inappropriate position by the seedling sensor. It was and the grafted seedling production equipment.

  Moreover, the invention which concerns on Claim 5 provides the rootstock taking-in part which takes in a rootstock seedling in the right-and-left one side of the grafting robot main body (la) which grafts a rootstock seedling and a hogi seedling, la) on the other side of the left and right side is provided with a hogi taking-in portion for taking in the hogi seedling, and the rootstock taking-in portion and the hogi taking-in portion have a carrying-in mechanism (11) for carrying in a seedling tray containing the seedlings; A grasping hand (12) for grasping and taking out seedlings from a seedling tray on the carrying-in mechanism (11) at the seedling taking-out position on the carrying-in mechanism (11) and feeding them to the grafting robot body (la) side, and a carrying-in mechanism (11) And a position changing mechanism for changing the positional relationship between the holding hand (12) and the carrying mechanism (11) sequentially conveys the seedlings in the seedling tray one row at a time to the seedling picking position, and removes the seedling by the holding hand (12). The seedlings are taken out one by one from the horizontal row of seedlings transferred to the position. A seedling sensor for detecting the position of the next row of seedlings to be transported to the seedling removal position next by the carry-in mechanism (11) is provided, and all of the seedlings in the horizontal row at the seedling extraction position are taken out based on the detection of the seedling sensor. The graft seedling production apparatus was configured to operate the position changing mechanism later.

  Further, the invention according to claim 6 is configured such that the grasping hand (12) grasps the hypocotyl of the seedling loosely so as to be movable in a flexible grasping space, and is on a seedling transport path by the grasping hand (12). An alignment member (16) that contacts the cotyledon of the seedling and aligns the seedling in a desired direction is provided, and the cotyledon of the seedling is brought into contact with the alignment member (16) a plurality of times by reciprocating movement of the gripping hand (12). Alignment adjusting means for changing both the number of times of contact of the seedling cotyledon with the member (16) and the moving speed of the gripping hand (12) when the seedling cotyledon is brought into contact with the alignment member (16) is provided. The grafted seedling production apparatus according to any one of claims 1 to 5, wherein the moving speed is set to a slow side as the number of times of contact is set to a large side.

  Further, in the invention according to claim 7, the alignment adjusting means sets the number of contacts to the maximum and sets the number of contacts to the minimum from the side of setting the number of contacts to the minimum and setting the movement speed to the maximum speed. The graft seedling production apparatus according to claim 6, wherein in the adjustment to the speed setting side, the moving speed is changed to a slower side in preference to changing the contact frequency to the higher side.

  In addition, the invention according to claim 8 is provided with a cotyledon deployment angle sensor for detecting a development angle of a cotyledon of a seedling or a cotyledon length sensor for detecting the length of a cotyledon of a seedling. The configuration is such that the smaller the expansion angle or the shorter the cotyledon length based on the detection of the cotyledon length sensor, the larger the number of contacts is set and the slower the moving speed is set. The grafted seedling production apparatus described in 1.

  According to the invention which concerns on Claim 1, each position change mechanism of a rootstock taking-in part and a hogi taking-in part can be operated with an operating device (157), the size of a seedling, a seedling length, a kind of seedling, etc. The positional relationship between the carry-in mechanism (11) and the gripping hand (12) is changed in accordance with the above, the seedling can be properly taken out by the gripping hand (12), the joining accuracy of the grafted seedling is improved, and good grafting Seedlings can be obtained. Further, by operating the operating device (157) that is held by the holding body (159), the operation of the position changing mechanism of the take-in portion on the side where the holding body (159) is deflected is performed. It can be easily performed at a position close to the part, and the work efficiency of grafting work is improved. Furthermore, by removing the operating device (157) from the holding body (159) and moving it, the positional relationship between the carry-in mechanism (11) and the gripping hand (12) can be changed and adjusted easily while observing the grafting work. Work efficiency is improved.

  According to the invention according to claim 2, in addition to the effect of the invention according to claim 1, by operating the operating device (157) that is held by the holding body (159), compared with the hogi seedling Corresponding to rootstock seedlings that tend to vary in seedling size and seedling length, operation of the position change mechanism of the rootstock take-up section, which is relatively frequent, can be easily performed at a position close to the rootstock take-up section. This improves the work efficiency of grafting work.

  According to the invention of claim 3, the positional relationship between the carry-in mechanism (11) and the gripping hand (12) is changed in accordance with the size, seedling length, or seedling type of the seedling, and the gripping hand (12) is appropriate. Thus, the seedling can be taken out, the joining accuracy of the grafted seedling can be improved, and a good grafted seedling can be obtained. Since the position changing mechanism is configured to rotate the loading mechanism (11) up and down around the rotation fulcrum shaft disposed on the start end side of the loading path of the loading mechanism (11), the rotation fulcrum shaft With the simple structure of rotating the carry-in mechanism (11) up and down around the center, the change in the tilting posture of the seedling tray due to the vertical turn of the carry-in mechanism (11) is suppressed, and the carry-in route of the carry-in mechanism (11) The adjustment range of the vertical height adjustment on the terminal end side can be widened, the seedling extraction by the grasping hand (12) can be optimized, the joining accuracy of the grafted seedling can be improved, and a good grafted seedling can be obtained.

  According to the invention according to claim 4, the positional relationship between the carry-in mechanism (11) and the gripping hand (12) is changed corresponding to the size, seedling length, or seedling type of the seedling, and the gripping hand (12) is appropriate. Thus, the seedling can be taken out, the joining accuracy of the grafted seedling can be improved, and a good grafted seedling can be obtained. And the seedling sensor which detects that all the seedlings for one seedling tray on the carrying-in mechanism (11) are in an appropriate position is provided, and based on the detection of the seedling by the seedling sensor being in an inappropriate position. Since the alarm is issued, the operator can grasp in advance the seedling tray where there is an inappropriate seedling, and the position changing mechanism is removed before the gripping hand (12) takes out the inappropriate seedling while grafting. It is possible to operate to properly take out the seedling with the gripping hand (12), or to collect the seedling tray with the inappropriate seedling from the carry-in mechanism (11) to avoid the situation where the seedling removal becomes inappropriate. Can improve the joining accuracy and can obtain a good grafted seedling.

  According to the invention according to claim 5, the positional relationship between the carry-in mechanism (11) and the gripping hand (12) is changed in accordance with the size, seedling length, or seedling type of the seedling, and the gripping hand (12) is appropriate. Thus, the seedling can be taken out, the joining accuracy of the grafted seedling can be improved, and a good grafted seedling can be obtained. And since the position changing mechanism is automatically operated based on the detection of the seedling sensor, it is possible to optimize the seedling removal by the gripping hand (12), improve the joining accuracy of the grafted seedling, and obtain a good grafted seedling In addition, the operation of the position changing mechanism by the operator can be omitted or simplified, and the work efficiency of the grafting work can be improved. Further, after the seedling sensor detects the position of the next row of seedlings to be transported to the seedling removal position by the loading mechanism (11) and removes all the seedlings in the horizontal row at the seedling extraction position, the loading mechanism (11 ) During the transfer of the next row of seedlings to the seedling removal position, or immediately before or immediately after the transfer, the position change mechanism can be operated, and generation of unnecessary work time due to the operation of the position change mechanism can be suppressed as much as possible. This improves the work efficiency of grafting work.

  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, by the alignment adjusting means, the seedling coagulation development angle, the cotyledon length, etc. For seedlings that are difficult to align in the desired direction by the alignment member (16) according to the state and seedling type, the number of times the seedling contacts the alignment member (16) is increased and the seedling is moved to the alignment member (16). The speed can be reduced to ensure that the seedlings are aligned in the desired orientation. On the other hand, for seedlings that can be easily aligned in a desired direction by the alignment member (16), the number of contact of the seedlings with the alignment member (16) is reduced and the moving speed of the seedling to the alignment member (16) is increased, thereby reducing the work time. The work efficiency of grafting can be improved by shortening.

  According to the invention of claim 7, in addition to the effect of the invention of claim 6, the alignment adjusting means changes the moving speed to the slow side in preference to changing the contact frequency to the large side. Therefore, it is possible to properly align the seedlings in a desired direction while suppressing the work time required for arranging the seedlings as much as possible, and to improve the work efficiency of the grafting work.

  According to the invention of claim 8, in addition to the effect of the invention of claim 6 or claim 7, the smaller the cotyledon deployment angle based on the detection of the cotyledon deployment angle sensor, or the cotyledon based on the detection of the cotyledon length sensor. The shorter the length, the more the number of contacts can be automatically set to the larger side and the moving speed can be automatically set to the slower side. This improves the work efficiency of grafting work.

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 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 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 view showing before and after the delivery operation of the alignment holding means Plan view before and after the first alignment operation Plan view before and after the second alignment operation Diagram showing the operation panel A plan view showing a fixed support plate and a movable support plate Front view showing grafting robot body and delivery holding mechanism Plan view showing the loading mechanism Side view showing the loading mechanism Rear view showing the loading mechanism Illustration showing seedlings

One embodiment of the present invention will be described below. The following embodiment is merely an embodiment and does not restrict the scope of the claims.
The grafted seedling production apparatus 1 is centered on a grafting robot main body la for grafting the rootstock and the hogi, the rootstock taking part (taken part) 2 on the left side, and the hogi taking part (taken part) on the right side , And a rootstock preprocessing unit (preprocessing unit) 3 for receiving rootstock and seedlings as hogi from the rootstock capturing unit or the hogi capturing unit on the left and right sides of the front of the graft robot body la , Hogi pre-processing unit (pre-processing unit) 4, and in the center, the bonding processing unit 7 for bonding the roots and the hogi received from the root-stock pre-processing unit 3 or the hogi pre-processing unit 4, this bonded A graft seedling sending part 8 for sending the graft seedlings from below is arranged so that the left and right sides are substantially symmetrical, and an operation panel lp is provided on the front side of the hogi taking-in part.

  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 hogi pretreatment unit 4 includes a hogi transport arm 68 that is rotated by driving the rotary actuator 67 on the hogi side that is operated by air pressure. , And the hand transporter arm 68 rotates 90 degrees to transport the seedling to the cutting position 69, and then the hand transporter arm 68 further rotates 90 degrees to transport the seedling 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.

  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.

  In addition, the clip feeder 73 and the clip supply apparatus 74 are comprised separately, and become a structure which can each adjust vertical height. Thereby, the height of the clip feeder 73 and the clip supply device 74 can be adjusted relatively, and a transfer failure (clogging of a clip or the like) in the clip transfer from the clip feeder 73 to the clip supply device 74 can be prevented. Further, since the clip feeder 73 and the clip supply device 74 can be transported separately, transportation can be facilitated.

  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 in a desired orientation in which the grip portion 102 is on the upper transfer side by the feeding action of the clip 101 by the clip feeder 73 which is a vibration type supply device. The clips 101 are supplied one by one to the guide rail 10, and the guide rail 105 is vibrated by the vibration type transfer device 46 provided at the transfer start end of the guide rail 105. In this posture, the clip 101 is continuously 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.

  A photoelectric first clip sensor 65 that detects the presence / absence of the clip 101 is provided at a position closer to the transfer terminal end of the guide rail 105 and closer to the transfer side than the clip pusher 108. In addition, a photoelectric second clip sensor 66 for detecting the presence or absence of the clip 101 is provided at a second predetermined position closer to the transfer start end of the guide rail 105 than the first predetermined position. ing. Then, when the first clip sensor 65 does not detect the clip 101, the control device operates the grafting robot body la based on the input from the first clip sensor 65, that is, the rootstock preprocessing unit 3, the hogi preprocessing unit. 4 and the adhesion processing unit 7 are stopped, and a lamp provided in a setting change unit 54 of the operation panel 1p described later is constantly lit in red to give an alarm. As a result, it is possible to prevent the rootstock seedling and the safflower seedling from being wasted by performing the grafting operation in a state where the clip 101 is not supplied to the joining position 63, and prompt the clip feeder 73 to be supplied with the clip 101. Further, the first clip sensor 65 and the second clip sensor 66 input that the first clip sensor 65 detects the clip 101 and the second clip sensor 66 does not detect the clip 101, and then a predetermined time (about 10 seconds). When the time elapses, the lamp blinks in blue and an alarm is given. The clip 101 in the clip feeder 73 is lost and the clip 101 is reduced, or the clip 101 is clogged due to a malfunction of the clip feeder 73 or a transfer path. Inform them that they are no longer properly transferred. As a result, the clip 101 can be replenished to the clip feeder 73 or the clogging work of the clip 101 can be eliminated, and the clip 101 can be replenished without interrupting the grafting work, and the grafting work efficiency can be improved. Further, when the second clip sensor 66 detects the clip 101, the operation of the clip feeder 73 is stopped based on the input from the second clip sensor 66. Thereby, the clip 101 is not unnecessarily supplied to the guide rail 105 by the clip feeder 73, and the clip 101 can be prevented from being damaged in the guide rail 105 by being forcibly supplied. In a normal operation state, every time the second clip sensor 66 does not detect the clip 101, the clip feeder 73 is operated to supply the clip 101 to the second predetermined position, and the second clip sensor Will be detected. The lamp is always lit in blue in a normal operation state.

  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.

  Below the left and right opening / closing operation members 107 of the clip opening / closing device 106, a fixed support plate 121 and a movable support plate 122 are provided as support members for supporting the clip 101 supplied to the joining position 63 from below. The fixed support plate 121 is disposed on the extension of the guide rail 105 and is provided from the position of the embryonic axis of the seedling at the joining position 63 to the left side. Configure. The movable support plate 122 is provided on the front side of the fixed support plate 121 (the release side of the clip 101) from the position of the hypocotyl of the seedling at the joining position 63 to the right side, and the pre-treatment of the spikelets on the other side from the joining position 63 to the left and right sides The part is composed. The front end surface 121 a of the fixed support plate 121 is disposed at a position in contact with the hypocotyl of the rootstock seedling at the joining position 63. Therefore, the fixed support plate 121 is located on the upper transfer side (rear side) of the clip 101 with respect to the hypocotyl of the seedling joined at the joining position 63 in the front-rear direction, and the front end surface 121a of the fixed support plate 121 is located at the joining position. It becomes an end surface on the upper transfer side that contacts the hypocotyl of the seedling joined at 63 on the upper transfer side of the clip 101. Further, the left end surface 122 a of the movable support plate 122 is disposed at a position in contact with the hypocotyl of the rootstock seedling at the joining position 63. Therefore, the movable support plate 122 reaches the lower transfer side (front side) of the clip 101 in the front-rear direction of the clip 101 from the hypocotyl of the seedling joined at the joining position 63, and the left end surface 122 a of the movable support plate 122 is joined to the joining position 63. It becomes the end surface on the side of the pretreatment part of the hogi that comes into contact with the hypocotyl of the seedling to be joined on the side of the pretreatment part. Note that the movable support plate 122 protrudes from the front end surface 121a of the fixed support plate 121 to the front side (the release side of the clip 101) about the axis diameter (3 to 4 mm) of the hypocotyl of the rootstock seedling. Furthermore, the movable support plate 122 is attached to the fixed support plate 121 through the long hole 122b so that the left and right positions can be adjusted, and can be removed by removing the fastening bolt 123 to be inserted into the long hole 122b. Accordingly, the left and right positions of the left end surface 122a of the movable support plate 122 can be changed by changing the left and right positions of the movable support plate 122, and the movable support plate 122 can be switched to a state without the left end surface 122a by removing the movable support plate 122.

  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 for rootstock, a petiole supporter 76 that supports a petiole on the side to be cut, and a cotyledon presser 77 that presses the remaining cotyledon from above. The cutting blade 75 for the rootstock and the petite support 76 are moved by the back-and-forth moving cylinder 78 operated by air pressure, approach the rootstock seedling at the cutting position 62, and the petal support 76 becomes the petiole. Hold in contact (see FIG. 6B). In addition, the back-and-forth moving cylinder 78 for the rootstock is inclined so that the rootstock seedling side becomes higher, and the cutting blade 75 for the rootstock and the pete supporter 76 approach the rootstock seedling from the lower side position. It is configured not to interfere with the cotyledons. Thereafter, the cotyledon pressing tool 77 is rotated downward by the cotyledon pressing rotary actuator 79 that is 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. 6 (3 )reference). In this state, the cutting blade 75 for rootstock is moved along a linear movement locus that becomes a cutting locus obliquely upward by the cutting cylinder 81 for rootstock that is operated by air pressure, and the rootstock seedling should be excised. Cut the hypocotyl and one lobe (see FIG. 6 (4)). At this time, the cutting blade 75 for the rootstock comes into contact with the cutting surface of the seedling that becomes the cutting site without passing through the hypocotyl of the seedling, stops at a position covering the cutting surface, and the portion to be excised from the rootstock seedling And it is in the blocking position that blocks the part of rootstock seedling that should be left. Then, the root cutting cutter 75 and the petiole support 76 are retracted from the rootstock seedling by the back and forth moving cylinder 78, and the root cutting seedling is to be excised by the movement of the root cutting blade 75. Is separated from the portion of the rootstock seedling to be left (see FIG. 6 (5)). Thereafter, the cotyledon retainer 77 is rotated upward to return to the original position, and the cutting blade 75 for rootstock is moved obliquely downward by the cutting cylinder 81 for rootstock to return to the original position ( (See FIG. 6 (1)). The cutting angle can be easily adjusted by adjusting the mounting angle of the cutting cylinder 81 for the rootstock.

  Therefore, the part to be cut off of the rootstock seedling after cutting can be moved while being separated from the part to be left behind by the moving cutting blade 75 for the rootstock so that the sap exudes the rootstock seedling. It is possible to prevent the part to be cut off from being attached to the cut surface, improve the joining accuracy of the grafted seedling, and it is necessary to move the cutting blade 75 for the rootstock to a position past the cutting position and then retract it Therefore, the working time of the cutting process can be shortened, the working efficiency is improved, and a good grafted seedling can be obtained. In particular, as in the conventional art, the cutting blade 75 for rootstock cuts again the portion to be cut of the rootstock seedling after cutting by moving the cutting blade 75 for rootstock to a position past the cutting point. It is possible to prevent chips generated by the cutting from adhering to the cut surface. Further, the shortening of the cutting locus prevents the operator from being injured by the cutting blade 75 for the rootstock.

  It should be noted that the cutting blade 75 of the rootstock seedling is brought into the blocking position by the detection of the stroke sensor for detecting the operation stroke position of the back and forth moving cylinder 78 for the rootstock or the cutting blade sensor for directly detecting the cutting blade 75 of the rootstock seedling. Based on the arrival, the cutting blade 75 and the petiole support 76 for the rootstock may be moved to the side for retreating from the rootstock seedling by the forward / backward moving cylinder 78 for the rootstock. Further, the rootstock cutting blade 75 is moved by a back-and-forth moving cylinder 78 for rootstock from the point of time when the rootstock seed cutting blade 75 is moved on the linear movement trajectory without stopping the rootstock seedling cutting blade 75. It is good also as a structure which moves the cutting blade 75 and petiole support 76 of this to the side which retracts from a rootstock seedling.

  The rootstock transport arm 61 is provided with a cotyledon support roller 150 serving as a cotyledon support member for supporting the cotyledon development base of the rootstock seedling to be gripped. The cotyledon support roller 150 supports the cotyledon deployment base from the opposite side of the cutting blade 75 when cutting the seedling by the root cutting device 64, thereby optimizing the cutting position. An air outlet 151 is provided on the outer surface of the cotyledon support roller 150 on the rootstock seedling side, and the air from the air outlet 151 prevents the seedling from sticking to the cotyledon support roller 151, The grafted seedlings after joining can be released well from the rootstock transfer arm 61 and discharged. In addition, by letting the air blown out from the air outlet 151 only when the grafted seedlings are discharged after joining the seedlings, the grafted seedlings can be smoothed while preventing the cutting and joining failures of the rootstock seedlings caused by the air blowing out. Can be discharged.

  In addition, the cotyledon retainer 77 is provided with a cotyledon removal nozzle 152 that blows down the other cotyledon of the rootstock seed to be excised by discharging air downward while holding one cotyledon of the rootstock seedling. . This cotyledon removal nozzle 152 is used when the root cutting machine 64 completes cutting (from FIG. 6 (5)) from when the cotyledon pressing tool 77 is actuated to press the cotyledon (from FIG. 6 (3)). ) Until the air is discharged. As a result, the cotyledons to be removed can be reliably removed away from the rootstock seedling, and the cotyledons to be removed are prevented from adhering to the cut surface of the rootstock seedling, and the subsequent joining of seedlings can be optimized. It is possible to improve the joining accuracy. In addition, when the rootstock seedling is cut (in the case of FIG. 6 (4)), the cotyledon deployment angle can be increased by pushing down the other cotyledon by the air from the cotyledon removal nozzle 152, and the cutting can be optimized. .

  The hogi cutting device 70 includes a cutting blade 82 for hogi and an hypocotyl support 83 that supports the hypocotyl on the side to be cut off (lower side). The cutting blade 82 for the hogi and the hypocotyl support 83 are moved by the forward / backward movement cylinder 84 for the hogi operated by air pressure, approaching the hogi seedling at the cutting position 69, and the hypocotyl support 83 is moved. Hold in contact with the hypocotyl (see FIG. 7 (2)). The forward / backward moving cylinder 84 for the hogi is inclined so that the hogi seedling side becomes higher, and the cutting blade 82 for the hogi and the hypocotyl support 83 approach the hogi seedling from a position closer to the lower side. It is configured not to interfere with the seedling cotyledons. In addition, the cutting blade 82 for hogi is located in the back side (lower side) of a cotyledon in the state which approached the hogi seedling. Then, the cutting blade 82 for the hogi is moved by the cutting cylinder 85 for the hogi that is operated by air pressure along a linear movement locus that becomes a cutting locus in an obliquely downward direction, and the hypocotyl that becomes a portion to be excised from the hogi seedling Is cut (see FIG. 7 (3)). At this time, the cutting blade 82 for the hogi stops at a position where it comes into contact with the cutting surface of the seedling that becomes a cutting location without passing through the hypocotyl of the seedling and covers the cutting surface, and the portion to be cut off of the hogi seedling And it is in the blocking position that blocks the portion that should be left behind. Then, the cutting blade 82 and the hypocotyl support 83 are moved obliquely downward by the hobby back-and-forth moving cylinder 84 and are retracted from the hogi seedling. By moving the cutting blade 82 for the hogi, The portion of the hogi seedling to be excised is separated from the portion of the hogi seedling to be left (see FIG. 7 (4)). Thereafter, the cutting blade 82 for hogi is moved diagonally upward by the cutting cylinder 85 for hogi and returned to the original position (see FIG. 7A). In addition, the cutting angle can be easily adjusted by adjusting the mounting angle of the cutting cylinder 85 for hogi.

  Therefore, the portion to be cut off of the cuttings can be moved while being separated from the portion to be left by the moving cutting blade 82 for the cuttings, so that the sap exudes the sap. It is possible to prevent the part to be cut off from being attached to the cut surface, improve the joining accuracy of the grafted seedling, and it is necessary to move the cutting blade 82 for hogi to the position past the cutting position and then to retreat Therefore, the working time of the cutting process can be shortened, the working efficiency is improved, and a good grafted seedling can be obtained. In particular, as in the prior art, by moving the cutting blade 82 for the hogi to a position past the cutting position, the cutting blade 82 for the hogi again cuts the portion to be cut off of the cut hogi seedling. It is possible to prevent chips generated by the cutting from adhering to the cut surface. Further, by shortening the cutting locus, the operator can be prevented from being injured by the cutting blade 82 for hogi.

  It should be noted that by detecting the stroke sensor for detecting the operation stroke position of the front / rear moving cylinder 85 for hogi or the cutting blade sensor for directly detecting the cutting blade 82 for the hogi seedling, the hogi seedling cutting blade 82 is brought to the blocking position. A configuration may be adopted in which the cutting blade 82 and the hypocotyl support 83 are moved to the side of retreating from the saplings seedlings by the hobby back-and-forth moving cylinder 85 based on the arrival. Moreover, the cutting blade 82 for the hogi is moved by the front / rear moving cylinder 85 from the point of time when the cutting blade 82 for the hogi seedling is reached on the linear movement locus without stopping the cutting blade 82 for the hogi seedling. The cutting blade 82 and the hypocotyl support 83 may be moved to the side of retreating from the rootstock seedling.

  In addition, the cutting blade 75 for rootstock of the rootstock cutting device 64 and the cutting blade 82 for hogi of the hogi cutting device 70 are arranged obliquely so as to be separated from the seedlings toward the joint position 63 side in plan view. It moves with an advancing angle with respect to the seedling to be cut and cuts the seedling. 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 2 and the hogi taking-in part are right-and-left symmetrical and are the same structures, the following describes the hogi taking-in part.
As for the hogi take-in side, the hogi take-in unit sequentially carries in and transfers a cell tray that is a seedling tray in which a large number of hogi seedlings (seedlings) W grown in a seedling pot are laterally placed on the side of the grafting robot body la. A holding mechanism 11 for cutting and moving the hypocotyl while holding the individual seedlings W as spikelets so that the advancing and retreating mechanism 12b can move forward and backward with respect to the seedling W on the loading mechanism 11. It comprises a hand 12, 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 disposed on the transfer stroke, and the like. In addition, at the handing over position (delivery position) R between the hogi taking-in section and the hogi pre-processing section 4, the hand holding temporarily the hogi seedling W transferred from the hogi taking-in section. A holding mechanism 15 is provided.

  Specifically, the carry-in mechanism 11 is configured by a belt-type conveyor 153 or the like that moves along the side of the grafting robot main body la, and sequentially transfers at the cell tray arrangement pitch each time a row of seedlings is taken out. By operating, 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 part will be described in detail. As shown in FIG. 11, 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 stages 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. 12 (a) showing a plan view of the gripping state, the upper hand mechanism 21 has a notch in the left-right direction larger than the diameter dimension of the hogi seedling fertilizer axis A at the gripping position at the tips of the left and right opening / closing arms 21a. B is formed so that the hypocotyl A of the hogi seedling can be freely fitted and held, and an adjustment bolt 21b for setting the clearance limit is provided. As shown in FIG. 12B, which shows a plan view of the gripping state of the middle stage, the middle hand mechanism 22 is larger than the diameter dimension of the safing seedling fertilizer axis A at the gripping positions at the tips of the left and right opening / closing arms 22a, 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 upper hand mechanism 21 and the middle hand mechanism 22 secure the holding position accuracy of the hogi seedling while holding the hogi seedling so as to be rotatable about its embryo axis.

  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.

The upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 form a loose-fitting gripping mechanism that loosely grips the hypocotyl so as to be rotatable while cutting off the root side of the hogi seedling as a scion.
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 upper hand mechanism 21 and the middle hand mechanism 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). Is fixedly provided with a seedling separating tool 45 extending from the delivery holding mechanism 15 to the left and right opposite side (left side, 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.

  Taking-in operation of the sabor seedling by the holding hand 12 having the above-described 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. 20A, 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), and then the grafting is performed. 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. In the state where the second lifting tool 42 and the tip 41t of the first lifting tool 41 intersect each other in plan view, the gripping hand 12 is slightly (about 10 mm) by the transfer mechanism 13 on the graft robot body 1a side (adjacent). If the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are closed after being moved to the side opposite to the seedling, the adjacent hand is gripped or cut together by the gripping hand 12. Can be prevented. If the step of moving the gripping hand 12 slightly toward the grafting robot main body 1a is performed simultaneously with the ascending operation (S2) of the first lifting tool 41 and the second lifting tool 42, the work time can be shortened. Efficiency can be improved.

  The upper hand mechanism 21 and the middle hand mechanism 22 have a curved shape on the upper side of the lateral movement, so that they do not interfere with the seedling by the lateral movement 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 if the seedling has a short hypocotyl that is grown in winter, the upper hand mechanism 21 and the middle hand The seedling can be properly taken out by the mechanism 22.

  Next, as shown in the operation plan view in the gripping state of FIG. 20B, the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are opened and advanced (S3), and then the upper hand mechanism 21 and By closing the middle hand mechanism 22 (S4), the hypocotyl A of the hogi seedling W is loosely held in the notches B and C at the tips of the upper hand mechanism 21 and the middle hand mechanism 22, and then the cutter mechanism 23 Is closed (S5), the lower part of the hypocotyl A is cut and the lower end of the hogi seedling W is supported by the cutter mechanism 23 so as to be rotatable. Here, the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are retracted (S6), and then moved laterally (S7) toward the center of the grafted seedling production apparatus 1, whereby the hogi is moved from the carry-in mechanism 11. Seedlings can be taken individually. The retreat distance of the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 in S6, that is, the advance / retreat operation stroke by the advance / retreat mechanism 12b, completely interferes with the adjacent seedlings by the seedling grasped to be taken out from the cell tray by the process of S6. The length is not set.

  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 upper hand mechanism 21, the middle hand mechanism 22, and the cutter mechanism 23, so that the seedling W to be taken out is in an upright posture. It is corrected to prevent the seedling removal failure. The seedling guide 112 retreats simultaneously with the retreat of the upper hand mechanism 21, the middle hand mechanism 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. 22, 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.

  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 by the delivery holding mechanism 15 and the alignment member 16 configured at the delivery position R 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. 23, a plan view of the main part is shown in FIG. 23, and a side view of the main part (a) and a cross-sectional view taken along line B-B of FIG. 24 are shown in FIG. An upper hand mechanism 31 for gripping the mouse, a positioning hand mechanism 71 for positioning the position of the embryonic axis by bringing the embryonic axis A of the seedling to one side (joining position 63 side) just below the upper hand mechanism 31, and below A middle hand mechanism 32 that grips the upper and lower intermediate parts of the hypocotyl A, and a stopper 33 that restricts excessive entry of the hypocotyl A below the upper hand mechanism 31 and the positioning hand mechanism 71 and above the middle hand mechanism 32. The delivery position R is provided with an elevating mechanism 34 that adjusts the height position integrally.

  The gripping space of the upper hand mechanism 31 is configured to be larger than the cross section of the embryonic axis of the seedling. Therefore, the upper stage hand mechanism 31 grips the upper part of the hypocotyl of the seedling loosely so as to be movable in the predetermined accommodation space that is the gripping space. The positioning hand mechanism 71 positions the position of the hypocotyl by bringing together the hypocotyl A of the seedling that is accommodated in the accommodation space. In the middle stage hand mechanism 32, the gripping space substantially matches the cross section of the embryonic axis of the seedling, and holds and holds the embryonic axis of the seedling. First, the upper hand mechanism 31 loosely grips the upper part of the embryonic axis of the seedling, then the middle hand mechanism 32 grips the upper and lower middle parts of the embryonic axis of the seedling, and then the positioning hand mechanism 71 holds the embryonic axis of the seedling. In order to perform the positioning, the control device is configured to operate the upper hand mechanism 31, the positioning hand mechanism 71, and the middle hand mechanism 32 so as to be gripped with a predetermined time lag. Thereafter, the middle hand mechanism 32 moves downward by a predetermined amount while holding the embryonic axis of the seedling, and the hypocotyl A of the gripped seedling is lowered until the cotyledon deployment base at the upper part of the seedling contacts the upper surface of the upper hand mechanism 31. It is configured to pull down to the side.

  The alignment member 16 is arranged at a position for receiving the cotyledons of the hogi seedling above the delivery holding mechanism 15. The alignment member 16 is a flat plate-like member that regulates the direction in which the cotyledonary cotyledons are deployed, and forms a guide portion 35 that is formed by a protrusion 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 in the alignment holding means, the cotyledons L and L of the hot tree seedling W are pressed against the alignment member 16 and the guide portion 35 when the hotwood seedling W is delivered to the delivery holding mechanism 15 by the advance operation of the gripping hand 12. Thus, the cotyledons L, L are distributed to the left and right, and the cotyledon deployment axis is aligned along the alignment member 16.

  The delivery operation to the delivery / holding mechanism 15 will be described in detail. 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, FIG. 26, the gripping hand 12 including the cutter mechanism 23 is closed, that is, while the lower end of the hypocotyl A is received by the cutter mechanism 23, the upper hand mechanism 21 and the middle hand mechanism 22 are the seedling embryos. The cotyledon deployment direction is corrected through the alignment member 16 by reciprocating once to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b with the shaft loosely gripped. Next, as shown in FIG. 26 (b), by opening the cutter mechanism 23, the upper hand mechanism 21 of the gripping hand 12 receives the cotyledons L and L, and adjusts the height position of the seedling W. In this state, the reciprocating operation of the advancing / retreating mechanism 12b reciprocates a plurality of times (twice) again to the position of the delivery holding mechanism 15, whereby the cotyledon strikes the alignment member 16 and the cotyledon deployment direction is aligned. After this aligning operation, the grasping hand 12 is advanced to the delivery holding mechanism 15 and then the cutter mechanism 23 is closed, whereby the hypocotyl A is cut at a predetermined position and the lengths are aligned.

  After cutting the hypocotyl A, the cutter mechanism 23 is opened, and the upper hand mechanism 31, the positioning hand mechanism 71, and the middle hand mechanism 32 of the delivery holding mechanism 15 grip the hogi seedling W. The gripping hand 12 is moved backward by releasing the gripping of the shaft, and the seedling is pulled down by the downward movement of the middle hand mechanism 32 of the delivery holding mechanism 15.

  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.

  The delivery holding mechanism 15 is provided with a seedling detection sensor 124 for detecting the supplied seedling and a gripping hand detection sensor 125 for detecting the gripping hand 12 in the normal position retracted from the position for supplying the seedling to the delivery holding mechanism 15. ing. The seedling detection sensor 124 is a photoelectric sensor that is disposed between the upper hand mechanism 31 and the middle hand mechanism 32 and detects the hypocotyl of the seedling supplied from the side to the gripping position. The gripping hand detection sensor 125 is a photoelectric sensor that detects the gripping hand 12 from above.

  Further, immediately above the delivery holding mechanism 15, a grasping completion lamp 126 serving as a notification device that lights up in conjunction with the hand mechanisms 31 and 32 grasping the embryonic axis of the seedling, and seedling of the seedling by the hand mechanisms 31 and 32 A grip release switch 127 serving as a grip release operation tool for releasing grip is provided.

  When the fully automatic grafting operation for automatically supplying seedlings to the delivery holding mechanism 15 using the rootstock taking part or the hogi taking part is performed, both the root side and the hogi side are controlled by the control device. If the seedling detection sensor 124 detects the seedling and the gripping hand detection sensor 125 detects the gripping hand 12 and the gripping completion lamp 126 is turned on and the grip release switch 127 is not operated, the rootstock preprocessing unit 3 or Hogi pretreatment unit 4 starts transporting seedlings and performs grafting work. Further, when a semi-automatic grafting operation for manually supplying seedlings to the delivery holding mechanism 15 without using the rootstock taking section or the hogi taking section, a gripping hand detection sensor for detecting the periphery of the delivery holding mechanism 15 The direction of 125 is changed and adjusted, and the control device detects the seedling detection sensor 124 on both the rootstock side and the scion side, and the grasping hand detection sensor 125 detects nothing (the operator's hand). If the grip release switch 127 is not operated while the grip completion lamp 126 is lit, the rootstock pre-processing unit 3 or the pre-hog pre-processing unit 4 starts transporting seedlings and performs grafting work. Switching between the fully automatic grafting work and the semi-automatic grafting work is switched in conjunction with the operation of the mode switch 49. When fully automatic grafting work is performed, the detection performance of the gripping hand detection sensor 125 is switched to a state of detecting with high resolution and high accuracy to accurately detect the gripping hand 12 at a fixed position. The detection performance of the hand detection sensor 125 is switched to a state in which detection is performed over a wide range with low resolution, and it is determined that there is no operator's hand in the vicinity. The detection performance of the gripping hand detection sensor 125 is switched by an amplification device provided in the control device.

  When the grip release switch 127 is operated while the grip completion lamp 126 is lit, the gripping of the operated hand mechanisms 31 and 32 is released and the rootstock preprocessing unit 3 and the hogi preprocessing unit 4 are operated. The transportation of the seedling by is stopped.

  In addition, when the operator pulls down the seedling of the middle stage hand mechanism 32 in both the fully automatic grafting work and the semi-automatic grafting work, the middle stage hand mechanism 32 is operated after the upper stage hand mechanism 31 and the middle stage hand mechanism 32 are operated. It is possible to further pull down the seedling by grasping the lower hypocotyl portion of 32. That is, the hypocotyl A of the seedling grasped while sliding in the middle hand mechanism 32 is lowered downward until the cotyledon deployment base at the top of the seedling contacts the upper surface of the upper hand mechanism 31, and the vertical position of the seedling is set at a predetermined position. Position so that Note that the grip surface of the middle hand mechanism 32 may be formed of an elastic body such as rubber or sponge. As a result, the area of the gripping surface is increased for the thick hypocotyl A, and the area of the gripping surface is decreased for the thin hypocotyl A. Therefore, the gripping of the middle hand mechanism 32 is performed according to the size of the seedling (the thickness of the hypocotyl A). It can be adjusted by changing the force, and the seedling can be pulled down properly while properly obtaining the gripping force of the seedling.

  Therefore, first, the upper hand mechanism 31 loosely grips the upper part of the hypocotyl of the seedling, and then the seedling descends by its own weight until the cotyledon deployment base approaches the upper hand mechanism 31 before the middle hand mechanism 32 grips the seedling. The operator grasps and pulls down the hypocotyl of the seedling grasped by the hand mechanism 31 and the middle stage hand mechanism 32, so that the upper and lower positions of the seedling can be adjusted by aligning the cotyledon deployment base of the seedling with the upper stage hand mechanism 31. Then, the positioning hand mechanism 71 can move the embryonic axis of the seedling and perform lateral positioning. Note that the operator may lower the seedling after the positioning hand mechanism 71 positions the seedling.

  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. The position can be switched between a manual position where the seedling is operated until one seedling is supplied to the preprocessing unit 3 or only the graft robot main body la is operated, and a step position which is operated for each operation stroke. 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 having a control device that collectively controls the grafting seedling production apparatus 1 including the grafting robot main body la, the rootstock capturing unit, and the hogi capturing unit. Yes. The control panel 55 is provided with operation switching means such as a change-over switch that can turn on and off the operations of the grafting robot main body la, the rootstock taking section, and the hogi taking section. 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, and grafting seedling production work in various work forms Can be done. For example, when the axis of the hypocotyl is short and the rootstock that requires the accuracy of the cutting position for joining the seedlings is to be supplied manually to the rootstock pretreatment unit 3, the grafting robot main body la and the hotwood capturing unit are operated. Thus, the operation of the rootstock take-in section can be stopped. 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.

  In the grafted seedling production apparatus 1, the take-up unit 2 serving as a seedling supply device that supplies each seedling one by one can loosely hold the seedling embryo axis while cutting the root side of the received seedling. A loose-fitting holding mechanism by the gripping hand 12, a transfer mechanism 13 that supports the loose-fitting holding mechanism and moves in the lateral direction, and a cotyledon deployment by interfering with the cotyledons of the seedlings at the transfer end portion in the transfer mechanism 13 A direction correcting member 14 for adjusting the direction to the transfer direction is provided, and the transfer mechanism 13 has a transfer speed immediately before the cotyledon of the seedling interferes with the direction correcting member 14 so that the transfer speed at the transfer terminal portion becomes low. It is configured to decelerate.

  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 interferes with the cotyledon of the seedling, the cotyledon unfolding direction is aligned with the transfer direction.

  Note that one of the rootstock side and the hogi side automatically supplies seedlings to the delivery holding mechanism 15 with the gripping hand 12, and the other detects the gripping hand when supplying seedlings to the delivery holding mechanism 15 manually. A configuration in which the rootstock pre-processing unit 3 or the hogi pre-processing unit 4 starts conveying seedlings on condition that the sensor 125 detects the gripping hand 12 and the gripping hand detection sensor 125 detects nothing on the other hand. do it.

  In addition, a seedling detection sensor for detecting the seedling of the delivery holding mechanism 15 from above is provided instead of the gripping hand detection sensor 125, and the rootstock preprocessing unit 3 is provided on the condition that the seedling detection sensor detects the seedling in the fully automatic grafting operation. Or, the pre-treatment part 4 of the hogi starts transporting the seedlings, and the pre-treatment part 3 or the pre-treatment part 4 of the hogi is prepared on the condition that the seedling detection sensor does not detect the operator's hand in the semi-automatic grafting work. It is good also as a structure which starts conveyance. Also at this time, the detection performance of the seedling detection sensor may be switched.

  The carry-in mechanism 11 includes a conveyor 153 for carrying a seedling tray in which a number of cells each containing seedlings are arranged in a grid. The conveyor 153 is disposed on the side of the grafting robot main body 1a, and is supported via a pantograph-shaped lifting mechanism 154 for height adjustment.

  The conveyor 153 is configured to convey a seedling tray that stores seedlings toward the front side (from the clip feeder 73 side toward the adhesion processing unit 7 side). In order to operate the pantograph-shaped lifting mechanism 154 from the outside of the machine body, the lifting drive shaft 155 is perpendicular to the seedling transport direction of the conveyor 153 in plan view, and the conveyor 153 is positioned more than the seedling removal position on the loading mechanism 11. It is arranged at a position on the upper side of conveyance.

  In addition, an electric lifting motor 156 that operates the lifting mechanism 154 is provided. The lifting motor 156 is operated by operating the operating device 157. The operation device 157 is configured by an operation box including a plurality of operation switches 158, and is configured to be able to individually adjust the conveyor 153 of the rootstock take-in unit 2 and the hogi take-in unit individually. A holding body 159 that holds the operating device 157 is fixedly provided on the upper surface that is closer to the rootstock take-in portion than the left and right center position of the grafting robot main body 1a. The operating device 157 held by the holding body 159 is in a state in which the operation surface on which the operation switch 158 and the like are arranged is directed to the front side (the adhesion processing unit 7 side and the side opposite to the clip feeder 73). The operating device 157 can be operated while being held at 159. Further, the operating device 157 is connected to the control device via a signal transmission cable having a sufficient length, and is removed from the holding body 159 to the outside of the rootstock taking section and the hogi taking section ( It can be moved to the outside of the conveyor 153 in the left-right direction). As a result, the operator can adjust the height of the conveyor 153 at the side of the conveyor 153 while visually checking the height of the seedling removal position, and can adjust the height relative to the gripping hand 12.

  The elevating mechanism 154 serving as a position changing mechanism is disposed at a position near the conveyance start end of the conveyor 153, and the electric drive motor 160 that drives the conveyor 153 is disposed at the conveyance start end portion of the conveyor 153, The drive motor 160 and the conveyor 153 are lifted and lowered near the center of gravity of the entire lifted portion. Further, since the conveying terminal end side of the conveyor 153 can be long projected from the lifting mechanism 154, the terminal end portion of the conveyor 153 can be easily inserted below the gripping hand 12.

  Further, a guide plate 161 that regulates the position of the lifting tool 41 is provided extending from the seedling extraction position on the carry-in mechanism 11 to the grafting robot main body 1a side in the left-right direction. A guide roller that moves up and down integrally with the lifting tool 41 is provided, and the lifting of the lifting tool 41 is restricted when the guide roller is placed on the guide plate 161. The grafting robot main body 1a side portion of the guide plate 161 is composed of an inclined surface that becomes higher as it goes to the carry-in mechanism 11 (conveyor 153) side, and the upper portion of the guide plate 161 on the conveyor 153 (the portion opposite to the grafting robot main body 1a) ) Is formed of a substantially horizontal plane, and is disposed higher than the upper surface of the seedling tray on the conveyor 153. Accordingly, the lifting tool 41 is guided to the guide plate 161 by moving from the grafting robot main body 1a side to the carry-in mechanism 11 side to reach the upper part of the seedling tray, and interferes with the side surface of the seedling tray to break the seedling tray. It is prevented. The actuator that moves the lifting tool 41 is free except when the lifting tool 41 is moved up. Accordingly, the lifting tool 41 is restricted by the guide plate 161 except when it is moved up, or the lifting tool 41 moves up and down when the gripping hand 12 moves to the grafting robot main body 1a and the guide roller is detached from the guide plate 161. Located at the bottom of the range.

  Further, a seedling presser 162 constituted by a leaf spring that moves up and down integrally with the first lifting tool 41 is provided above the upper hand mechanism 21. Therefore, when the seedling holder 162 is taken out from the carry-in mechanism 11, the movement of the seedling holder 162 is restricted by the guide plate 161, and the seedling holder 162 moves up with the upward movement of the lifting tool 41. When laterally moving to the 1a side, the downward movement is again regulated by the guide plate 161, and when the gripping hand 12 further moves to the grafting robot main body 1a side and the guide roller comes off the guide plate 161, the gripping hand 12 grips. Press the seedling down from above. Thereby, even if the seedling height is different, the position of the cotyledon of the seedling can be set to a desired height with respect to the gripping hand 12 when the seedling is delivered at the delivery position R, so that the adaptability of the seedling is improved and the grafted seedling is improved. The joining accuracy can be improved.

  In the above description, an example in which the position changing mechanism is configured by the elevating mechanism 82 has been described. However, a rotation fulcrum shaft in the left-right direction is provided on the conveyance start end side of the carry-in mechanism 11, and the carry-in mechanism 11 is centered on the rotation fulcrum shaft. A position changing mechanism that changes the vertical height of the seedling take-out position on the transfer terminal end side on the carry-in mechanism 11 can also be adopted by adopting a configuration in which it is turned up and down. Even in this configuration, the carry-in mechanism 11 may be rotated up and down by an electric motor.

  In addition, a seedling sensor is provided for detecting seedlings in a region from the seedling removal position on the carry-in mechanism 11 to the conveyance start end side for one cell tray. This seedling sensor is a photoelectric sensor that detects seedlings and is placed higher than the desired seedling height. It is detected that it is at a certain height.

  In addition, the seedling sensor is configured to detect seedlings in the next row of the seedling removal position (one horizontal row adjacent to the conveyance start end side of the seedling removal position), and there is a single seedling with a high seedling height even in one horizontal seedling. Based on the above, it can be configured to detect that the seedling is at an inappropriate height.

  Based on the detection of these seedling sensors, the control device issues an alarm and prompts the operator to operate the position changing mechanism. Alternatively, the position changing mechanism can be automatically operated and controlled by the control device. When the position changing mechanism is automatically operated, the position changing mechanism can be operated after all the seedlings in the horizontal row at the seedling extraction position are taken out.

  Further, the seedling loosely gripped by the gripping hand 12 is reciprocated once to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b, and the cotyledon deployment direction is corrected by bringing the cotyledon of the seedling into contact with the alignment member 16 twice. However, it is possible to provide an alignment adjustment dial serving as an alignment adjusting means for adjusting the number of times of forward / backward movement by reciprocation, and hence the number of times of contact of the seedling cotyledons with the alignment member (16). By operating this alignment adjustment dial, the moving speed in the forward / backward movement of the gripping hand 12 is set slower as the number of times of contact is set to the higher side. The movement speed of the gripping hand 12 is set so that the extrusion movement speed at the time of extrusion toward the alignment member 16 is slower than the return movement speed at the time of return to the side opposite to the alignment member 16. It is possible to appropriately perform the aligning operation of bringing the cotyledons into contact with the member 16 and to improve the work efficiency by shortening the work time. As a specific example, the arrangement adjustment dial can be operated in order of three positions of “small” position, “medium” position, and “multiple” position, and in the “small” position, the number of times of contact is two times and the push-out movement is performed. The speed is 300 mm / second and the return movement speed is 550 mm / second. In the “medium” position, the number of times of contact is two times, the extrusion movement speed is 200 mm / second, and the return movement speed is 400 mm / second. At the position, the number of times of contact may be two, the extrusion movement speed may be 200 mm / second, and the return movement speed may be 400 mm / second.

  In addition to the above example, the grasping hand 12 is provided with a cotyledon deployment angle sensor for detecting the development angle of the cotyledon of the seedling or a cotyledon length sensor for detecting the length of the cotyledon of the seedling. The smaller the cotyledon deployment angle based on the sensor detection or the shorter the cotyledon length based on the detection of the cotyledon length sensor, the more the contact number is automatically set to the larger side and the moving speed is automatically set to the slower side. It is good also as a structure set up automatically. The cotyledon length sensor may detect the actual cotyledon length or the apparent cotyledon length viewed from directly above.

  As described above, the grafted seedling production apparatus 1 includes a rootstock pretreatment unit (3) for transporting rootstock seedlings to the joining position (63) and a pretreatment for safflower carrying the seedling seedlings to the joining position (63). Part (4) and an adhesion processing part (7) for adhering the rootstock seedling and the hogi seedling conveyed to the joining position (63), and cutting the rootstock seedling in the rootstock pretreatment part (3) A rootstock cutting device (64) is provided, and the rootstock cutting device (64) is cut by moving the cutting blade (75) along a predetermined cutting trajectory and entering the cutting location of the rootstock seedling. (75) is configured to move to the side where there is a portion to be excised of rootstock seedlings in a state of being located at the cutting location.

  Therefore, the part to be cut of the rootstock seedling after cutting can be moved while being separated from the part to be left of the rootstock seedling by the moving cutting blade (75), and the part to be cut on the cutting surface of the rootstock seedling Can be prevented from adhering and remain, the joining accuracy of the grafted seedlings is improved, and it is not necessary to move the cutting blade (75) to a position past the cutting portion and then retreat, so the working time of the cutting process Shortening can be achieved and good grafted seedlings can be obtained.

  In addition, the adhesion processing section (7) is supplied with a vibration supply device (73) and a vibration supply device (73) which are fed out in order by a predetermined number from a clip (101) for joining grafted seedlings to be accommodated. A vibration type transfer device (46) for transferring the supplied clip (101) in the front-rear direction along the guide rail (105) is provided, and the clip (101) is joined to the joining position (63) at the end of the guide rail (105). One by one, and the rootstock and panicle seedlings are clamped and fixed together by the clip (101), and the guide rail (105) has a clip (101) in the first predetermined position. A first clip sensor (65) for detecting, and a second clip sensor (66) for detecting the presence or absence of the clip (101) at a second predetermined position closer to the transfer side than the first predetermined position. Chestnut When the presensor (65) does not detect the clip (101), the operation of the rootstock pretreatment unit (3), the hogi pretreatment unit (4), and the adhesion treatment unit (7) is stopped, and the first clip sensor (65 ) Detects the clip (101) and the second clip sensor (66) does not detect the clip (101), and when the second clip sensor (66) detects the clip (101), A control device for stopping the operation of the vibration type supply device (73) is provided.

  Therefore, when the first clip sensor (65) does not detect the clip (101), the operation of the rootstock pretreatment unit (3), the hogi pretreatment unit (4) and the adhesion treatment unit (7) is stopped. It is possible to prevent the rootstock seedling and the safflower seedling from being wasted by performing grafting work without the clip (101). Also, since the first clip sensor (65) detects the clip (101) and the second clip sensor (66) does not detect the clip (101), an alarm is issued. It informs that the clip (101) to be supplied has been lost and has decreased, can prompt the replenishment of the clip (101) to the vibratory supply device (73), and replenish the clip (101) without interrupting the grafting work It is possible to improve the grafting efficiency. Further, when the second clip sensor (66) detects the clip (101), the operation of the vibration type supply device (73) is stopped, so that the vibration type supply device (73) is unnecessary to the guide rail (105). It is possible to prevent the clip (101) from being damaged by being forcibly supplied without being supplied with the clip (101).

  In addition, a delivery holding mechanism (15) for temporarily holding the seedlings to be supplied to the rootstock pretreatment unit (3) or the hogi pretreatment unit (4) is provided, and the delivery holding mechanism (15) is a seedling hypocotyl. An upper hand mechanism (31) that loosely grips the upper part of the embryo so as to be movable in a predetermined accommodation space, and the hypocotyl of the seedling is brought closer to one side near the upper hand mechanism (31), and the hypocotyl is moved in the accommodation space. A positioning hand mechanism (71) for positioning the position and an intermediate hand mechanism (32) for gripping the upper and lower intermediate parts of the embryonic axis of the seedling are provided. First, the upper hand mechanism (31) loosely grips the upper part of the embryonic axis of the seedling. Next, the middle stage hand mechanism (32) grips the upper and lower intermediate parts of the embryonic axis of the seedling, and then the positioning hand mechanism (71) positions the embryonic axis of the seedling.

  Therefore, first, the upper hand mechanism (31) grips the upper part of the embryonic axis of the seedling loosely, and then the middle hand mechanism (32) grips the upper and lower middle parts of the embryonic axis of the seedling, so that the middle hand mechanism (32) Before grasping the seedling, the seedling descends by its own weight until the cotyledon deployment base approaches the upper hand mechanism (31), and the worker embryos the seedling grasped by the upper hand mechanism (31) and the middle hand mechanism (32). By grasping and pulling down the shaft, the vertical position of the seedling can be adjusted by aligning the cotyledon deployment base of the seedling with the upper hand mechanism (31). Then, the positioning hand mechanism (71) can move the embryonic axis of the seedling to perform lateral positioning. Therefore, the joining accuracy of the grafted seedling is improved.

  Then, on the left and right sides of the grafting robot body (la) for grafting rootstock seedlings and hogi seedlings, a rootstock taking-in portion for capturing rootstock seedlings is provided, and on the other side of the grafting robot body (la), A hogi taking-in portion for taking in the hogi seedling is provided, and the rootstock taking-in portion and the hogi taking-in portion carry in a seedling tray (11) that contains seedlings, and a seedling on the loading mechanism (11). A gripping hand (12) that grips and takes out seedlings from the tray and supplies it to the grafting robot body (la) side, and a position changing mechanism that changes the positional relationship between the carry-in mechanism (11) and the gripping hand (12), An operation device (157) for operating the position change mechanism of the rootstock take-in portion and the hogi take-in portion is provided, and the holding body (159) for holding the operation device (157) is placed in the left and right center of the graft robot body (1a). If it is deviated from the position to the rootstock intake part side or the Hogi intake part side, And movable in removed from the holding member (159) an operating device (157).

  Therefore, the position changing mechanism of each of the rootstock taking part and the hogi taking part can be operated by the operating device (157), and the carry-in mechanism (see FIG. 11) It is possible to change the positional relationship between the gripping hand (12) and properly take out the seedling with the gripping hand (12), improve the joining accuracy of the grafted seedling, and obtain a good grafted seedling. Further, by operating the operating device (157) that is held by the holding body (159), the operation of the position changing mechanism of the take-in portion on the side where the holding body (159) is deflected is performed. It can be easily performed at a position close to the part, and the work efficiency of grafting work is improved. Furthermore, by removing the operating device (157) from the holding body (159) and moving it, the positional relationship between the carry-in mechanism (11) and the gripping hand (12) can be changed and adjusted easily while observing the grafting work. Work efficiency is improved.

Further, the holding body (159) is provided so as to be deviated to the root take-in portion side with respect to the left and right center position of the grafting robot main body (1a).
Therefore, by operating the operation device (157) that is held in the holding body (159), in response to rootstock seedlings that tend to vary in seedling size and seedling height compared to the hogi seedlings, The operation of the position change mechanism of the rootstock take-in section, which is relatively frequent, can be easily performed at a position close to the rootstock take-in section, and the work efficiency of grafting work is improved.

  In addition, on the left and right sides of the grafting robot main body (la) for grafting rootstock seedlings and hogi seedlings, a rootstock taking-in portion for capturing rootstock seedlings is provided, and on the other side of the grafting robot main body (la), A hogi taking-in portion for taking in the hogi seedling is provided, and the rootstock taking-in portion and the hogi taking-in portion carry in a seedling tray (11) that contains seedlings, and a seedling on the loading mechanism (11). A gripping hand (12) that grips a seedling from the seedling tray on the transporting mechanism (11) at the unloading position and supplies it to the grafting robot body (la) side, and a transporting mechanism (11) and a gripping hand (12) A position change mechanism for changing the positional relationship, the carry-in mechanism (11) is constituted by a conveyor, the seedling removal position is arranged on the terminal end side of the carry-in path of the carry-in mechanism (11), and the position change mechanism is Carrying in around the pivot point axis arranged on the start end side of the carry-in route of (11) By rotating structure (11) up and down, and configured to change the upper and lower height of the seedling tray at the seedling pick-up position.

  Therefore, the positional relationship between the carry-in mechanism (11) and the gripping hand (12) can be changed according to the size, seedling length, or seedling type of the seedling, and the seedling can be properly taken out by the gripping hand (12). The joining accuracy of grafted seedlings can be improved, and good grafted seedlings can be obtained. Since the position changing mechanism is configured to rotate the loading mechanism (11) up and down around the rotation fulcrum shaft disposed on the start end side of the loading path of the loading mechanism (11), the rotation fulcrum shaft With the simple structure of rotating the carry-in mechanism (11) up and down around the center, the change in the tilting posture of the seedling tray due to the vertical turn of the carry-in mechanism (11) is suppressed, and the carry-in route of the carry-in mechanism (11) The adjustment range of the vertical height adjustment on the terminal end side can be widened, the seedling extraction by the grasping hand (12) can be optimized, the joining accuracy of the grafted seedling can be improved, and a good grafted seedling can be obtained.

  In addition, on the left and right sides of the grafting robot main body (la) for grafting rootstock seedlings and hogi seedlings, a rootstock taking-in portion for capturing rootstock seedlings is provided, and on the other side of the grafting robot main body (la), A hogi taking-in portion for taking in the hogi seedling is provided, and the rootstock taking-in portion and the hogi taking-in portion carry in a seedling tray (11) that contains seedlings, and a seedling on the loading mechanism (11). A gripping hand (12) that grips a seedling from the seedling tray on the transporting mechanism (11) at the unloading position and supplies it to the grafting robot body (la) side, and a transporting mechanism (11) and a gripping hand (12) A position change mechanism for changing the positional relationship, provided with a seedling sensor for detecting that all seedlings for one seedling tray on the carry-in mechanism (11) are in an appropriate position, and the seedling by the seedling sensor is inappropriate It is set as the structure which issues a warning based on the detection of being in a proper position.

  Therefore, the positional relationship between the carry-in mechanism (11) and the gripping hand (12) can be changed according to the size, seedling length, or seedling type of the seedling, and the seedling can be properly taken out by the gripping hand (12). The joining accuracy of grafted seedlings can be improved, and good grafted seedlings can be obtained. And the seedling sensor which detects that all the seedlings for one seedling tray on the carrying-in mechanism (11) are in an appropriate position is provided, and based on the detection of the seedling by the seedling sensor being in an inappropriate position. Since the alarm is issued, the operator can grasp in advance the seedling tray where there is an inappropriate seedling, and the position changing mechanism is removed before the gripping hand (12) takes out the inappropriate seedling while grafting. It is possible to operate to properly take out the seedling with the gripping hand (12), or to collect the seedling tray with the inappropriate seedling from the carry-in mechanism (11) to avoid the situation where the seedling removal becomes inappropriate. Can improve the joining accuracy and can obtain a good grafted seedling.

  In addition, on the left and right sides of the grafting robot main body (la) for grafting rootstock seedlings and hogi seedlings, a rootstock taking-in portion for capturing rootstock seedlings is provided, and on the other side of the grafting robot main body (la), A hogi taking-in portion for taking in the hogi seedling is provided, and the rootstock taking-in portion and the hogi taking-in portion carry in a seedling tray (11) that contains seedlings, and a seedling on the loading mechanism (11). A gripping hand (12) that grips a seedling from the seedling tray on the transporting mechanism (11) at the unloading position and supplies it to the grafting robot body (la) side, and a transporting mechanism (11) and a gripping hand (12) A position change mechanism for changing the positional relationship, and the carrying mechanism (11) sequentially conveys the seedlings in the seedling tray one row at a time to the seedling extraction position, and conveys them to the seedling extraction position by the gripping hand (12). The seedlings are sequentially taken out from the seedlings one by one. Next, a seedling sensor that detects the position of the next row of seedlings to be transported to the seedling removal position is provided, and the position change mechanism is activated after all the rows of seedlings at the seedling removal position are taken out based on the detection of the seedling sensor. It was set as the structure made to do.

  Therefore, the positional relationship between the carry-in mechanism (11) and the gripping hand (12) can be changed according to the size, seedling length, or seedling type of the seedling, and the seedling can be properly taken out by the gripping hand (12). The joining accuracy of grafted seedlings can be improved, and good grafted seedlings can be obtained. And since the position changing mechanism is automatically operated based on the detection of the seedling sensor, it is possible to optimize the seedling removal by the gripping hand (12), improve the joining accuracy of the grafted seedling, and obtain a good grafted seedling In addition, the operation of the position changing mechanism by the operator can be omitted or simplified, and the work efficiency of the grafting work can be improved. Further, after the seedling sensor detects the position of the next row of seedlings to be transported to the seedling removal position by the loading mechanism (11) and removes all the seedlings in the horizontal row at the seedling extraction position, the loading mechanism (11 ) During the transfer of the next row of seedlings to the seedling removal position, or immediately before or immediately after the transfer, the position change mechanism can be operated, and generation of unnecessary work time due to the operation of the position change mechanism can be suppressed as much as possible. This improves the work efficiency of grafting work.

  The grasping hand (12) is configured to gently grasp the hypocotyl of the seedling so as to be movable in a flexible grasping space, and comes into contact with the cotyledon of the seedling on the seedling transport path by the grasping hand (12). An alignment member (16) for aligning the seedlings in a desired direction is provided so that the cotyledon of the seedling can be brought into contact with the alignment member (16) a plurality of times by reciprocating movement of the gripping hand (12). Alignment adjusting means for changing both the number of times of contact with the alignment member and the moving speed of the gripping hand (12) when the cotyledon of the seedling is brought into contact with the alignment member (16) is provided. The moving speed is set to the slow side as the value is set to.

  Therefore, for the seedlings that are difficult to align in the desired orientation by the alignment member (16), the alignment member (16) corresponds to the seedling state and seedling type, such as the cotyledon development angle and the cotyledon length. It is possible to increase the number of times of contact of the seedling with 16) and slow down the moving speed of the seedling to the alignment member (16), so that the seedling can be surely aligned in a desired direction. On the other hand, for seedlings that can be easily aligned in a desired direction by the alignment member (16), the number of contact of the seedlings with the alignment member (16) is reduced and the moving speed of the seedling to the alignment member (16) is increased, thereby reducing the work time. The work efficiency of grafting can be improved by shortening.

  Further, the alignment adjustment means adjusts from the side that sets the number of contacts to the minimum and sets the moving speed to the maximum speed, to the side that sets the number of contacts to the maximum and sets the moving speed to the minimum speed. The moving speed is changed to a slower side in preference to changing the number of times of contact to the higher side.

  Therefore, the alignment adjusting means is configured to change the moving speed to the slow side in preference to changing the contact frequency to the large side, so that the desired seedling can be obtained while suppressing the work time required for aligning the seedling as much as possible. It can be properly aligned in the direction, and the work efficiency of grafting work can be improved.

  In addition, a cotyledon deployment angle sensor for detecting the development angle of the cotyledon of the seedling or a cotyledon length sensor for detecting the length of the cotyledon of the seedling is provided. As the length of the cotyledon based on the detection of the length sensor is shorter, the number of times of contact is set to the larger side and the moving speed is set to the slower side.

  Therefore, the smaller the cotyledon deployment angle based on the detection of the cotyledon deployment angle sensor or the shorter the cotyledon length based on the detection of the cotyledon length sensor, the more the contact frequency is automatically set to the larger side and the moving speed Can be automatically set on the slow side, and the working time can be shortened and the work efficiency of grafting work can be improved while properly aligning the orientation of the seedlings.

Claims (8)

  A rootstock take-in section for capturing rootstock seedlings is provided on the left and right sides of the grafting robot body (la) for grafting rootstock seedlings and hogi seedlings, and on the other side of the grafting robot body (la) A hogi taking-in portion for taking in seedlings is provided, and the rootstock taking-in portion and the hogi taking-in portion are provided from a carrying-in mechanism (11) for carrying in a seedling tray containing seedlings and a seedling tray on the carrying-in mechanism (11). A gripping hand (12) that grips and takes out the seedling and supplies it to the grafting robot body (la) side, and a position changing mechanism (154) that changes the positional relationship between the carry-in mechanism (11) and the gripping hand (12) are provided. The operation device (157) for operating the position change mechanism (154) of the rootstock take-in portion and the hogi take-in portion is provided, and the holding body (159) holding the operation device (157) is attached to the graft robot body (1a). ) Is shifted to the rootstock take-up side or the hogi take-up side from the left and right center position Provided with, holder (159) movable in the grafted seedling producing device removed from the operating device (157).   The graft seedling production apparatus according to claim 1, wherein the holding body (159) is provided so as to be deviated from the center of the left and right of the graft robot body (1a) toward the rootstock take-in portion.   A rootstock take-in section for capturing rootstock seedlings is provided on the left and right sides of the grafting robot body (la) for grafting rootstock seedlings and hogi seedlings, and on the other side of the grafting robot body (la) A hogi taking-in part for taking in the seedlings is provided, and the rootstock taking-in part and the hogi taking-in part are a carrying-in mechanism (11) for carrying a seedling tray containing the seedlings, and a seedling taking-out position on the carrying-in mechanism (11) The grasping hand (12) for grasping and taking out the seedling from the seedling tray on the carrying-in mechanism (11) and supplying it to the grafting robot main body (la) side, and the positional relationship between the carrying-in mechanism (11) and the grasping hand (12) A position change mechanism for changing the position of the transfer mechanism, the carry-in mechanism (11) is configured by a conveyor, the seedling removal position is arranged on the terminal end side of the carry-in path of the carry-in mechanism (11), and the position change mechanism is ) With a pivoting fulcrum shaft arranged on the starting end side of the loading path ( By rotating the 1) up and down, configuration as the grafted seedling producing device for changing the vertical height of the seedling tray at the seedling pick-up position.   A rootstock take-in section for capturing rootstock seedlings is provided on the left and right sides of the grafting robot body (la) for grafting rootstock seedlings and hogi seedlings, and on the other side of the grafting robot body (la) A hogi taking-in part for taking in the seedlings is provided, and the rootstock taking-in part and the hogi taking-in part are a carrying-in mechanism (11) for carrying a seedling tray containing the seedlings, and a seedling taking-out position on the carrying-in mechanism (11) The grasping hand (12) for grasping and taking out the seedling from the seedling tray on the carrying-in mechanism (11) and supplying it to the grafting robot main body (la) side, and the positional relationship between the carrying-in mechanism (11) and the grasping hand (12) A position change mechanism for changing the position of the seedling tray, and a seedling sensor for detecting that all seedlings for one seedling tray on the carry-in mechanism (11) are in an appropriate position is provided. Grafting seedling production apparatus configured to issue an alarm based on detection of being in   A rootstock take-in section for capturing rootstock seedlings is provided on the left and right sides of the grafting robot body (la) for grafting rootstock seedlings and hogi seedlings, and on the other side of the grafting robot body (la) A hogi taking-in part for taking in the seedlings is provided, and the rootstock taking-in part and the hogi taking-in part are a carrying-in mechanism (11) for carrying a seedling tray containing the seedlings, and a seedling taking-out position on the carrying-in mechanism (11) The grasping hand (12) for grasping and taking out the seedling from the seedling tray on the carrying-in mechanism (11) and supplying it to the grafting robot main body (la) side, and the positional relationship between the carrying-in mechanism (11) and the grasping hand (12) A position change mechanism for changing the position of the seedlings, and the carrying mechanism (11) sequentially conveys the seedlings in the seedling tray one row at a time to the seedling removal position, and from the horizontal row of seedlings conveyed to the seedling removal position by the gripping hand (12). The seedlings are taken out one by one in sequence, and then the carrying mechanism (11) A seedling sensor for detecting the position of the next row of seedlings transported to the picking position, and a position changing mechanism that operates after taking out all the seedlings in the horizontal row at the seedling picking position based on the detection of the seedling sensor; Grafted seedling production equipment.   The grasping hand (12) is configured to loosely grasp the embryonic axis of the seedling so as to be movable in a flexible grasping space, and contacts the cotyledon of the seedling on the seedling transport path by the grasping hand (12) to obtain the desired seedling. An alignment member (16) is provided to align the orientation of the seedling, and the cotyledon of the seedling is brought into contact with the alignment member (16) a plurality of times by the reciprocating movement of the grasping hand (12), and the cotyledon of the seedling is brought into contact with the alignment member (16). Alignment adjusting means for changing both the number of contacts to be made and the moving speed of the gripping hand (12) when the cotyledon of the seedling is brought into contact with the alignment member (16) is provided. The grafted seedling production apparatus according to any one of claims 1 to 5, wherein the moving speed is set to a slower side as the time elapses.   In the adjustment from the side that sets the number of contacts to the minimum and sets the moving speed to the maximum speed, the alignment adjustment means sets the number of contacts to the maximum and sets the moving speed to the minimum speed, The grafted seedling production apparatus according to claim 6, wherein the moving speed is changed to a slower side in preference to changing the contact number to the higher side.   A cotyledon deployment angle sensor for detecting the development angle of the cotyledon of the seedling or a cotyledon length sensor for detecting the length of the cotyledon of the seedling is provided, and the smaller the cotyledon deployment angle based on the detection of the cotyledon deployment angle sensor, or the cotyledon length sensor The grafted seedling production apparatus according to claim 6 or 7, wherein the shorter the cotyledon length based on the detection, the more the number of contacts is set to the larger side and the moving speed is set to the slower side.

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