JP2016067317A - Stacking facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operation efficiency and operation accuracy in a stacking facility.SOLUTION: A stacking facility comprises: a stacking device 117 which stacks a seedling box C; a loading device 118 which loads the stacked seedling box; a loading table 150 on which the seedling box is loaded; and a loading arm 119 which receives the loaded seedling boxes. The loading device 118 sequentially and upwardly superimposes and loads the stacked seedling boxes in several times so that a plural number of loadings are performed, in which a prescribed number of the seedling boxes are loaded at a prescribed loading position. When the first loading of the plural number of loadings is performed, the seedling box is loaded on the loading table 150 and then the loading table 150 is moved downward or the loading arm 119 is moved upward so that the loading arm 119 receives the seedling box loaded on the loading table 150, and the loading device 118 superimposes and loads a seedling box on the seedling box in the loading arm 119 after the seedling box is received by the loading arm 119.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a stacking facility.

  Grabbing the seedling boxes that are transported continuously from the seeding machine by the seedling box conveyor and lifting the seedling boxes from below and stacking them in a predetermined number of stacks, A stacking device that moves laterally and stacks to a predetermined number of sheets, a stacking arm on which the seedling box is stacked by the stacking device, and a seedling box that is stacked by moving the loading arm up and down and laterally The loading device is provided with a transfer mechanism for transferring the seedling box to the predetermined position of the carriage, and the stacking device stacks the seedling boxes stacked on the stacking number on the upper side, and stacks the seedling boxes a plurality of times. The stacking device is known to have a stacking facility including a movable arm that contacts the side surface and the lower surface of the seedling box by moving in the lateral direction and grips the seedling box (for example, Patent Document 1).

Japanese Patent Laid-Open No. 201211-244663

  An object of the present invention is to improve work efficiency and work accuracy in a stacking facility.

  In order to solve the above problems, the present invention has taken the following technical means.

  That is, the invention according to claim 1 includes a stacking device (117) that lifts and stacks seedling boxes (C) conveyed by the seedling box transport conveyor (103) from below, and the stacking device (117). A stacking device (118) for holding the stacked seedling boxes (C), laterally moving and stacking, and a loading platform (150) on which the seedling boxes (C) are stacked by the loading device (118) The loading arm (119) for receiving the seedling box (C) stacked on the loading table (150), and the seedling box on the loading arm (119) by moving the loading arm (119) laterally A transfer mechanism (120) for transferring (C) to a predetermined position is provided, and the stacking device (118) stacks the stacked seedling boxes (C) in a plurality of times and stacks them sequentially on the upper side. A plurality of times of loading, in which the seedling box (C) is stacked at a predetermined loading position in a predetermined number of stacked sheets. In the stacking facility, when performing the first loading of the plurality of loadings, the nursery box (C) is loaded on the loading table (150), and then the loading table (150) is lowered. The raising arm (119) receives the seedling box (C) loaded on the loading table (150) by moving or moving the loading arm (119) up, and loading the seedling box (C) After receiving the arm (119), the stacking equipment is configured such that the loading device (118) stacks the seedling box (C) on the upper side of the seedling box (C) on the loading arm (119). It was.

  The invention according to claim 2 is configured such that the loading arm (119) receives the seedling box (C) loaded on the loading table (150) by moving the loading table (150) downward. The stacking facility according to claim 1 is provided.

  Further, in the invention according to claim 3, when performing the first loading, the nursery box (C) is loaded on the loading table (150), and then the loading table (150) is moved down to The loading device (118) stacks the seedling box (C) on the upper side of the seedling box (C) on the loading table (150), and then lowers or loads the loading table (150). The raising arm (119) receives the nursery box (C) loaded on the loading platform (150) by moving the arm (119) upward, and the raising arm (119) receives the raising seed box (C). The stacking device (118) further stacks the seedling box (C) on the upper side of the seedling box (C) on the stacking arm (119) and then stacks the seedling box (C). This is a multi-stage facility.

  According to the first aspect of the invention, when performing the first loading of the plurality of loadings, the nursery box (C) is loaded on the loading table (150), so that the transfer mechanism (120) The loading arm (119) is moved laterally, the nursery box (C) is transferred to a predetermined position and returned to the loading position, and the nursery box (C) is loaded by the loading device (118). It can be loaded on the table (150), so that the work efficiency is improved and the work accuracy is improved. In addition, after performing the last loading of the plurality of times of loading, the nursery box (C) stacked on the loading arm (119) by laterally moving the loading arm (119) It can be transferred to a predetermined position as it is, and the work efficiency is improved, and the work accuracy is improved.

  According to the invention according to claim 2, in addition to the effect of the invention according to claim 1, after carrying out the first loading, the loading table (150) is moved down, so at the time of the first loading, By bringing the vertical height of the loading platform (150) close to the stacking position where the growing seedling box (C) is stacked by the stacking device (117), the raising seedling box (C) by the loading operation of the loading device (118) ) Can be shortened, the time required for the loading operation can be shortened, work efficiency can be improved, and work accuracy can be improved. Then, since the loading arm (119) receives the seedling box (C) loaded on the loading table (150) by moving the loading table (150) downward, the loading arm (119) receives it. The height of the seedling box (C) is lower than the height of the seedling box (C) on the loading table (150) before the loading arm (119) receives the seedling box (C). The moving distance of the nursery box (C) can be shortened by the upper stacking operation of the nursery box (C) on the loading arm (119) by the attaching device (118), and the time required for the loading operation can be shortened. The work efficiency is improved, and the work accuracy is improved.

  According to the invention of claim 3, in addition to the effect of the invention of claim 1 or claim 2, after the first loading, the loading table (150) is moved down, so the first loading By the loading operation of the loading device (118), the vertical height of the loading platform (150) is brought close to the loading position where the seedling boxes (C) are stacked by the loading device (117) during loading. The moving distance of the nursery box (C) can be shortened, the time required for the loading operation can be shortened, the work efficiency can be improved, and the work accuracy can be improved. Then, the height of the seedling box (C) on the loading table (150) is lowered by lowering the loading table (150), and the loading table (150) by the subsequent loading device (118) is lowered. ) The moving distance of the seedling box (C) by the upper stacking operation of the seedling box (C) can be shortened, the time required for the loading operation can be shortened, the work efficiency is improved, and the work accuracy is improved. To do.

Layout diagram of sowing facility Overall side view of sowing equipment Plan view of stacking equipment Side view of stacking equipment Front view of stacking equipment The figure which shows an eccentric cam and a support plate (A: Front view, B: Side view) Diagram showing shock absorption cylinder and return cylinder Perspective view showing the state of loading on the loading arm divided into multiple times for easy understanding The perspective view which shows the state which mounts a seedling box on a budding cart (A: supply form to the mounting position of the back side, B: supply form to the mounting position of the near side) Front view showing a form in which a notch is provided on the bottom surface of the loading arm 119 in an easy-to-understand manner 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 rootstock cutting device Side view showing rootstock transport arm and cotyledon support roller 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 Plan view showing the operating state of the cutter mechanism (a: open state, b: forward state, c: closed state, d: restrictor moving state, e: reverse state) Front view showing the cutter mechanism 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 A plan view showing the state in which the rear regulating body in the shape of a trapezoid in plan view is attached (the left and right narrowing guides are omitted) Cross-sectional side view showing the state in which the trapezoidal rear restrictor is mounted in an easy-to-understand manner A plan view showing the state in which the rear restriction body in a triangular shape in plan view is attached (the left and right stenosis guides are omitted) Cross-sectional side view showing the state of mounting the rear regulating body in a triangular shape in plan view in an easy-to-understand manner

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.
FIG. 1 is a plan layout diagram of a sowing and breeding facility. The seedling raising facility has a seedling box storage area on the second floor, and the seedling box C of the seedling box storage area is sequentially supplied one by one to the seeding facility 102 installed on the first floor by the seedling box supply device 101. The seeding facility 102 has the structure shown in FIG. 2 and a bed soil supply device 104 for putting down soil in the seedling box along with the seedling box transport conveyor 103 for transporting the seedling box C in a certain direction, and for paddy rice. An irrigation device 105, a seeding device 106 for sowing seed pods on the floor soil, a covering soil supply device 107 for covering the soil, and an irrigation device 108 for vegetables are provided. In addition, a leveling unit 109 for leveling the floor soil supplied to the seedling box is provided on the lower side of the seedling box transporting side of the floor soil supply device 104. When sowing the vegetable seeds, the irrigation device 108 for vegetables is operated, and the irrigation is performed after the soil is supplied by the soil covering supply device 107. The seedling boxes sowed by the sowing facility 102 are stacked on the pallet or cart 111 by a predetermined number of stages by the stacking facility 110. Then, the stacked seedling boxes are carried into the germination chamber 112 and germinated. The stacked seedling boxes sprouting in the budding chamber 112 are stacked on the greening cart 146 by the seedling box transfer device 113, and the greening cart 146 is carried into the greening chamber 1200, which is temperature-controlled, to a predetermined size. Raise seedlings until they grow. The budding chamber 112 and the greening chamber 1200 are each provided in three rooms.

  Further, a label sticking device 401 for sticking an information notation label in which various kinds of information are written with special marks is provided on the side surface of the seedling box C at a position closer to the conveying side of the seedling box C than the floor soil supply device 104. Yes. In addition, various notation forms, such as a barcode, can be used for the notation form which describes information with an information notation label. The information label stores various information such as seed varieties used for sowing, seed disinfection status before sowing, floor soil and cover soil type, etc. It can be done smoothly and the efficiency of seedling work can be improved. An upper part of the label sticking apparatus 401 is provided with an information input unit for an operator to input the various types of information. The label sticking device 401 can stick an information label before the seedling box C is soiled by the floor soil supply device 104, the rice irrigation device 105, the cover soil supply device 107, the vegetable irrigation device 108, etc. This prevents the information label from being attached properly due to soil or soil.

  In accordance with a decrease in the seed soot stored in the sowing device 106 of the sowing facility 102, a seed soot supply conveyor 115 that automatically supplies seed soy from the seed soot container 114 to the sowing device 106 is provided. This seeding and seedling facility has a plurality (five) of soaking tanks 116, and the sowing seed container 114 in a state where the sowing seeds are contained is submerged in the soaking seed tank 116, which is filled with water, so that seed sprouting is promoted. After that, the seed is supplied to the sowing device 106. The water supplied to the seed water tank 116 is electrolyzed water (disinfectant) generated by electrolysis, and seeds are also disinfected in this soaking process. Therefore, the soaking water tank 116 constitutes soaking equipment and seed disinfection equipment. Strong acidic water and strong alkaline water generated as the electrolyzed water are stored in an acidic water tank 1201 and an alkaline water tank 1202 provided in a common greening room 1200 to maintain a desired temperature. The water to be supplied to the soaking tank 116 can be appropriately selected from strong acidic water or strong alkaline water according to the amount of storage in the tanks 1201 and 1202, etc. Ideally, strong alkaline water is distributed and supplied, and when the soaking process is completed, the strongly acidic water and strong alkaline water in each soaking tank 116 are mixed and neutralized, and the neutralized water is drained. is there. The sowing and seedling facility is also provided with a germination facility 1204 that can accommodate the seed vat container 114, and seeds can be germinated in the seed vat container 114.

  Next, the stacking facility 110 will be described. This stacking facility 110 is arranged at the terminal end of the seedling box transport conveyor 113, and a stacking apparatus 117 for lifting and stacking the seedling boxes C transported by the seedling box transport conveyor 113 from below, and the stacking apparatus A stacking device 118 that holds the seedling boxes C stacked in 117, moves laterally and stacks them, a loading table 150 on which the seedling boxes C are stacked by the loading device 118, and a stacking on the loading table 150 A loading arm 119 for receiving the attached seedling box C and a transfer mechanism 120 for moving the loading arm 119 up and down and laterally to a predetermined position are provided.

  A pneumatic shock absorbing cylinder 156 that decelerates and stops the nursery box C that is being transported is provided at the end of conveyance of the nursery box conveyor 103. The conveyed seedling box C hits the cylinder rod 156a of the shock absorbing cylinder 156 and the cylinder rod 156a is pushed in, so that the impact of the transfer is absorbed and the conveying speed of the seedling box C gradually decreases, and the operating stroke of the cylinder rod 156a The nursery box C stops at the end. Thereby, conveyance of the seedling box C can be stopped while preventing the soil in the seedling box C from being soiled. The pneumatic circuit of the shock absorbing cylinder 156 is a closed circuit in which one side of the piston 156b that operates integrally with the cylinder rod 156a and the cylinder chamber 156c on the other side are connected by an air pipe 157. A flow restrictor 158 for limiting the flow rate is provided. The cylinder rod 156a pushed in while receiving the resistance force by the flow restrictor 158 is returned to the initial state of being protruded by a return rod 159a that is operated by a pneumatic return cylinder 159 provided separately. The air pressure from the compressor 160 is supplied to the return cylinder 159 via the electromagnetic air pressure switching valve 161, and the return rod 159a operates. The U-shaped return member 159b provided at the tip of the return rod 159a pushes the tip 156d of the cylinder rod 156a, thereby forcibly returning the cylinder rod 156a. The return rod 159a returns to the original position as soon as the cylinder rod 156a is returned, and does not hinder the pushing of the cylinder rod 156a due to the conveyance of the seedling box C. Accordingly, the next seedling box C transported by the seedling box transport conveyor 103 can be received by the cylinder rod 156a. Since the pneumatic circuit of the shock absorbing cylinder 156 is a closed circuit, the pneumatic circuit or the shock absorbing cylinder 156 is in the air as compared with the case where the pneumatic circuit is depressurized (released to the atmosphere) and the cylinder rod 156a is returned to the initial position. Therefore, the return rod 159a returns the cylinder rod 156a to the initial position while preventing the malfunction of the shock absorption cylinder 156 due to moisture and improving the durability of the shock absorption cylinder 156. Can do.

  In addition, a plurality of (three) resistors 151 on the left and right sides that provide conveyance resistance to the seedling box C by contacting the side surface of the seedling box C to be conveyed are provided at the conveyance end portion of the seedling box conveyance conveyor 103. ing. Each of the left and right resistors 151 is composed of a roller that is rotatable about an axis in the vertical direction, and is arranged at equal intervals in the front-rear direction. By this resistor 151, the transportation of the seedling box C can be gradually decelerated before stopping the transportation of the seedling box C by the shock absorbing cylinder 156, while suppressing the impact on the seedling box C when the transportation is stopped, Since the conveyance speed of the seedling box conveyance conveyor 103 can be set at a high speed, the work efficiency can be improved. In particular, since the resistor 151 acts on the side surface of the seedling box C, the side surface of the seedling box C is almost flat, so that it is accurately transported without being influenced by the shape or structure of the seedling box C. Can be granted. If the resistor 151 is configured to act on the bottom surface of the seedling box C, the bottom surface of the seedling box C has different structures such as ribs depending on the type of the seedling box C. May be different. Further, all the resistors 151 are configured to come into contact with the seedling box C in a state where the conveyance is stopped by the shock absorbing cylinder 156. Accordingly, since all the resistors 151 act when the stacking device 117 lifts the seedling box C by the eccentric cam 121 described later, the seedling box C can be lifted stably without flapping up and down, The accuracy of the stacking of the seedling box C can be improved.

  The stacking device 117 is brought into contact with the bottom surface of the seedling box C conveyed by the seedling box transport conveyor 103 and received by the shock absorbing cylinder 156, and lifted by the eccentric cam 121. And a support plate 122 that supports the edge of the nursery box C. The eccentric cam 121 is a disk driven by the eccentric rotation shaft 123, and a total of four eccentric cams 121 are provided on the front, rear, left and right of the raising seedling box C to be lifted. The four eccentric cams 121 are driven and rotated by the same transfer, and simultaneously lift the seedling box C. Two support plates 122 are provided on the left and right sides, and are urged to the left and right by springs, and are pushed by the protrusions 124 a of the drive cam 124 by driving of the drive cam 124 that rotates integrally with the rotating shaft 123 of the eccentric cam 121. It moves toward the nursery box C side (left and right inside). Therefore, the support plate 122 is configured to move from the left and right outer sides toward the seedling box C side (left and right inner sides) and project below the edge of the seedling box C.

  The stacking device 118 is configured to hold and move the seedling boxes C stacked in a predetermined number (10), and holds the seedling boxes C with a pair of movable arms 126. The stacking device 118 stacks the seedling boxes C stacked in the stacking number (10) at the stacking position of the stacking device 117 on the loading table 150 or the loading arm 119 in order. Thus, the seedling box C is stacked on a predetermined number (30 in total). The pair of movable arms 126 are configured to come into contact with the side surface which is the long side of the seedling box C and the lower surface of the lowermost seedling box C among the seedling boxes C stacked, and two sets of front and rear are provided. Yes. The movable arm 126 moves up and down by a vertical movement motor 127 and moves laterally via a loading rack 129 driven by a horizontal movement motor 128, and around an upper front-rear rotation shaft 126 a by a pneumatic actuator 162. It is configured to rotate in the lateral direction.

  In addition, you may provide separately the control tool 125 which is a control board which contacts the side surface used as the long side of the seedling box C, and controls the position of the seedling box C in four places, front and rear, right and left of the seedling box C. The regulating device 125 is disposed between two sets of movable arms 126 provided in the front-rear direction in the front-rear direction, and is moved up and down together with the movable arm 126 by a vertical movement motor 127, a horizontal movement motor 128, and a pneumatic actuator 162. What is necessary is just to set it as the structure which moves and rotates. Further, the restricting tool 125 is configured such that the lower end moves downward to the lower side than the distal end of the movable arm 126 by the downward moving pneumatic cylinder 163 attached via the movable arm 126. In the state where the lowering pneumatic cylinder 163 is not moved downward, the lower end of the restrictor 125 is slightly higher than the lower end of the movable arm 126. And, when there is a seedling box C already loaded on the loading arm 119, that is, other than the first time (second and third times) of repeatedly loading on the loading arm 119 a plurality of times (3 times in total) When stacking, the lowering pneumatic cylinder 163 moves the regulating tool 125 downward until the lower end of the regulating tool 125 reaches the height of the uppermost nursery box C already loaded on the loading arm 119. When the tool 125 contacts the side surface of the uppermost nursery box C, the uppermost nursery box C is regulated to an appropriate position. In addition, in the case of performing the first loading of the loading arm 119 repeatedly (a total of three times), the lowering pneumatic cylinder 163 does not operate and the restricting tool 125 is in the normal upward position. It remains.

  At the tip of the movable arm 126, a lower support member that supports the seedling box C that is in contact with and holds the lower surface of the lowermost seedling box C among the stacked seedling boxes C from below and protrudes toward the seedling box C side. 164. The lower support member 164 moves laterally with respect to the movable arm 126 by the operation of the electric lower support member lateral movement cylinder 165, and protrudes below the lowermost seedling box C and the lowermost seedling raising seedling. It can be switched to a retreat position for retreating from below the box C. The lower support member 164 supports the nursery box C from below at the protruding position. In addition, the main-body part of the movable arm 126 extended up and down contacts the side surface used as the long side of the seedling box C in the holding | grip state. The lower support member 164 includes a plurality of (two) protrusions protruding upward from the upper surface of the base plate along the horizontal direction (horizontal direction). The ridge has a triangular cross section and a top of the triangle, and extends in a direction in which the lower support member 164 moves. Therefore, the lower surface of the seedling box C is in linear contact with the upper ends of the plurality of (two) ridges. Further, when the lower support member 164 moves to the retracted position while supporting the seedling box C, the protrusions follow the direction in which the lower support member 164 moves, so that the sliding resistance between the seedling box C and the lower support member 164 is Therefore, the lower support member 164 can be moved smoothly. In the above description, the cross-sectional shape of the ridge is triangular to reduce the contact area with the nursery box C as much as possible. However, the cross-sectional shape of the ridge may be different shapes such as a square shape and a circular shape. Moreover, if a protrusion is arrange | positioned at the both ends of a base plate, since the space | interval of protrusions will become wide, the seedling box C can be supported stably. Moreover, if it replaces with a protrusion and it is set as the processus | protrusion which has a vertex, a processus | protrusion will contact the lower surface of the seedling box C in the shape of a dot, and reduction of a contact area can be aimed at.

  The movable arm 126 is first moved down by the vertical movement motor 127, rotated inward by the pneumatic actuator 162, holds the stacked seedling boxes C, and moves up and lifts the held seedling boxes C. At this time, the lower support member 164 is in the protruding position. Further, the seedling box C that is laterally moved and gripped by the lateral movement motor 128 is moved onto the loading table 150 or the loading arm 119. Thereafter, the movable arm 126 is moved down to a position slightly above the position where the seedling box C is to be stacked. Then, the lower support member 164 is moved to the retracted position by the operation of the lower support member lateral movement cylinder 165, and the held seedling box C is dropped and supplied onto the loading arm 119 or the already-grown seedling box C. . At this time, the movable arm 126 remains in contact with the side surface of the seedling box C and prevents lateral shifting of the stacked seedling boxes C. Then, the movable arm 126 is rotated outward to completely release the nursery box C. Thereafter, the movable arm 126 is moved up by the up-and-down movement motor 127 and retracted upward from the seedling box C on which the movable arm 126 is stacked. Then, the movable arm 126 moves laterally by the lateral movement motor 128 and returns to the gripping position for gripping the stacked seedling boxes C. During this lateral movement, the lower support member 164 also returns to the protruding position.

  The loading platform 150 is composed of two front and rear mounting bodies. And the raising / lowering guide rail extended in the up-down direction which guides raising / lowering of this two mounting bodies before and behind, and the raising / lowering motor which raises / lowers two mounting bodies along this raising / lowering guide rail are provided. Then, the stacking device 118 is configured to load the seedling box C so that the seedling box C straddles the two front and rear mounting bodies.

  The loading arm 119 includes two front and rear arm bodies 119a and a mounting plate 119b provided at the front end of the arm body 119a. The loading arm 119 moves left and right via a transfer rack 129 driven by a left and right movement motor 192. It moves and moves up and down by a pantograph mechanism 130 provided below. A transfer mechanism 120 for moving the loading arm 119 by the left / right movement motor 192, the transfer rack 129, the pantograph mechanism 130, etc. and transferring the seedling box C on the loading arm 119 to a predetermined position is provided. It is configured. In addition, the front and rear two arm bodies 119a and the mounting plate 119b that are moved up and down by the pantograph mechanism 130 are arranged on the rear side of the front mounting body and on the front side of the rear mounting body in the loading table 150. The front and rear two mounting bodies pass between the front and rear, and do not interfere with the mounting body, the lifting guide rail, and the lifting motor of the loading table 150. Similarly, the mounting body of the loading platform 150 that moves up and down by the operation of the lifting motor passes through the front and rear outer sides of the front and rear arm bodies 119a and the mounting plate 119b, and the arm body 119a of the loading arm 119, the mounting plate 119b, the left and right The moving motor 192, the transfer rack 129, and the pantograph mechanism 130 do not interfere with each other. Then, the upper surface of the mounting body of the mounting table 150 is moved down to a position lower than the upper surface of the mounting board 119b, or the mounting arm 119 is moved so that the upper surface of the mounting board 119b is higher than the upper surface of the mounting body. By moving up, the seedling box C stacked on the mounting body of the mounting table 150 is received from the lower side by the mounting plate 119 and by the loading arm 119.

  The loading device 118 has a total of ten seedling boxes C stacked on the mounting body of the loading table 150 at the time of the first (first) loading among a plurality of loadings (three times in total). Stack. At this time, the placing body is located slightly higher than the seedling box transport conveyor 103. Therefore, the movable arm 126 grips the seedling boxes C stacked in a total of 10 sheets at the stacking position by the stacking device 117 at the gripping position J that is the stacking position, and is mounted by the vertical movement motor 127. Moves up to a higher position than the body, moves to the upper side of the mounting body by the lateral movement motor 128, moves downward by the vertical movement motor 127, releases the gripping at the loading position, and places the seedling box C Put it on your body. Thereafter, the placing body descends to a lower position than the nursery box transport conveyor 103 at substantially the same distance as the vertical width of the seedling boxes C stacked in a total of ten. During the lowering of the mounting body, the movable arm 126 moves laterally from the loading position and moves to the gripping position in order to perform the next (second) loading among a plurality of loadings (three times in total). Returning to the upper side of J, it moves down and grips the nursery box C at the gripping position J and moves up slightly. And the movable arm 126 moved sideways above the mounting body, moved down to the loading position, and released the grip, so that the nursery box C that had been gripped was loaded on the mounting body first. Place on nursery box C. Thereafter, the mounting body is further lowered by a small amount until the upper surface becomes lower than the upper surface of the mounting plate 119b of the loading arm 119 waiting at a normal position H, which will be described later, and a total of 20 seedling boxes C loaded are loaded. It moves to the loading arm 119 and receives the loading arm 119. The descending speed of the mounting body is configured to change from high speed to low speed by controlling the driving of the lifting motor. As a result, at the moment when a total of 20 seedling boxes C are moved to the loading arm 119, the mounting body is lowered at a low speed, and the impact is not transmitted to the seedling box C by contact with the loading arm 119. In addition, it is possible to prevent the occurrence of close to the soil in the nursery box C or the scattering of soil or cracking of the soil due to the impact, and the collapse of the stacking posture (loading posture) of the total 20 seedling boxes C due to the impact, The loading accuracy can be improved.

  Then, during the lowering of the mounting body for delivery of the seedling box C to the loading arm 119, the next (third and last) loading is performed among a plurality of times (total three times). Therefore, the movable arm 126 moves laterally from the loading position, returns to the upper side of the gripping position J, moves downward, grips the seedling box C at the gripping position J, and performs the first and Moves up higher than the second time. Then, the movable arm 126 moves laterally above the mounting body (the loading arm 119), moves downward to the loading position, and releases the grip, thereby loading the nursery box C that has been gripped first. It is placed on the seedling box C on the stacking arm 119. Thereafter, the movable arm 126 moves laterally from the loading position to perform the first (first) loading of the next plurality of times (a total of three times), and the gripping position J that is the stacking position J Return to the top of Hereinafter, the above operation is repeated to perform the loading operation.

  In addition, a total of 30 seedling boxes C on the loading arm 119 stacked by the loading device 118 in a plurality of times (three times in total) are stacked on the left and right movement motor 192 of the transfer mechanism 120. By driving, the loading arm 119 moves to the inside of the carriage 111 that waits and moves in the forward direction, and the loading arm 119 is moved down by the pantograph mechanism 130 so that the seedling box C is moved to the carriage-like loading platform 111a of the carriage 111. And is transferred to the carriage 111. The carriage 111 is configured to place the seedling boxes C stacked at four placement positions in the front, rear, left, and right directions, and appropriately moves so that the placement position reaches the position facing the loading arm 119. . Therefore, the loading arm 119 loads the seedling box C on the mounting position on the near side and the mounting position on the back side as viewed from the loading arm 119. The cart 111 is configured to travel on a cart travel rail 131 provided in parallel along the nursery box transport conveyor 103.

  When loading the stacking arm 119 on the mounting position on the back side, the seedling box C stacked in the forward movement from the normal position H is moved onto the mounting table at the mounting position on the back side. Then, the nursery box C that has been moved down and stacked is transferred onto the stage. The lateral movement sensor 132 that detects that the rear placement position has moved away from the rearing seedling box C and has reached the position in the carriage 111 in the middle of the backward movement is moved to a position along the movement path of the loading arm 119. Provided. When it is detected that the lateral movement sensor 132 has reached the above-mentioned position during the lateral movement in the backward stroke, it is moved upward by the pantograph mechanism 130 while returning to the normal position. In addition, when stacking on the mounting position on the near side, the nursery box C stacked in the forward movement from the normal position H is moved onto the mounting table at the mounting position on the near side and moved downward. The stacked seedling boxes C are transferred onto the platform and moved to the retreat position I by the lateral movement in the backward stroke.

  After loading at the mounting position on the near side in the carriage 111, the loading device 118 is in a state where there is a loading arm 119 at the retracted position I, and the loading device 118 performs a plurality of times (a total of three times). The first (first time) loading operation is performed. Thereafter, the loading arm 119 moves up from the retracted position I to the normal position H before the loading device 118 performs the next (second) loading of the loading of a plurality of times (a total of three times). Accordingly, the loading arm 119 is in the normal position H when the loading device 118 performs the second and third loading of the total three loadings.

  When loading the seedling box C with the loading arm 119 positioned at the normal position H, the loading arm support member 166 that contacts the loading arm 119 from below the loading position and supports the loading arm 119 is provided. Provided. The loading arm support member 166 is moved up by the operation of the cylinder arm 167 for vertical movement as a loading arm support member, which is an electric actuator, and comes into contact with the loading arm 119. Therefore, even if a large number of seedling boxes C are loaded at the loading position deviated to one side of the pantograph mechanism 130 that supports the loading arm 119, the loading arm 119 bends by the loading arm support member 166. To prevent. When a predetermined number of seedling boxes (30 in total) are loaded on the loading arm 119, the loading arm support member 166 moves downward to move away from the loading arm 119, and the loading arm 119 moves sideways. The nursery box C is transferred to the carriage 111. When the loading arm 119 returns to the normal position H to perform the loading operation of the seedling box C in the next process, the loading arm support member 166 moves upward to support the loading arm 119.

  The loading arm support member 166 may be constituted by a rotating roller, and the loading arm 119 may be moved laterally while the rotating roller moved up to the normal position H is kept in contact with the loading arm 119. As a result, even if the loading arm support member 166 is in contact with the loading arm 119, the loading arm 119 can be configured not to interfere with the vertical movement and lateral movement of the loading arm 119 and not to give resistance. The working time can be shortened by the amount that can not be lowered, and the work efficiency can be improved. Note that if the loading arm 119 moves upward while moving laterally and returns to the normal position H even after being loaded at any of the front and back mounting positions in the carriage 111, The attached arm support member vertical movement cylinder 167 can be abolished so that the loaded arm support member 166 does not move up and down, and cost can be reduced by eliminating the loaded arm support member vertical movement cylinder 167.

A transport pusher 168 that pushes and transports the carriage 111 from the rear to a predetermined position where the seedling box C is transferred by the loading arm 119 is provided at the front and rear. In addition, the description regarding conveyance of the trolley | bogie 111 including this paragraph demonstrates the conveyance lower side of the trolley | bogie 111 as a front side, and demonstrates the conveyance upper side of the trolley | bogie 111 as a rear side. The front and rear transport pushers 168 are moved back and forth along the front and rear guide rails 170 extending in the front-rear direction by the drive of the transport motor 169 being transmitted through a power transmission mechanism such as a power transmission chain. The front conveying pusher 168 is configured to convey the carriage 111 to the predetermined position, and contacts the carriage 111 conveyed by the front conveying pusher 168 from the front side to hold the carriage 111 at the predetermined position. A cart stopper 171 is provided at the front and rear. That is, when the carriage 111 is held by the carriage stopper 171 on the rear side, the loading arm 119 moves the nursery box C to the two placement positions on the front side among the four placement positions on the carriage 111 in the front-rear and left-right directions. When the carriage 111 is held by the front carriage stopper 171, the loading arm 119 is raised to the two rear placement positions of the front, rear, left and right placement positions of the carriage 111. The box C is in a state of being stacked. The carriage stopper 171 is configured to hold the position of the carriage 111 by contacting the front end of the carriage 111 with the head of the mounting bolt 171a fixed to the plate, and the plate rotates about the stopper rotation shaft 171b in the vertical direction. It is configured to move forward and backward, and is urged to rotate to the rear side, which is the trolley 111 side, by a trolley urging tool 171c that is a damper. A cart detector 171d, which is a magnetic proximity switch for detecting that the cart 111 is in contact with the mounting bolt 171a, is provided on the plate portion near the mounting bolt 171a. The rear conveying pusher 168 moves the next bogie when the front conveying pusher 168 conveys the carriage 111 to the front side of the predetermined position where the seedling box C is transferred, and the carriage 111 does not exist at the predetermined position. 111 is transported until just before the two placement positions on the front side among the four placement positions in the front, rear, left and right directions reach the predetermined position.
That is, when the transporting tool 168 on the rear side transports the carriage 111 until just before the two mounting positions on the front side among the four mounting positions on the front, rear, left and right reach the predetermined position, the transporting tool 168 on the front side. Takes over the carriage 111 and conveys it by the control device until the carriage detection tool 171d detects that the front end of the carriage 111 has come into contact with the carriage stopper 171 on the rear side. Then, the conveying operation is stopped. As a result, the carriage 111 is transferred while pushing the rear carriage stopper 171 forward, and the carriage urging tool 171c, which is a damper, is extended so that the rear carriage stopper 171 biases the carriage 111 rearward. Therefore, the carriage 111 is pressed and sandwiched between the rear carriage stopper 171 and the front conveying pusher 168, and the carriage 111 can be reliably held at a desired position. Then, when the loading of the seedling box C to the predetermined position is completed by the loading arm 119, the carriage 111 is transported by the front transport pusher 168. Then, the rear cart stopper 171 is retracted from the conveyance path of the cart 111 while rotating to the front side, and when further conveyed, the front end of the cart 111 reaches the front cart stopper 171. After the front end of the carriage 111 is in contact with the front carriage stopper 171 by the control device, the conveyance operation of the front conveyance pusher 168 is continued until a predetermined time after the carriage detection tool 171d detects that the carriage 111 stops. To do. As a result, the carriage 111 is transferred while pushing the front carriage stopper 171 forward, and the carriage urging tool 171c, which is a damper, is extended so that the front carriage stopper 171 biases the carriage 111 rearward. The carriage 111 is pressed between the front carriage stopper 171 and the front conveying pusher 168, and the carriage 111 can be reliably held at a desired position. When the loading arm 119 completes the transfer of the seedling box C to the predetermined position, the carriage 111 is conveyed by the front conveying pusher 168 until it is completely removed from the predetermined position. Then, since the transporting tool 168 on the front side transports the carriage 111 to the front side from the predetermined position where the seedling box C is transferred, the carriage 111 does not exist at the predetermined position. However, the next carriage 111 is transported until just before the two placement positions on the front side among the four placement positions of the front, rear, left, and right totals reach the predetermined position. Hereinafter, the carriage 111 is sequentially conveyed by repeating the above-described conveyance process. In addition, the said predetermined time in the action | operation of the conveyance pushing tool 168 becomes a structure which can be adjusted with the adjustment switch input into a control apparatus.

  It should be noted that the front and rear transport pushers 168 have different vertical positions so that they do not interfere with each other, and the front and rear guide rails 170 also have different vertical positions. The front and rear guide rails 170 partially overlap in the front-rear direction so that the front and rear transport pushers 168 can take over and transport the carriage 111. The carriage stopper 171 is configured to be pushed by the carriage 111 being conveyed and retracted from the conveyance path of the carriage 111. Similarly, the conveyance pusher 168 can also be pivoted forward around the pusher pivot axis in the vertical direction. Provided, when the transport pusher 168 after transporting the carriage returns to the rear side, it interferes with the next cart 111 on the transport path, but the transport pusher 168 rotates to the front side to It is configured to retreat from the conveyance path.

  As described above, the stacking facility 102 has the stacking device (117) that lifts and stacks the seedling box (C) transported by the seedling box transport conveyor (103) from below, and the stacking device (117) performs the stacking. A stacking device (118) for gripping the stacked seedling box (C), laterally moving and stacking, and a loading platform (150) on which the seedling box (C) is stacked by the stacking device (118); A loading arm (119) for receiving the seedling box (C) stacked on the loading platform (150), and a seedling box on the loading arm (119) by moving the loading arm (119) laterally ( A transfer mechanism (120) for transferring C) to a predetermined position is provided, and the stacking device (118) divides the stacked seedling boxes (C) into a plurality of times and stacks them sequentially on the upper side. The seedling box (C) is configured to perform multiple loadings in which the seedling box (C) is stacked at a predetermined loading position in a predetermined number of stacked sheets. In the stacking facility, when performing the first loading among the plurality of loadings, the seedling box (C) is loaded on the loading table (150), and then the loading table (150) is moved downward. The raising arm (119) receives the nursery box (C) loaded on the loading stand (150) by moving the raising arm (119) or moving the raising arm (119), and the raising seed box (C) is received by the loading arm. After receiving (119), the stacking device (118) stacks the seedling box (C) on top of the seedling box (C) on the stacking arm (119).

  Therefore, when performing the first loading of the plurality of loadings, the seedling box (C) is loaded on the loading table (150), so that the loading arm (119) is transferred by the transfer mechanism (120). ) Is moved laterally and the nursery box (C) is transferred to a predetermined position and returned to the loading position, and then the nursery box (C) is loaded on the loading table (150) by the loading device (118). Therefore, the work efficiency is improved, and the work accuracy is improved. In addition, after performing the last loading of the plurality of times of loading, the nursery box (C) stacked on the loading arm (119) by laterally moving the loading arm (119) It can be transferred to a predetermined position as it is, and the work efficiency is improved, and the work accuracy is improved.

  Moreover, it was set as the structure which the loading arm (119) receives the nursery box (C) loaded by the loading stand (150) by moving down the loading stand (150).

  Therefore, since the loading platform (150) is moved down after the first loading, the stacking position for stacking the seedling boxes (C) by the stacking device (117) at the time of the first loading. By approaching the vertical height of the loading platform (150), the moving distance of the nursery box (C) by the loading operation of the loading device (118) can be shortened, and the time required for the loading operation can be shortened. The work efficiency is improved, and the work accuracy is improved. Then, since the loading arm (119) receives the seedling box (C) loaded on the loading table (150) by moving the loading table (150) downward, the loading arm (119) receives it. The height of the seedling box (C) is lower than the height of the seedling box (C) on the loading table (150) before the loading arm (119) receives the seedling box (C). The moving distance of the nursery box (C) can be shortened by the upper stacking operation of the nursery box (C) on the loading arm (119) by the attaching device (118), and the time required for the loading operation can be shortened. The work efficiency is improved, and the work accuracy is improved.

  In addition, when performing the first loading, the nursery box (C) is loaded on the loading table (150), and then the loading table (150) is moved down to be placed on the loading table (150). The stacking device (118) stacks the seedling box (C) on the upper side of the nursery box (C) and stacks the seedling box (C), and then lowers the loading table (150) or moves the loading arm (119) upward. After receiving the seedling box (C) loaded on the loading table (150) by the loading arm (119) and receiving the seedling box (C) by the loading arm (119), further loading arm (119) The stacking device (118) stacks the nursery box (C) on the upper side of the upper nursery box (C).

  Therefore, since the loading platform (150) is moved down after the first loading, the stacking position for stacking the seedling boxes (C) by the stacking device (117) at the time of the first loading. By approaching the vertical height of the loading platform (150), the moving distance of the nursery box (C) by the loading operation of the loading device (118) can be shortened, and the time required for the loading operation can be shortened. The work efficiency is improved, and the work accuracy is improved. Then, the height of the seedling box (C) on the loading table (150) is lowered by lowering the loading table (150), and the loading table (150) by the subsequent loading device (118) is lowered. ) The moving distance of the seedling box (C) by the upper stacking operation of the seedling box (C) can be shortened, the time required for the loading operation can be shortened, the work efficiency is improved, and the work accuracy is improved. To do.

  In the above description, the first (first) loading and the second (second) loading of the seedling box C multiple times (three times in total) are performed on the loading table 150, and the loading table 150 is loaded. After the seedling box C stacked on 150 is received by the loading arm 119, the last (third time) loading is performed on the loading arm 119. Instead, the first (first time) loading is performed. After the loading arm 119 receives the seedling box C loaded on the loading table 150, the next (second time) loading and the last (third time) loading are performed. It is good also as a structure which performs to loading arm 119. At this time, in order to shorten the moving distance of the movable arm 126 of the loading device 118, the loading arm 119 at the last (third) loading is lowered to a lower position than at the next (second) loading. It is good also as composition to do.

  In the above description, the stacking device 118 is configured to stack the seedling box C in three times. However, the stacking device 118 may be configured to stack the seedling box C in four or more times. At this time, the number of times that the loading device 118 is loaded on the loading table 150 and the number of times that the loading device 118 is loaded on the loading arm 119 can be appropriately set to an arbitrary number of times, for example, a plurality of times.

  In addition, the loading arm 119 receives the seedling box C loaded on the loading table 150 by moving the loading table 150 downward. However, when the loading arm 119 receives the seedling box C, Since it is possible if the loading arm 119 is higher than the loading platform 150, the loading arm 119 receives the seedling box C loaded on the loading platform 150 by moving the loading arm 119 upward. It is good also as a structure. Alternatively, the loading platform 150 may be moved down and the loading arm 119 may be moved up. Alternatively, both the loading table 150 and the loading arm 119 are moved down, and the lowering speed of the loading table 150 is made faster than the lowering speed of the loading arm 119, so that the loading arm is higher than the loading table 150. It can also be configured such that 119 is higher. Thereby, since the relative speed of the loading stand 150 and the loading arm 119 when the raising seedling box C moves to the loading arm 119 can be reduced, the impact on the raising seedling box C can be suppressed.

  Note that the loading arm 119 may be configured to be pivotable in the vertical direction around a pivot point provided on the base side, and to be pivotable up and down by the operation of the vertical pivot actuator. Then, when the seedling box C is transferred from the loading arm 119 to the placement position in the carriage 111, if the loading arm 119 is moved downward and transferred, the working time can be shortened. . According to this configuration, even when the loading arm 119 is moved from the mounting position on either the near side or the far side in the carriage 111 to the loading position, the loading arm 119 is rotated upward while being moved laterally. It is possible to return to the original posture, further shortening the work time and improving the work efficiency. Further, the loading arm 119 is rotated when the loading arm 119 is rotated downward in accordance with the downward rotation angle of the loading arm 119 when being transferred to the mounting position in the carriage 111. If the bottom surface of the front end portion is provided with a notch on the bottom surface, the loading arm 119 is moved when the loading arm 119 is laterally moved while being rotated downward. Interference with the structure of the carriage 111 can be avoided.

  The loading device 118 may be provided with a seedling box presser for pressing the seedling box C from above. The seedling box presser is disposed above the seedling box C at the stacking position of the stacking device 117 when the loading device 118 is positioned at the stacking position, and is substantially the same size as the seedling box C in plan view. It is composed of a rectangular plate. The nursery box presser is supported slidably up and down, contacts the upper surface of the uppermost nursery box C stacked by the stacking device 117, and presses the nursery box C from above by its own weight. Normally, the uppermost nursery box C is not pressed from above, so it is easy to flutter up and down due to vibration. However, the vibration of the uppermost nursery box C due to the operation of the stacking device 117 can be suppressed by the nursery box presser. , It is possible to prevent the soil in the top nursery box C. The nursery box presser keeps the upper surface of the uppermost nursery box C in contact with the uppermost nursery box C even when the nursery box C loaded with the stacking device 118 is moved to the loading position. Keep it stable. When the stacking device 118 stacks the seedling box C on the stacking table 150 or the loading arm 119, the vertical position of the nursery box presser is fixed by the presser vertical lock mechanism, and the stacking device 118 is moved from the stacking position. The nursery box holder is kept from falling by its own weight until it returns to the loading position. Thereafter, when the stacking device 118 reaches the stacking position, the presser up / down lock mechanism is released and the nursery box presser can be moved up and down, so that the nursery box presser is raised at the top of the stacking position by its own weight. Lower to the top of box C.

  When vegetable seedlings are nurtured at a sowing planting facility, the nurtured vegetable seedlings may be used for grafting. Therefore, it is desirable to equip the sowing seedling facility with the grafted seedling production apparatus 1. Next, the grafted seedling production apparatus 1 will be described.

  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 of the dicotyledons (one cotyledon of the dicotyledons) 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 unit 7 feeds the clip 201 for feeding the grafted seedlings one by one, and the clip 201 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 201 includes a pair of left and right gripping portions 202 and a pair of left and right opening / closing portions 203, and the gripping portion 202 and the opening / closing portion 203 constitute a left and right clip piece. Are in contact with each other between the gripper 202 and the opening / closing part 203 to form a pivot point, and when the left / right opening / closing part 203 is closed, the left and right gripping parts 202 are opened. The left and right grips 202 are biased toward the closing side by a spring 204, and are configured to close when there is no external force.

  The clip supply device 74 includes a guide rail 205 serving as a transfer path for the clip 201. The clip feeder 73 serving as a vibration-type supply device causes the clip 201 to be fed out in a desired direction so that the gripper 202 is on the upper transfer side. The clips 201 are supplied to the guide rail 10 one by one, and the guide rail 205 is vibrated by the vibration type transfer device 46 provided at the transfer start end of the guide rail 205, and the gripping portion 202 is moved to the upper transfer side in the guide rail 205. In this posture, the clip 201 is continuously transferred. The left and right widths of the end portion of the guide rail 205 are narrowed by left and right narrowing guides 214, which will be described later. When the clip 201 is transferred to the end portion of the guide rail 205, the clip 201 closes the left and right opening / closing portions 203 to Open the grip 202. The left and right opening / closing parts 203 are opened and the left and right holding parts 202 are closed by opening the left and right opening / closing operation members 207 of the clip opening / closing device 206 that inherits the clip 201 from the end of the guide rail 205. In addition, the clip 201 is sequentially supplied to the joining position 63 by the clip pusher 208 provided at the terminal end of the guide rail 205.

  At the end of the guide rail 205, there are a passage groove 215 at the center of the left and right, left and right guide bases 216 on the left and right sides of the passage groove 215, and left and right constriction guides 214 outside the left and right guide bases 216. The left and right rear restrictors 217 on the left and right guides 216 are provided. The grip part 202 of the clip 201 having a thickness in the vertical direction passes through the passage groove 215, and is located on the left and right outside of the grip part 202 in the closed state of the clip 201, and the opening / closing part 203 having a smaller vertical thickness than the grip part 202. Is placed on the guide table 216, and the clip 201 maintains a horizontal posture. The rear restrictor 217 has a trapezoidal shape in plan view, and restricts the opening / closing portion 203 from moving to the left and right center side of the clip transport path by the outer end face. When the clip 201 is conveyed, the left and right opening / closing parts 203 are pushed inwardly by the left and right narrowing guides 214 to open the closing gripping part 202. By the way, as the clip, there is an integral molding type clip 218 configured by integral molding with resin without providing the spring 204 as described above. This integral mold clip 218 is different from the above-described clip 204 in that a connecting portion 219 for connecting the end portions (rear end portions) of the left and right opening / closing portions 203 is provided as well as the absence of the spring 204. In this configuration, the gripping portion 202 is biased toward the closing side by the elasticity of the connecting portion 219. Also in this integrally molded die clip 218, as described above, it is properly guided by the passage groove 215, the guide base 216, the narrowing guide 214, and the rear restrictor 217. Further, the movement of the connecting portion 219 to the rear side is regulated by the front end surface of the rear regulating body 217, and the movement of the integral molding die clip 218 to the rear side is regulated. The mold clip 218 can be accurately extruded and supplied. Conventionally, the rear restricting body 217 is configured in a triangular shape in plan view in order to reliably restrict the opening / closing portion 203 from moving to the left and right center side of the clip transport path. In this case, there is a possibility that the connecting portion 219 is placed on the left and right rear restrictors 217 and the integral molding clip 218 is inclined forward and backward.

  In addition, as the left and right rear part restricting body 217, a conventional left and right rear part restricting body 217 having a triangular shape in plan view and a left and right rear part restricting body 217 having a trapezoidal shape in plan view can be exchanged, and a clip 201 including a spring 204 is provided. The left and right rear restrictors 217 having a triangular shape in plan view may be attached when transported, and the left and right rear restrictors 217 having a trapezoidal shape in plan view may be mounted when transporting the integral mold clip 218. At this time, the left and right rear regulating bodies 217 may be replaced integrally with the passage groove 215 and the left and right guides 216. When mounting the left and right rear restrictors 217, the top of the guide table 216 is the same as the upper surface of the guide table 216 in the mounted state so that the head of the mounting bolt (mounting screw) for mounting does not hinder the passage of the clip. Alternatively, the head may be positioned at a lower position.

  Moreover, when transporting a clip having a different shape, it is desirable to change the operation stroke of the clip extrusion device 208. In particular, when the clip 201 having the spring 204 is transported by the guide rail 205 to which the left and right rear restrictors 217 having a trapezoidal shape in plan view are transported, the rear restrictor 217 can reliably restrict the rearward movement of the clip 201. Since the position of the clip 201 tends to vary, the reciprocating operation stroke of the clip pusher 208 is set slightly larger, and the clip 201 can be reliably pushed out even when the clip 201 is located closer to the rear side. Ideal to do.

  A photoelectric first clip sensor 65 for detecting the presence or absence of the clip 201 is provided at a first predetermined position closer to the transfer end portion of the guide rail 205 than the clip pusher 208. In addition, a photoelectric second clip sensor 66 that detects the presence or absence of the clip 201 is provided at a second predetermined position closer to the transfer start end of the guide rail 205 than the first predetermined position. ing. When the first clip sensor 65 does not detect the clip 201, the control device operates the grafting robot main body la based on the input from the first clip sensor 65, that is, the rootstock preprocessing unit 3 and 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 grafting work in a state where the clip 201 is not supplied to the joining position 63, and prompt the clip feeder 73 to be supplied with the clip 201. Further, the first clip sensor 65 and the second clip sensor 66 input that the first clip sensor 65 detects the clip 201 and the second clip sensor 66 does not detect the clip 201, and then a predetermined time (about 10 seconds). After the elapse of time, the lamp blinks in blue to give an alarm, the clip 201 in the clip feeder 73 is lost and the clip 201 is reduced, or the clip 201 is clogged due to malfunction of the clip feeder 73 or the transfer path. Inform them that they are no longer properly transferred. As a result, the clip 201 can be replenished to the clip feeder 73 or the clogging work of the clip 201 can be eliminated, the clip 201 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 201, the operation of the clip feeder 73 is stopped based on the input from the second clip sensor 66. Accordingly, the clip 201 is not unnecessarily supplied to the guide rail 205 by the clip feeder 73, and the clip 201 can be prevented from being damaged in the guide rail 205 by being forcibly supplied. In a normal operation state, every time the second clip sensor 66 does not detect the clip 201, the clip feeder 73 is operated to supply the clip 201 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 209 is disposed at a position on the extension of the guide rail 205. The restricting member 209 is formed of a transparent and resin-made plate extending in the vertical direction, and is disposed at a position where the front end of the clip 201 (the front end of the gripping portion 202) that is opened and closed by the clip opening and closing device 206 contacts at the joining position 63. Yes. Therefore, the clip 201 transferred to the joining position 63 is regulated so that the front end contacts the regulating member 209 with the left and right grips 202 opened and is not further conveyed. The restricting member 209 is fixed to the distal end portion of the moving arm 211 that rotates back and forth by the restricting member moving device 210 that is a rotary actuator, and from below the restricting position that contacts the clip 201 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 209 in the retracted position is moved from the front side to the restriction position by the restriction member moving device 210. 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 209. In addition, the left and right end portions of the regulating member 209 are configured in an arc shape or a tapered shape, and can be smoothly guided without being caught. Then, the clip 201 is supplied to the joining position 63 by the clip pusher 208 with the left and right gripping portions 202 opened, and the clip 201 comes into contact with the regulating member 209 and is positioned at an appropriate position. The space between the left and right gripping portions 202 where the clip 201 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 root axis of the rootstock seedling and the hogi seedling is located in a space surrounded by the left and right gripping parts 202 and the regulating member 209. Thereafter, the left and right opening / closing operation members 207 of the clip opening / closing device 206 are opened to open the left and right opening / closing portions 203 and the left and right gripping portions 202 are closed. Also at this time, since the restricting member 209 is at the restricting position and the pop-out of the clip 201 is restricted, the posture and the position of the clip 201 are prevented from being inappropriate due to the operation of closing the left and right grips. In addition, the seedling can be clamped at a desired position in the grip portion 202. After closing the left and right grips 202, the restricting member 209 is moved to the retracted position by the restricting member moving device 210. Thereafter, the clip 201 is pushed out by the clip extrusion device 208, and the grafted seedling is discharged to the grafted seedling sending part 8 together with the clip 201. The grafted seedling sending part 8 transports the grafted seedling to the container. Since the regulating member 209 is transparent, the operator can easily see the joining condition of the seedling without disturbing it, and the occurrence of a large number of defective grafted seedlings that occur due to improper adjustment of each part, etc. 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 207 of the clip opening / closing device 206, a fixed support plate 221 and a movable support plate 222 are provided as support members for supporting the clip 201 supplied to the joining position 63 from below. The fixed support plate 221 is disposed on the extension of the guide rail 205 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 222 is provided on the front side of the fixed support plate 221 (the release side of the clip 201) 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 The part is composed. The front end surface 221 a of the fixed support plate 221 is disposed at a position in contact with the hypocotyl of the rootstock seedling at the joining position 63. Therefore, the fixed support plate 221 is positioned on the upper transfer side (rear side) of the clip 201 with respect to the hypocotyl of the seedling bonded at the bonding position 63 in the front-rear direction, and the front end surface 221a of the fixed support plate 221 is positioned at the bonding 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 201. Further, the left end surface 222 a of the movable support plate 222 is arranged at a position in contact with the hypocotyl of the rootstock seedling at the joining position 63. Accordingly, the movable support plate 222 reaches the lower transfer side (front side) of the clip 201 in the front-rear direction of the clip 201 from the hypocotyl of the seedling joined at the joining position 63, and the left end surface 222 a of the movable support plate 222 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 222 protrudes from the front end surface 221a of the fixed support plate 221 to the front side (the discharge side of the clip 201) about the diameter of the hypocotyl of the rootstock seedling (3 to 4 mm). Further, the movable support plate 222 is attached to the fixed support plate 221 through the long hole 222b so that the left and right positions can be adjusted, and can be removed by removing the fastening bolt 223 inserted into the long hole 222b. Accordingly, the left and right positions of the left end surface 222a of the movable support plate 222 can be changed by changing the left and right positions of the movable support plate 222, and the movable support plate 222 can be switched to a state without the left end surface 222a by removing the movable support plate 222.

  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 to the joining position 63 of the rootstock seedling by the rootstock transport arm 61 and the transporting operation to the joining position 63 of the seedling seedling by the stock transporting arm 68 are performed 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 made slightly slower than the operation speed of the hotwood transfer arm 68, and the timing at which the rootstock transfer arm 61 arrives at the joining position 63 is compared with the timing at which the stock transfer arm 68 reaches the joining position 63. Also delay. Then, when it is detected by the rotational position detection sensor (reed switch) on the rootstock side that is provided on the rolling actuator 60 on the rootstock side that the rootstock transport arm 61 has reached the joining position 63, 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. 16B). 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 presser 77 is rotated downward by the cotyledon pressing rotary actuator 79 operated by air pressure, and the cotyledon is pressed from above by the cotyledon pressing roller 80 provided at the tip of the cotyledon pressing tool 77 (FIG. 16 (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. The hypocotyl and one lobe are cut (see FIG. 16 (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. 16 (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 ( FIG. 16 (1) reference).

  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.

  Further, the portion composed of the cutting blade 75 for rootstock and the cutting cylinder 81 for rootstock is a cutting blade in the vertical direction with respect to the base of the rootstock cutting device 64 (back-and-forth moving cylinder 78 for rootstock). The rotary shaft 228 is configured to be pivotable, and the pivot angle about the cutting blade pivot shaft 228 can be adjusted. Thereby, the angle of inclination of the cutting blade 75 for the rootstock in the left-right direction can be adjusted, and the cutting blade 75 for the rootstock in a direction (left-right direction) intersecting the direction of the vertical cutting locus inclined forward and backward. Can be tilted. In addition, the adjustment range of the inclination angle of the cutting blade 75 for rootstock is regulated by the angle adjusting long holes 229 provided at two locations on the base of the rootstock cutting device 64. Therefore, surely cut off the true leaf that exists only on one side of the hypocotyl in the direction (left-right direction) between the dicotyledons of rootstock seedlings and in the direction (left-right direction) intersecting with the direction of dicotyledons (front-back direction) when viewed from above Thus, one cotyledon to be excised and the main leaf can be cut accurately without damaging the remaining cotyledon. In addition, if the cutting blade 75 for rootstock does not act on the root part of the main leaf but acts on the central part or the tip part of the main leaf, not only the root of the rootstock seedling can be cut smoothly but also the cutting for the rootstock. It is considered that the main leaf is pushed by the blade 75, the cotyledon to be left behind is pushed through the main leaf, the rootstock seedling is rotated, and a cutting defect occurs that damages the cotyledon to be left behind by the cutting blade 75 for rootstock. It is done. Note that when cutting rootstock seedlings whose main leaves have not yet been developed, the cutting blades 75 for rootstocks should be placed in a horizontal horizontal posture without being inclined in the left-right direction, and only one leaf should be reliably cut out.

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.
Further, a photoelectric proximity sensor 238 that detects the degree of approach (approach position) of the cutting blade 75 to the rootstock seedling by the operation of the forward / backward movement cylinder 78 is moved to a portion that is moved back and forth by the forward / backward movement cylinder 78 of the rootstock cutting device 64. Provided. On the other hand, a cotyledon support roller support arm 231 (to be described later) on the side of the rootstock transport arm 61 is provided with a reflection plate 239 that opposes the light projection direction of the proximity sensor 238 and reflects light from the proximity sensor 238. Therefore, the proximity sensor 238 receives the reflected light of the projected light from the reflection plate 239 to determine the degree of approach (distance), and determines that the cutting blade 75 has reached the desired position with respect to the rootstock seedling. Then, the forward moving operation of the forward / backward moving cylinder 78 is stopped, the operation of the cutting cylinder 81 is started, and the rootstock seedling cutting operation is performed. Thereby, the desired position of the rootstock seedling can be cut with high accuracy, and the grafting accuracy can be improved. In addition, it has the structure which can set and adjust the approach degree of the cutting blade 75 with respect to a rootstock seedling by inputting a numerical value into the setting change part 54 of the operation panel 1p mentioned later, and is based on the input of the said numerical value The position at which the forward movement of the moving cylinder 78 is stopped is controlled. Thereby, the cutting position of a rootstock seedling can be adjusted corresponding to conditions, such as a kind of seedling or a growth state, and the versatility of grafting work increases. In addition, the numerical value to be input can be set in the restriction mode by operating the setting changing unit 54 of the operation panel 1p. With this restriction mode, the operator can change the numerical value by mistake during grafting work. Therefore, it is possible to prevent the seedlings from being cut off excessively and to prevent the generation of seedlings that cannot be used for grafting.

  The rootstock transport arm 61 is provided with a cotyledon support roller 250 serving as a cotyledon support member that supports a cotyledon deployment base of the rootstock seedling to be gripped. The cotyledon supporting roller 250 supports the cotyledon deployment base from the opposite side of the cutting blade 75 when cutting the seedling by the root cutting device 64 to optimize the cutting position. An air outlet 251 is provided on the outer surface of the cotyledon support roller 250 on the rootstock seedling side, and the air from the air outlet 251 prevents the seedling from sticking to the cotyledon support roller 250, The grafted seedlings after joining can be released well from the rootstock transfer arm 61 and discharged. By blowing air from the air outlet 251 only when the grafted seedlings are discharged after joining the seedlings, smooth cutting of the grafted seedlings can be achieved while preventing cutting and joining failures of the rootstock seedlings caused by the air blowing out. Can be discharged.

  The cotyledon supporting roller 250 is configured to move up and down while being moved in the front-rear direction by the cotyledon supporting roller support arm 231 that is rotated by the operation of the cotyledon supporting rotary actuator 230. Then, before the rootstock transport arm 61 reaches the joining position 63 and the clip pusher 208 supplies the clip 201 to the joining position 63, the cotyledon supporting rotary actuator 230 is operated to connect the cotyledon supporting roller 250 to the joining position. 63, the cotyledon support roller 250 is moved away from the joined portion of the grafted seedling to avoid interference with the clip 201 supplied later to the joined portion of the grafted seedling. The remaining cotyledons are pushed from the outside (the rootstock pretreatment unit 3 side) to reliably join the grafted seedlings. During the process in which the grafted seedling is held by the clip 201 and discharged from the joining position 63 and the rootstock transport arm 61 rotates and returns to the rootstock take-up portion 2 side to grip the next rootstock seedling, the cotyledon support By operating the rotary actuator 230, the cotyledon supporting roller 250 is lowered to the original position (position where the cotyledon deployment base of the rootstock seedling is supported).

  The cotyledon supporting roller support arm 231 includes an electric roller moving cylinder 232 that moves the cotyledon supporting roller 250 forward and backward along the rootstock transport arm 61, and a cotyledon supporting roller 250 for the rootstock transport arm 61. An electrically driven roller raising / lowering cylinder 233 for raising and lowering is provided. Further, on the control panel 55 to be described later, it is configured to be able to set the advance / retreat position and the elevation position of the cotyledon support roller 250, and the controller moves the roller moving cylinder 232 based on the advance / retreat position, The roller raising / lowering cylinder 233 is operated based on the raising / lowering position. Further, the operation speeds of the roller moving cylinder 232 and the roller lifting cylinder 233 can be adjusted by inputting numerical values on the control panel 55, and the position of the cotyledon supporting roller 250 can be easily finely adjusted. ing. Thereby, the operator can easily adjust the advance / retreat position and the lift position, which are the positions of the cotyledon support roller 250 in a state of supporting the cotyledon development base of the rootstock seedling.

  The configuration is such that the cotyledon supporting rotary actuator 230 is eliminated, and the cotyledon supporting roller 250 is raised when the grafted seedling is joined at the joining position 63 by operating the roller lifting cylinder 233 instead of the cotyledon supporting rotary actuator 230. You can also With this configuration, the cotyledon can be lifted from directly below the cotyledon on which the cotyledon supporting roller 250 remains, so that the cotyledon can be prevented from being caught by pressing the upper surface of the cotyledon on the side on which the cotyledon supporting roller 250 remains. In particular, when the remaining cotyledon is drooping greatly downward, the possibility that the cotyledon supporting roller acts on the upper surface side of the cotyledon will be increased. Furthermore, it is good also as a structure which supports the cotyledon expansion | deployment base part of a rootstock seedling by advancing the cotyledon support roller 250 at the cutting position 62 or the joining position 63 by the roller moving cylinder 232. At this time, the cotyledon supporting roller 250 may be raised by the roller lifting / lowering cylinder 233 from the state where the cotyledon supporting roller 250 is advanced by the roller moving cylinder 232.

  Further, the cotyledon retainer 77 is provided with a cotyledon removal nozzle 252 that discharges air downward while blowing one cotyledon of the rootstock seedling and blows off the other cotyledon of the rootstock seedling to be excised. . The cotyledon removal nozzle 252 operates when the root cutting device 64 completes cutting (when FIG. 16 (5)) from when the cotyledon pressing tool 77 is actuated to press the cotyledon (when FIG. 16 (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. Further, when the rootstock seedling is cut (in the case of FIG. 16 (4)), the cotyledon deployment angle can be increased by pushing down the other cotyledon by the air from the cotyledon removal nozzle 252 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. 17 (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. 17 (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. 17 (4)). Thereafter, the cutting blade 82 for hogi is moved obliquely upward by the cutting cylinder 85 for hogi and returned to the original position (see FIG. 17A). 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 transports a seedling tray in which a large number of hogi seedlings (seedlings) W grown in a seedling pot on the side of the grafting robot body la are arranged in a grid. 11 and a gripping hand 12 that performs a gripping operation by cutting the hypocotyl while individually gripping the seedling W as a spikelet so that it can be advanced and retracted by the advance / retreat mechanism 12b with respect to the seedling W on the carry-in mechanism 11. The gripping hand 12 is composed of a transfer mechanism 13 that supports the gripping hand 12 so as to be laterally movable in the left-right direction, a direction correcting member 14 arranged on the transfer stroke, and the like. In addition, a holding position for temporarily holding the hogi seedling W transferred from the hogi taking-in section is provided at the hogi delivery position (delivery position) R between the hogi taking-in section and the hogi pre-processing section 4. A delivery holding mechanism 15 serving as a mechanism is provided.

  Specifically, the carry-in mechanism 11 is constituted by a belt-type conveyor 253 that moves along the side of the grafting robot main body la, and the like, and each time a horizontal row of seedlings is taken out, the seedling tray is arranged sequentially. By carrying out the transfer operation, the hogi seedling W is carried into a predetermined position. The transfer mechanism 13 is configured to control the position of the gripping hand 12 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. In order to take out the seedling from the delivery holding mechanism 15 side, the gripping hand 12 sequentially moves left and right to the left and right positions of the seedling to be taken out (cell with the seedling) after supplying the seedling to the delivery holding mechanism 15. 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. The grasping hand 12 includes an upper hand mechanism 21 and an intermediate hand mechanism 22 for grasping the upper and middle stages of the hypocotyl A of the hogi seedling W, and a lower stage of the hypocotyl A of the hogi seedling W by opening and closing operations below the upper hand mechanism 21. The cutter mechanism 23 for cutting the part is arranged in three stages so as to be able to move forward and backward integrally by the forward and backward mechanism 12b, and is provided with a lifting tool 24 that can be moved up and down independently on the side. 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. 24A, the upper hand mechanism 21 forms a notch B in the left-right direction larger than the diameter dimension of the fertilizer shaft A of the hogi seedling at the gripping position at the tip of the left and right opening / closing arms 21a. The seedling hypocotyl A is configured to be freely fitted and held, and an adjustment bolt 21b for setting the clearance limit is provided. As shown in FIG. 24 (b), the middle stage hand mechanism 22 forms a notch C in the front-rear direction that is larger than the diameter dimension of the fertilizer shaft A of the safling seedlings at the gripping position of the left and right opening / closing arms 22a, 22a. This is configured so that the hypocotyl A of the seedling can be held freely. 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 is provided with a cutting arm 23a that rotates in the left-right direction at the base 234, and a blade 23b that cuts the hypocotyl A of a seedling (hogi seedling) is attached to the tip of the cutting arm 23a in a cantilevered state. At a position facing the cutting arm 23a and the blade 23b, there is provided a restricting tool 235 that translates (slides) in the left-right direction. Note that the cutting arm 235 is configured to rotate in the left-right direction around the vertical axis by a cutting rotary actuator provided on the base 234 of the cutter mechanism 23. The restricting tool 235 is formed of a plate-like member extending in the vertical direction, and moves to the left and right with respect to the base 234 by the operation of the cutting left / right moving cylinder 236 fixed to the base 234 of the cutter mechanism 23. ing. Further, as the blade 23b, a commercially available razor blade having a very thin thickness is used. The blade 23b is disposed slightly lower than the lower end of the restricting tool 235. The cutting arm 23a and the blade 23b are arranged on the side of the grafting robot main body la, and the restricting tool 235 is arranged on the side opposite to the grafting robot main body la. Therefore, the cutter mechanism 23 has a symmetrical structure between the rootstock taking part and the hogi taking part. As a result, both the rootstock take-in section and the hogi take-in section sequentially take out one row of seedlings from the seedling tray on the side of the grafting robot main body la one by one from the seedling tray that has been transported to the seedling picking position by the carry-in mechanism 11. Although it is a structure, since the seedling adjacent to the grafting robot main body la side has already been taken out when taking out the seedling and there is no possibility that the cutting arm 23a and the blade 23b interfere with the adjacent seedling, the cutting arm 23a that rotates. And the rotation amount of the blade 23b can be set large, and even if the embryo axis of the seedling is deviated toward the grafting robot main body la side with respect to the center of the cell of the seedling tray in a plan view, It can be set as the structure cut | disconnected with the blade 23b. On the other hand, there are seedlings adjacent to the left and right sides opposite to the grafting robot main body la when taking out the seedlings, but since the restricting tool 235 is configured to translate in the left-right direction, it does not interfere with the adjacent seedlings. It can be positioned along the end of the cell of the seedling to be taken out, even if the embryonic axis of the seedling taken out with respect to the center of the cell of the seedling tray in a plan view is displaced to the left and right side opposite to the grafting robot body la, The hypocotyl can be reliably cut by receiving the hypocotyl with the restricting tool 235.

  Further, on the upper side of the blade 23b, a bending restricting body 237 that contacts the upper surface of the blade 23b and restricts the blade 23b from bending upward is provided. This bending restricting body 237 is arranged on the outer side in the left-right direction (on the opposite side to the embryonic axis) from the cutting edge of the blade 23b in plan view, and is fixedly attached to the distal end portion of the cutting arm 23a. Thereby, when the embryonic axis is cut by rotating the cutting arm 23a and the blade 23b by the cutter closing operation described later, the position of the embryonic axis of the seedling taken out with respect to the center of the cell of the seedling tray in plan view is the grafting robot. Being displaced to the main body la side (blade 23b side), the blade 23b is bent without receiving the hypocotyl by the restricting tool 235, and the hypocotyl cannot be cut while being tilted. Can be prevented.

In addition, you may provide separately the control guide which controls that the hypocotyl A enters into the base 234 side of the cutter mechanism 23a. By this regulation guide, the positional deviation of the hypocotyl A can be prevented and the blade 23b can be cut smoothly. The regulation guide is preferably disposed above the blade 23b and is configured to be positioned closer to the base 234 side toward the blade 23b side so as to guide the hypocotyl A to the blade 23b side.
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 seedling tray with a narrow cell pitch, the second lifting tool 42 prevents the holding hand 12 from being held and transferred by the holding hand 12 while the holding hand 12 is tilted to the adjacent seedling side on the side where the holding hand 12 has moved left and right. It is possible to prevent the seedlings from being transferred by the gripping hand 12 while being entangled with the adjacent seedlings and becoming inadequate in the gripping posture of the seedlings. 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. As shown in FIG. 31, the second lifting tool 42 is configured by providing an oblique portion in plan view.

  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 seedling tray of the carry-in mechanism 11, a fall restricting tool 44 is provided over the width of the seedling tray. The fall restricting tool 44 is composed of a rotatable roller so as not to roughen the soil in the cell or become resistance to transporting the seedling tray by the carry-in mechanism 11, and is suitable on the side of the gripping hand 12 for the seedling taken out by the gripping hand 12. Located above the cell to work reliably.

  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. Therefore, when the grasping hand 12 moves forward by the advance / retreat mechanism 12b to grasp the seedlings in the seedling tray, the pair of opening / closing arms 21a and 22a are opened, and the tip 45b of the seedling separating tool 45 does not interfere with the seedling to be grasped. So as to be inserted between the seedling and the adjacent seedling. When the pair of open / close arms 21a and 22a are closed, the tip 45b of the seedling separating tool 45 rotates and moves to the adjacent seedling side (left side), and the seedling to be gripped is separated from the adjacent seedling to entangle the seedling. It comes to solve.

  The operation for taking up the saplings by the gripping 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 in the preparation state of FIG. 33A, 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.

  The closed state of the cutter mechanism 23 is a state in which the cutting arm 23a and the restricting tool 235 are moved closer to each other by the operation of the cutting rotary actuator and the cutting left / right moving cylinder 236, and in a plan view, The restricting tool 235 is overlapped (see FIG. 25C). At this time, since the blade 23b is disposed slightly lower than the lower end of the restricting tool 235, the blade 23b and the restricting tool 235 can be overlapped in plan view.

  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 less likely to interfere with the seedlings in the seedling tray during lateral movement and is removed by lateral movement. It is possible to prevent a seedling other than the seedling from being stored in the pocket, and to prevent a 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. 33 (b), the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are opened (see FIG. 25 (a)), and then the upper hand. The mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are moved forward (S3, see FIG. 25B), and then the upper hand mechanism 21 and the middle hand mechanism 22 are closed (S4) to thereby move the upper hand mechanism. 21 and the hypocotyl A of the hogi seedling W are loosely held in the notches B and C at the tips of the middle hand mechanism 22. Thereafter, the cutter mechanism 23 is closed (S5, see FIG. 25 (c)), and the restricting tool 235 is moved to the opposite side to the cutting arm 23a and the blade 23b by the operation of the cutting left / right moving cylinder 236 (FIG. 25 (d)). )), The upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are retracted (S6, see FIG. 25 (e)).

  When the above-described restricting tool 235 is moved to the left and right sides opposite to the cutting arm 23a and the blade 23b (the state shown in FIG. 25D), the restricting tool 235 is in a state in which a cutter mechanism 23 described later is opened. Move to the same position. Even when the above-described restricting tool 235 is moved to the left and right sides opposite to the cutting arm 23 (a) and the blade 23b (the state shown in FIG. 25D), a part of the front end side of the blade 23b and the restricting tool 235 are seen in a plan view. A part of the tip end side of the head is overlapped, and the lower end portion of the hypocotyl of the spikelet seedling W is regulated by the restricting tool 235 to prevent the hypocotyl from dropping from the cutter mechanism 23. As a result, when the hypocotyl A is sandwiched and bent by the blade 23b and the restrictor 235 with the cutter mechanism 23 closed, the blade 23b is retracted after relaxing the bent state. Thus, when the hypocotyl A can be cut, and when the cutting of the hypocotyl is insufficient due to the closing operation of the cutter mechanism 23, the hypocotyl A is retracted while strongly pinching the hypocotyl A between the blade 23b and the regulator 235. It is possible to prevent the seedling from being pulled out together with the (root pot), to prevent the mechanical lock and the seedling conveyance accuracy from being lowered due to interference of the seedbed portion in the subsequent process, and to improve the accuracy of grafting work. In addition, in the state where the hypocotyl A is cut and the lower end of the hogi seedling W is placed on the upper surface of the blade 23b, the hogi seedling W is supported by the cutter mechanism 23 so as to be rotatable about the hypocotyl A. . Here, by moving laterally in the center direction of the grafted seedling production apparatus 1 (S7), it is possible to individually take in the seedlings from the carry-in mechanism 11. Incidentally, 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, indicates that the seedlings to be taken out from the seedling tray by the process of S6 are completely separated from the adjacent seedlings. The length is set so as not to interfere.

  The state in which the cutter mechanism 23 is opened (open state) is a state in which the cutting arm 23a and the regulating tool 235 are moved away from each other by the operation of the cutting rotary actuator and the cutting left / right moving cylinder 236. The blade 23b and the restricting tool 235 are separated from each other, and when the cutter mechanism 23 moves forward, the blade 23b and the restricting tool 235 are positioned outside the seedling cell s to be taken out in plan view (FIG. 25). (See (b)).

  A seedling guide 212 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. This seedling guide 212 is advanced by the seedling guide cylinder 213 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 212 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. 35, 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 has a configuration in which 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 by a stroke sensor provided in the cylinder. When it is detected that the position has reached the position immediately before the direction correcting member 14 away from the upper side of the tray, 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 a configuration. 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 seedling tray side on the carry-in mechanism 11 to grip the next seedling, the gripping hand 12 moves laterally at a normal high 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 decelerates, it lowers below the cutter mechanism 23 so that it does not get in the way of 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. The structure is as follows: the upper hand mechanism 31 that holds the upper part of the hypocotyl A of the received seedlings, and the hypocotyl A of the seedling is brought to one side (joining position 63 side) just below the upper hand mechanism 31. A positioning hand mechanism 71 for positioning the position of the hypocotyl, a middle hand mechanism 32 for gripping the upper and lower intermediate parts of the hypocotyl A below, a lower hand and a middle hand mechanism 32 below the upper hand mechanism 31 and the positioning hand mechanism 71 The delivery position R is provided with a stopper 33 that regulates excessive entry of the hypocotyl A on the upper side, and an elevating mechanism 34 that adjusts the height position integrally with the stopper 33.

  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 upper hand mechanism 31 and the middle hand mechanism 32 include a movable hand on the same side as the positioning hand mechanism 71 in the left-right direction, and a fixed hand on the opposite side to the positioning hand mechanism 71. The embryonic axis of the seedling is held between the fixed type hand and the movable type hand.

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. 39, 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, by opening the cutter mechanism 23, the upper hand mechanism 21 of the gripping hand 12 receives the cotyledons L and L and aligns the height position of the hogi 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 224 for detecting the supplied seedling and a gripping hand detection sensor 225 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 224 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 225 is a photoelectric sensor that detects the gripping hand 12 from above.

In addition, immediately above the delivery holding mechanism 15, the grasping completion lamp 226 serving as a notification device that lights up in conjunction with the hand mechanism 3232 grasping the embryonic axis of the seedling and the grasping of the seedling by the hand mechanism 3232 are released. A grip release switch 227 is provided as a grip release operation tool.
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 224 detects the seedling, the gripping hand detection sensor 225 detects the gripping hand 12, and the gripping completion lamp 226 is lit, and the grip release switch 227 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 225 is changed and adjusted, and the control device detects both seedling detection sensors 224 on the rootstock side and the scion side, and the gripping hand detection sensor 225 detects nothing (the operator's hand) If the grip release switch 227 is not operated while the grip completion lamp 226 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 225 is switched to a state in which the detection performance of the gripping hand detection sensor 225 is detected with high accuracy, and the gripping hand 12 at a fixed position is accurately detected. The detection performance of the hand detection sensor 225 is switched to a state where the detection performance is detected over a wide range with a 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 225 is switched by an amplification device provided in the control device.

  When the grip release switch 227 is operated while the grip completion lamp 226 is lit, the gripping of the operated hand mechanism 3232 is released and the seedlings by the rootstock preprocessing unit 3 and the hogi preprocessing unit 4 are released. Stop the transport.

  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 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 moves the embryo axis of the seedling, presses the embryo axis against the fixed guide facing the positioning hand mechanism 71, and places the end of the embryo axis in contact with the fixed guide for lateral positioning. It has become. When this lateral positioning is performed, the positioning hand mechanism 71 is configured to operate by air pressure from the compressor, and the embryonic axis of the seedling is pressed against the fixed guide with a predetermined pressing force, and the gripping force of the embryonic axis is increased. It will move to a position that reaches a predetermined gripping force. Note that the operator may lower the seedling after the positioning hand mechanism 71 positions the seedling.

  Further, the upper hand mechanism 31 and the middle hand mechanism 32 are also configured to be operated by air pressure from the compressor. Therefore, the middle stage hand mechanism 32 moves to a position where a predetermined gripping force is reached when the embryonic axis of the seedling is gripped. Therefore, a hand opening / closing position detecting device for detecting the opening / closing position of the middle hand mechanism 32 is provided, and the hand opening / closing position detecting device is in a state where the pair of left and right hands of the middle hand mechanism 32 are in contact with each other and are completely closed. A fully closed state detection switch for detecting, and an intermediate closed state detection switch for detecting that the distance between the pair of left and right hands of the middle stage hand mechanism 32 is within a predetermined range corresponding to the shaft diameter of the embryonic axis of the seedling. Prepare. The fully closed state detection switch and the intermediate closed state detection switch are magnet type switches. When the fully closed state detection switch is in the detection state when the middle stage hand mechanism 32 is closed and grips the seedling, the control device determines that the middle stage hand mechanism 32 is not gripping the seedling and controls the control panel. 55 shows that the seedling is in an abnormal state of gripping failure and makes a buzzer sound to notify the user. The operation of the entire apparatus is stopped and the seedling is transferred to the rootstock transport arm 61 and the hand transporter arm 68. It is the composition which does not perform. Further, when the middle stage hand mechanism 32 is closed and grips the seedling, if the fully closed state detection switch is in the detection state and the intermediate closed state detection switch is in the detection state, the hand opening / closing position detection device is in an abnormal state. This is displayed and a buzzer is sounded and notified, and the operation of the entire apparatus is stopped. Further, when the middle hand mechanism 32 is closed and grips the seedling, if the fully closed state detection switch is in the non-detection state and the intermediate close state detection switch is in the non-detection state, the middle stage hand mechanism 32 is not operating properly. An abnormal state is displayed and a buzzer is sounded to notify, and the operation of the entire apparatus is stopped. Then, when the middle stage hand mechanism 32 is closed and grips the seedling, the seedling detection sensor 224 that is a fully closed state detection switch is in a non-detection state and an intermediate closed state detection switch is in a detection state and serves as a seedling detection device detects If it is in a state (a state in which the delivery holding mechanism 15 detects seedlings), the operation of the apparatus is continued and a normal seedling transfer operation to the rootstock transfer arm 61 and the spike transfer arm 68 is performed. Yes. Further, when the middle stage hand mechanism 32 is closed and grips the seedling, the fully closed state detection switch is in the non-detection state and the intermediate closed state detection switch is in the detection state, but the seedling detection sensor 224 is in the non-detection state ( In the state in which the seedling is not detected by the delivery holding mechanism 15), it is determined that there is a high possibility that the middle stage hand mechanism 32 is holding the seedling with priority given to detection by the hand opening / closing position detection device, and the operation of the device is continued. The seedling transfer arm 61 and the hotwood transfer arm 68 are then handed over to the normal rootstock transfer arm 61, and the seedling detection sensor 224 is displayed as being in an abnormal state, and a buzzer sound is generated and notified. This is because the seedling detection sensor 224 is a photoelectric sensor, so it tends to be erroneously detected due to the influence of outside light, dirt on the detection surface, and the like. This is because the sensor has to be adjusted. When the abnormal state of the seedling detection sensor 224 is repeated a predetermined number of times (for example, twice) every time seedlings are supplied to the delivery holding mechanism 15, the operation of the apparatus is stopped and the rootstock transport arm 61 and the ears are stopped. The seedling is not transferred to the tree transfer arm 68.

  Therefore, in the case of an abnormal state of seedling holding failure or an abnormal state of the hand opening / closing position detecting device, the seedling transfer arm 61 and the spike transfer arm 68 are not allowed to take over the seedling. The trouble that one of the tree seedlings is not supplied to the joining position 63 or is supplied in an inappropriate state can be prevented, and the other seedling of the rootstock seedling and the safflower seedling can be prevented from being wasted. . In addition, when the seedling detection sensor 224 is in an abnormal state, it can be determined that the seedling detection sensor 224 has erroneously detected, so that the seedling transfer can be continued and the grafting operation can be performed without interrupting the seedling transportation without darkness. Efficiency can be maintained. At this time, since an abnormal state of the seedling detection sensor 224 is notified with a buzzer sound, the operator can be alerted, and the operator can confirm the state of the seedling transport and properly When is not transported, the operation of the apparatus can be stopped by manual operation, and generation of useless seedlings can be prevented.

  Note that the delivery holding mechanism 15 on the rootstock take-in section 2 side has a symmetrical structure with the delivery hold mechanism 15 on the hogi take-up section side, and is similar to the delivery hold mechanism 15 on the hogi capture section side. Then, the positioning hand mechanism 71 moves the embryonic axis of the seedling to the adhesion processing unit 7 side, which is the left and right center side of the machine body, and performs lateral positioning of the embryonic axis. Therefore, in the rootstock transport arm 61 that takes over the rootstock seedling and transports it, the position of the end surface on the rotation center side of the rootstock transport arm 61 of the root axis of the rootstock seedling is aligned, and the rootstock transport arm 61 is aligned with the end face. It is the structure which a part of touches and fixes the position of this end surface. That is, at the cutting position 62 of the rootstock seedling, regardless of the thickness of the hypocotyl of the rootstock seedling, the end surface of the hypocotyl opposite to the cotyledon cut by the rootstock cutting device 64 is the direction of the cutting locus (front-rear direction). ). Therefore, the position of the other cotyledon to be left uncut (the end face side of the hypocotyl) of the dicotyledon of the rootstock seedling is aligned, and the other cotyledon is irrespective of the thickness of the hypocotyl of the rootstock seedling. Since the positional relationship between and the cutting trajectory can be maintained as desired, the remaining cotyledon (the other cotyledon) can be left without being accurately cut. That is, it is possible to prevent the cotyledons on the side left by the rootstock cutting device 64 from being damaged, to prevent generation of seedlings inappropriate for grafting, and to prevent waste of seedlings.

When an operator inputs an adjustment numerical value or the like on the control panel 55 described later and the cutting blade 75 for rootstock of the rootstock cutting device 64 is brought close to the rootstock seedling (in the case of FIG. 16 (2)). It is good also as a structure which can input and adjust the front-back position of the cutting blade 75 for rootstock, ie, the front-back position of a cutting locus. That is, the control device is configured to control the output target of the forward / backward moving cylinder 78 when the cutting blade 75 for rootstock is brought close to the rootstock seedling based on the set value set on the control panel 55. Thereby, regardless of the thickness of the hypocotyl of the seedling, the petiole supporter 76 can press the hypocotyl so that the cotyledon on the side where the rootstock seedling is left can be brought into contact with the cotyledon support roller 250 accurately, and one leaf can be cut. Can be performed well.
A positioning hand detection device that detects the position of the positioning hand mechanism 71 when the seedling is positioned may be provided. Since this positioning hand detection device has a configuration in which the positioning hand mechanism 71 translates (slides) in the left-right direction, it may be configured with a linear gauge or the like. Thereby, the thickness of the hypocotyl can be detected by detecting the position of the positioning hand mechanism 71 when the embryonic axis is gripped by the positioning hand detecting device, and the position detecting device can detect the embryonic axis of the seedling. This is a hypocotyl thickness detector that detects the thickness of the hypocotyl. Then, based on the detection of the positioning hand detection device when the seedling is positioned by the control device, the seedling reaches the cutting position 62, and the root cutting blade 75 of the root cutting device 64 is moved to the root stock seedling. The output target of the forward / backward movement cylinder 78 when it is close to (in the case of FIG. 16 (2)) is corrected and output to the forward / backward movement cylinder 78 at the output target. That is, according to the thickness of the hypocotyl of each seedling sequentially supplied to the cutting position 62, the front and rear positions of the cutting blade 75 for rootstock, that is, the front and rear positions of the cutting locus are changed and controlled. At this time, the back-and-forth moving cylinder 78 serves as a cutting blade position changing mechanism that changes the position of the cutting blade (75) based on detection by the positioning hand detection device. Thus, as described above, according to the thickness of the hypocotyl of the seedling, the petiole support 76 can press the hypocotyl and accurately contact the cotyledon on the side where the rootstock seedling is left with the cotyledon supporting roller 250. Can cut one leaf well.

  Instead of the positioning hand detection device described above, a shaft diameter sensor that directly detects the shaft diameter (thickness) of the embryonic shaft of the seedling may be provided. This shaft diameter sensor can be constituted by a laser sensor provided in the vicinity of the cotyledon support roller 250 of the rootstock transport arm 61. The laser sensor is configured so that the light receiving unit receives light from the light emitting unit, determines the size of the region where the light is blocked by the hypocotyl based on the light reception result of the light receiving unit, and detects the axial diameter of the hypocotyl It can be. In addition, including the shaft diameter sensor provided in the vicinity of the cotyledon supporting roller 250, a contact determining sensor for determining whether or not the remaining cotyledon is in contact with the cotyledon supporting roller 250 is provided. It is good also as a structure which operates the back-and-forth movement cylinder 78 until a cotyledon contacts the cotyledon support roller 250 exactly.

  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 seedling 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, A setting change unit 54 is provided that can arbitrarily set the seedling position and the number of seedling rows in the seedling tray. 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 unit that switches and sets the horizontal position at which the gripping hand 12 picks up the seedling and the transport pitch of the carry-in mechanism 11, and includes a 72-hole position for the 72-hole seedling tray and a 228-hole seedling. Switching operation can be performed between a tray 228 hole position and a manual setting position (MS) arbitrarily set by the setting changing unit 54. The 72-hole seedling tray is a seedling tray in which cells are provided in 12 rows and 6 rows, and the 228-hole seedling tray is a seedling tray in which cells are provided in 16 rows and 8 rows. Therefore, since the cell arrangement pitch varies depending on the seedling tray types, the tray selection switch 50 is used to switch between the seedling trays. The gripping hand 12 sequentially takes out seedlings in a horizontal row of the seedling tray from the delivery holding mechanism 15 side. The number of seedlings is counted by a control device in the operation panel 1p, and the number of horizontal rows based on the setting of the tray selection switch 50 is counted. Then, the seedling tray is conveyed 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, if the seedling is not grown in the seedling tray, the seedling capturing section 2 is stopped and the seedling is manually supplied, or when it is desired to join the seedling manually, the capturing section 2 is operated to graft the seedling. The operation of the robot 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 pretreatment unit 3 or the hotwood pretreatment unit 4 starts conveying seedlings on condition that the sensor 225 detects the gripping hand 12 and the gripping hand detection sensor 225 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 225, and the rootstock preprocessing unit 3 is provided on the condition that the seedling detection sensor detects the seedling in the fully automatic grafting work. 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 253 for carrying a seedling tray in which a number of cells each containing seedlings are arranged in a grid. The conveyor 253 is disposed on the side of the grafting robot main body 1a and is supported via a pantograph-shaped lifting mechanism 254 for height adjustment.
The conveyor 253 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 254 from the outside of the machine body, the lifting drive shaft 255 is orthogonal to the seedling conveying direction of the conveyor 253 in plan view, and the conveyor 253 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 256 that operates the lifting mechanism 254 is provided. The lifting motor 256 is operated by operating the operating device 257. The operation device 257 is configured by an operation box including a plurality of operation switches 258, and is configured to be able to individually adjust the conveyor 253 of the rootstock take-in unit 2 and the hogi take-in unit individually. A holding body 259 that holds the operating device 257 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 operation device 257 held by the holding body 259 is in a state in which the operation surface on which the operation switch 258 and the like are arranged is directed to the front side (the adhesion processing unit 7 side, the side opposite to the clip feeder 73). The operation device 257 can be operated while being held at 259. Further, the operating device 257 is connected to the control device via a signal transmission cable having a sufficient length, and is removed from the holding body 259 to the outside of the rootstock taking section and the hogi taking section ( It can be moved to the outside of the conveyor 253 in the left-right direction). Thus, the operator can adjust the height of the conveyor 253 while visually checking the height of the seedling removal position on the side of the conveyor 253, and can adjust the height relative to the gripping hand 12.
The raising / lowering mechanism 254 serving as a position changing mechanism is arranged at a position near the conveyance start end of the conveyor 253, and in response to the electric drive motor 260 that drives the conveyor 253 being arranged at the conveyance start end portion of the conveyor 253, The drive motor 260 and the conveyor 253 are moved up and down near the center of gravity. Moreover, since the conveyance termination side of the conveyor 253 can be configured to protrude long from the lifting mechanism 254, the termination side portion of the conveyor 253 can be easily inserted below the gripping hand 12.

  Further, a guide plate 261 for restricting the position of the lifting tool 41 is provided extending in the left-right direction from the seedling removal position on the carry-in mechanism 11 to the grafting robot main body 1a side. A guide roller that moves up and down integrally with the lifting tool 41 is provided, and when the guide roller is placed on the guide plate 261, the lifting tool 41 is restricted from moving downward. The grafting robot main body 1a side portion of the guide plate 261 is composed of an inclined surface that becomes higher toward the loading mechanism 11 (conveyor 253) side, and the upper portion of the guide plate 261 on the conveyor 253 (the portion opposite to the grafting robot main body 1a). ) Is configured by a substantially horizontal plane, and is disposed higher than the upper surface of the seedling tray on the conveyor 253. Accordingly, the lifting tool 41 is guided by the guide plate 261 by moving from the grafting robot main body 1a side to the carry-in mechanism 11 side to reach the upper portion 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. Therefore, the lifting tool 41 is restricted by the guide plate 261 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 261. Located at the bottom of the range.

  In addition, a seedling presser 262 made of 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 262 takes out the seedling from the carry-in mechanism 11, the movement of the seedling holder 262 is restricted by the guide plate 261, and the seedling holder 262 moves upward along 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 261, and when the gripping hand 12 moves further to the grafting robot main body 1a side and the guide roller comes off the guide plate 261, 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 that detects seedlings in a region from the seedling extraction position on the carry-in mechanism 11 to the conveyance start end side for the length of one seedling tray is provided. 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.

  In order to cope with the difference in the height of the seedling on the carry-in mechanism 11, the above-described configuration has been described in which the height of the carry-in mechanism 11 is changed by the lift mechanism 82. The height of the gripping hand 12 when taking out the seedling can be changed corresponding to the height of the seedling on the carry-in mechanism 11. What is necessary is just to set it as the structure which can set the height of the holding hand 12 when taking out a seedling in the operation panel 1p, confirming the relationship of the height with the seedling on the carrying-in mechanism 11. FIG. The operation of the gripping hand 12 is first lowered to a lower set height corresponding to the height of the seedling, moved to the position of the seedling to be removed by moving left and right at this set height, and the gripping hand 12 cuts the seedling. Then, it rises to the height at which the seedling is delivered to the delivery holding mechanism 15 and moves left and right to the position of the delivery holding mechanism 15. Thereby, since it is not necessary to adjust the height of the large carrying-in mechanism 11, adjustment work becomes easy.

  When the seedling to be taken out is high, the seedling is lowered to a height near the seedling tray near the upper surface of the seedling tray, moved to the position of the taking out seedling by moving left and right with the height near the seedling tray, and the gripping hand 12 is advanced. And then approaching the root of the seedling, then rising to a set height corresponding to the height of the seedling, cutting and holding the seedling, and further rising to a height when delivering the seedling to the delivery holding mechanism 15; It can be set as the structure which moves to the position of the delivery holding mechanism 15 right and left. At this time, the height near the seedling tray may be set in the operation panel 1p while confirming the height relationship with the carry-in mechanism 11. This allows the gripping hand 12 and the lifting tool 41 to enter the vicinity of the root of the seedling, so that the gripping hand 12 erroneously grips another adjacent seedling due to factors such as bending of the embryonic axis of the seedling. Is prevented.

  When the height of the seedling to be taken out is higher than the height at which the seedling is delivered to the delivery holding mechanism 15, the gripping hand 12 is moved in the middle of the left / right movement to the position of the delivery holding mechanism 15 after taking out the seedling. Need to be lowered. In the above description, the configuration in which the gripping hand 12 is moved left and right after being raised to the height at which the seedling is delivered to the delivery holding mechanism 15 has been described. However, the left and right movement to the position of the delivery holding mechanism 15 after taking out the seedling is described. If the gripping hand 12 is moved downward while moving in the process, the seedling transport time can be shortened and the work efficiency can be improved.

  As described above, the cutter mechanism 23 in the grasping hand 12 of the grafted seedling production apparatus 1 moves from the left and right sides of the embryonic axis of the seedling to cut the embryonic axis and the other left and right of the embryonic axis of the seedling. A restriction tool (235) that restricts movement of the hypocotyl during cutting from the side, first the blade (23b) moves from the left and right sides toward the hypocotyl, and then the restriction tool (235) It moves to the left and right other side, and then the blade (23b) moves in the front-rear direction to cut the hypocotyl.

  Therefore, the blade (23b) first moves from one side of the left and right toward the embryonic axis of the seedling, and then the restricting tool (235) moves to the other side of the left and right to loosen the regulation of the left and right side of the embryonic axis. Since the blade (23b) moves in the front-rear direction and cuts the hypocotyl with the restriction to the left and right sides of the hypocotyl relaxed, the hypocotyl is sandwiched between the blade (23b) and the restrictor (235). When in the bent state, the hypocotyl can be cut by moving the blade (23b) in the front-rear direction after relaxing the bent state. For example, the hardness of the hypocotyl of the seedling and the position of the hypocotyl vary. Even at certain times, the hypocotyl can be cut reliably and satisfactorily.

  First, when the blade (23b) moves from the left and right side toward the hypocotyl, the blade (23b) moves from the end surface on the hypocotyl side of the restrictor (235) to the left and right side, and then Even when the restricting tool (235) moves to the left and right other side, at least a part of the blade (23b) is positioned on the other left and right side with respect to the end surface on the hypocotyl side of the restricting tool (235).

  Therefore, the embryonic axis of the seedling can be surely regulated by the regulating tool (235) in the cutting process by the lateral movement of the blade (23b) from the left and right side to the hypocotyl and the subsequent longitudinal movement. The hypocotyl can be cut well.

  Further, the blade (23b) is attached to the tip of the cutting arm (23a) moving in the left-right direction in a cantilever state, and the cutting arm (23a) is moved to move the blade (23b). ) Is provided with a bending restricting body (237) for restricting the blade (23b) from bending upward.

  Therefore, the blade (23b) can be supported in a cantilevered state at the tip of the cutting arm (23a), and no components such as the cutting arm can be provided below the blade (23b). 23b) can be placed as close as possible to the upper surface of the nursery bed, the length of the hypocotyl of the seedling taken out by cutting can be secured, and when using the taken out seedling as a seedling for grafting, grafting work Can improve the performance. In addition, since the blade (23b) is restrained from being bent upward by the deflection regulating body (237), for example, even when the embryonic axis of the seedling has variations in hardness or the position of the hypocotyl, the hypocotyl is properly positioned. Can be cut well.

  The rootstock cutting device 64 moves along a trajectory inclined with respect to the hypocotyl of the grasped rootstock seedling and cuts only one cotyledon of the roots of the rootstock seedling. (75) is provided so as to be inclined with respect to the hypocotyl of the rootstock seedling in a direction intersecting the direction of the movement locus, and between the dicotyledons and in a direction intersecting with the dicotyledonal direction when viewed from above. The leaves are cut.

  Therefore, the cutting blade (75) for rootstock can cut only one cotyledon among the dicotyledons of rootstock seedling and cut the main leaf, and the subsequent joining with the hogi seedling is good. It is possible to improve the joining accuracy of grafted seedlings.

  In addition, a cutting blade (75) for rootstock that moves along a trajectory inclined with respect to the hypocotyl of the grasped rootstock seedling and cuts only one cotyledon of the dicotyledon of the rootstock seedling is provided. Regardless of the thickness of the hypocotyl of the tree seedling, the hypocotyl is fixed and cut so that the end surface of the hypocotyl opposite to the cotyledon to be cut is at a predetermined position in the direction of the movement locus.

  Therefore, the embryonic axis is fixed and cut so that the end surface of the hypocotyl on the side opposite to the cotyledon to be cut is a predetermined position in the direction of the movement trajectory. The movement trajectory of the cutting blade for rootstock (75) is set based on the position of the other cotyledon that is not to be left, and regardless of the thickness of the hypocotyl of the rootstock seedling, (Cotyledons) can be left without being cut accurately, the jointing accuracy of the graft can be improved while dealing with the difference in the thickness of the hypocotyl, and the seedling wasted by cutting the remaining cotyledon Can be prevented.

  Further, a root cutting blade (75) which moves along a trajectory inclined with respect to the hypocotyl of the grasped rootstock seedling and cuts only one cotyledon of the roots of the rootstock seedling, and the rootstock A hypodermic axis thickness detecting device for detecting the thickness of the hypocotyl of the seedling, and a cutting blade position changing mechanism (78) for changing the position of the cutting blade (75) based on the detection of the hypocotyl thickness detecting device Provided.

  Therefore, since the cutting blade position changing mechanism (78) for changing the position of the cutting blade (75) based on the detection of the hypocotyl thickness detection device is provided, Can be cut at a position where one cotyledon is removed and the other cotyledon is left, so that the joining accuracy of the graft can be improved, and the waste of the seedling due to cutting the remaining cotyledon can be prevented. it can.

  The grafted seedling production apparatus 1 includes a gripping hand (12) that grips the seedling and transports it to the delivery position (R), and a hand mechanism that opens and closes at the delivery position (R) and grips the seedling with a predetermined gripping force ( 32), a transport arm (61, 68) that takes over and transports the seedling from the hand mechanism (32), and a hand mechanism resulting from the operation of transporting the seedling to the delivery position (R) of the gripping hand (12) A hand open / close position detection device that detects whether or not the hand mechanism (32) is an open / close position in a state where the seedling is gripped, and a hand mechanism (22). ), A seedling detection device (224) for detecting the seedling at the gripping position is detected, the seedling detection device (224) detects the seedling at the gripping position of the hand mechanism (22), and the hand open / close position detection device detects the hand mechanism. (32) grasps the hypocotyl of the seedling Due to the detection of the open / close position of the state, the transfer arm (61, 68) is operated to transfer the seedling from the hand mechanism (32) to the transfer arm (61, 68). The seedling detection device (224) grips the hand mechanism (22) even though the hand opening / closing position detection device detects that the hand mechanism (32) is the opening / closing position in the state of gripping the embryonic axis of the seedling. When the seedling is not detected at the position, the transfer arm (61, 68) is operated to transfer the seedling from the hand mechanism (32) to the transfer arm (61, 68) and notify that it is in an abnormal state. It is configured.

  Therefore, since the seedling detection device (224) and the hand open / close position detection device are configured to take over the seedling and carry it, it is possible to actually transfer the seedling by continuously detecting the detection device. It is possible to prevent problems such as not being supplied or the seedling being transported in an inappropriate state, and waste of the seedling can be prevented. In addition, when the hand open / close position detection device detects the seedling, the state where the seedling detection device (224) does not detect the seedling determines that the seedling detection device (224) has erroneously detected the seedling, and takes over the seedling. The operation efficiency can be maintained without interrupting the transport of the seedlings. At the same time, since it is informed that the state is abnormal, the operator can be alerted, and the worker can confirm the state of transport of the seedling and recognize the necessity of maintenance of the apparatus.

  In addition, rootstock seedlings and hogi seedlings are grown one by one in cells arranged vertically and horizontally in a seedling tray. The seedling tray is seeded in each cell of the seedling tray, and the seedling tray is stacked in a germination chamber in which temperature and humidity are controlled, and the seedling tray is germinated to grow seedlings. A photoelectric germination detection sensor is provided for detecting that germination from the soil and the hypocotyl of the seedling has been extended to a predetermined height. Then, the germination detection sensor detects that the hypocotyl of the seedling has been extended to a predetermined height, and then illuminates the germination chamber for a predetermined time to raise the seedling. Thereby, the hypocotyl of a seedling can be made into the desired length suitable for grafting. In addition, the germination detection sensor is configured to be able to detect that a cell in which the hypocotyl of the seedling has been extended to a predetermined height among a plurality of cells on the seedling tray has reached a predetermined ratio by a photographing device or the like. It is good also as a structure which lights illumination based on.

Claims (3)

A stacking device (117) for lifting and stacking the seedling boxes (C) conveyed by the seedling box conveyor (103) from below, and the seedling boxes (C) stacked by the stacking device (117) A stacking device (118) for gripping, laterally moving and stacking, a loading table (150) on which the seedling box (C) is loaded by the loading device (118), and loading on the loading table (150) The loading arm (119) that receives the raised seedling box (C) and the loading arm (119) are moved laterally to transfer the nursery box (C) on the loading arm (119) to a predetermined position. The transfer mechanism (120) is provided, and the stacking device (118) divides the stacked seedling boxes (C) into a plurality of times and stacks the seedling boxes (C) in a predetermined manner. In the stacking facility configured to perform loading a plurality of times at a loading position to a predetermined number of loadings, the plurality of times When performing the first loading of the loading, the nursery box (C) is loaded on the loading table (150), and then the loading table (150) is moved down or the loading arm (119). After the raising arm (119) receives the seedling box (C) stacked on the loading platform (150) by moving the raising base (150), and the raising arm (119) receives the seedling box (C), Further, a stacking facility in which the loading device (118) stacks the seedling box (C) on the upper side of the seedling box (C) on the loading arm (119). The stacking equipment according to claim 1, wherein the loading arm (119) receives the nursery box (C) loaded on the loading table (150) by lowering the loading table (150).   When performing the first loading, the seedling box (C) is loaded on the loading table (150), and then the loading table (150) is moved down to raise the seedling box on the loading table (150). By placing the seedling box (C) on top of (C) and stacking the seedling box (C), and then moving the loading platform (150) downward or moving the loading arm (119) upward. After the raising arm (119) receives the seedling box (C) loaded on the loading table (150) and the raising arm (119) receives the seedling box (C), the loading arm (119) is further received. The stacking equipment according to claim 1 or 2, wherein the stacking device (118) stacks the seedling box (C) on the upper side of the upper seedling box (C).

Images