JP2818819B2 - Seedling supply method in grafting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention holds a scion and a rootstock separately so as to sandwich a hypocotyl by a holding mechanism, cuts them at predetermined positions, and cuts respective cut surfaces. In a grafting device that is configured to join and fix the grafted seedlings, the cotyledon development direction of the scion and rootstock to be gripped by being supplied to the gripping mechanism is supplied with one or both of them fixed. And a method for supplying seedlings.

[Related Art] In recent years, most of vegetable seedlings cultivated in facilities such as glass rooms and greenhouses use grafted seedlings. The grafting work for making the grafted seedlings is performed manually by the degree of using some auxiliary equipment. In view of such a current situation, the applicant has long grasped the scion and the rootstock separately so as to sandwich the hypocotyl by the gripping mechanism, cut each at a predetermined position, and joined the respective contact sections. A grafting apparatus has been proposed in which the grafted seedlings are fixed, and the grafted seedlings are automatically manufactured.

[Problem to be Solved by the Invention] In the above grafting device, one cotyledon of a rootstock is cut off,
A single-leaf cutting and splicing method is used in which the cotyledons of the scion do not overlap with the cotyledons of the stock. For this reason, it was necessary to provide the orientation and height of the seedlings when supplying the seedlings.

In the above-described apparatus, the seedling supply mechanism that supplies each seedling to both the scion and rootstock holding mechanisms supplies the seedlings one by one while rotating a disk-shaped cassette supporting a large number of seedlings. In this cassette, a stock and a scion are suspended by manual power so that the developing directions of the cotyledons are substantially constant. For this reason, there has been a problem that not only the work of supplying the stock and the scion to the cassette is troublesome, but also that the single-leaf cutting and grafting work is not performed accurately.

On the other hand, without using the cassette, it is conceivable that the seedlings are directly taken out from the seedling storage tray by mechanical force and each seedling is supplied to both the holding mechanism of the scion and the stock. How to detect and control the direction of the cotyledon of the seedling is a problem to be solved.

The present invention has been made to solve the above problems.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides: A. A scion and a stock are separately grasped so as to sandwich the hypocotyl by a grasping mechanism, and each is cut at a predetermined position. In a grafting device in which the respective contact sections are joined and fixed to produce a grafted seedling, the hypocotyl of the seedling placed on the seedling storage tray without determining the cotyledon development direction is pinched and taken out, A seedling removal supply mechanism for supplying the gripping mechanism; and while the seedling removal supply mechanism removes the seedlings and supplies the seedlings to the gripping mechanism, the detecting means detects the cotyledon development direction and sets the cotyledon development direction to a fixed direction, thereby gripping. The direction of the scion and rootstock to be gripped by the mechanism is to be supplied with one or both of them in a fixed direction.B. Both the cotyledon development direction of the seedling and the supply height to the gripping mechanism of the seedling, Or one And a method in which the seedling extraction and supply mechanism determines a seedling in a transport path to be supplied to the gripping mechanism and supplies the determined seedling to the gripping mechanism.

[Operation] With the above configuration, the present invention provides: A seedling pick-up supply mechanism for holding the embryo axis of the seedling placed on the seedling storage tray without determining the cotyledon development direction, and supplying the seedling to the gripping mechanism; During the supply, the detection means detects the cotyledon development direction, sets the cotyledon development direction to a fixed direction, and supplies the direction of the scion and rootstock to be gripped by the gripping mechanism, with one or both of them fixed. Therefore, the cotyledon development direction of the scion and rootstock that are automatically supplied from the seedling removal supply mechanism to the gripping mechanism and gripped are both or one of them in a fixed direction, and the single-leaf cutting and grafting operation is accurate. Often done.

. Both the or both of the cotyledon unfolding direction of the seedling and the supply height of the seedling to the gripping mechanism are determined in a transport path where the seedling removal and supply mechanism takes out the seedling and supplies it to the gripping mechanism and supplies the seedling to the gripping mechanism. Labor saving is achieved by automatically supplying the seedlings directly from the tray to the seedling holding mechanism, and the cutting and joining positions of the scion and rootstock are accurate, and a highly accurate grafting operation is performed.

Example An example of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic plan view of the entire grafting apparatus, wherein reference numeral 1 denotes a seedling supply unit, 2 denotes a scion processing unit, 3 denotes a rootstock processing unit, 4 denotes a seedling joint, and 5 denotes a seedling gripper (clip) supply. Part, 6 is seedling adhesion
A discharge unit 7 indicates a grafted seedling transport unit.

The seedling supply unit 1 is provided with a pair for the seedlings and a pair for the rootstocks, but since the substantial configuration is the same, only one of them (for the rootstocks) is provided. The description of the other (for the scion seedlings) is omitted. Seedling storage trays 8 containing a large number of rootstock seedlings (plug seedlings) B arranged in a fixed array of vertical and horizontal directions (in the form of a matrix) are positioned substantially horizontally on a tray mounting table 9 as shown in FIGS. Is placed. At the bottom of the seedling storage tray 8, a plug hole for each rootstock seedling B
A small hole 8a is opened corresponding to 8a.
Corresponding to 8b, a small hole (not shown) is also formed in the tray mounting table 9. The tray mounting table 9 has a lower surface supported by a plurality of support rollers 9a on both sides in the width direction, is movable in the length direction, and has a screwing portion 9b provided substantially at the center of the same lower surface in the width direction. Into the ball screw 9c,
The ball screw 9c is intermittently moved by intermittent rotation of a stepping motor 9e connected to one end of the ball screw 9c via a coupling 9d.

On the other hand, below the tray mounting table 9, an air cylinder is formed, and the root pot B1 of the rootstock seedling B is pushed upward from the plug hole 8 a for accommodating the prog of the rootstock seedling (plug seedling) B. A root pot push-out pin 10 is provided. Tray platform 9
A seedling picking arm 11 reciprocating in the X direction in FIG. 1 and a seedling supply arm 12 reciprocating in the Y direction are provided beside the seedling storage tray 8 placed thereon. The seedling take-out arm 11 and the seedling supply arm 12 have a rack 11 on each side.
a, 12a are provided, and are reciprocated by rotation of stepping motors 11c, 12c having pinions 11b, 12b meshing with the racks 11a, 12a.

An air cylinder 11d is attached to the tip of the seedling take-out arm 11.
Is fixed so as to expand and contract in the vertical direction, and a hand 11e reciprocating in the horizontal direction by the air cylinder is attached to the piston of the air cylinder 11d. This hand 1
In 1e, a seedling sensor 11f for detecting the hypocotyl B2 of the rootstock seedling B is provided. Further, a hand 12d that reciprocates in a horizontal direction by an air cylinder is attached to the tip of the seedling supply arm 12. Urethane rubber is affixed to the inner surfaces of both hands 11e and 12d which hold the hypocotyl B2.

At the position where the seedling take-out arm 11 and the seedling supply arm 12 intersect, a cotyledon detection mechanism 13 is provided. The cotyledon detecting mechanism 13 is configured by an optical sensor 13a including a light receiving unit and a light projecting unit, and detects the cotyledon B3 of the rootstock seedling B, and detects the cotyledon B3.
Can be detected.

A seedling rotation mechanism 14 is provided below the cotyledon detection mechanism 13. This seedling rotating mechanism 14 is provided with a stepping motor 14c fixed to the upper end of a piston 14b of an air cylinder 14a arranged vertically, and a turntable 14d attached to an output shaft of the stepping motor 14c so as to rotate in a horizontal direction. I have. A cone 14e for accommodating the root pot B1 of the rootstock seedling B is formed on the turntable 14d. And hand 12d of seedling supply arm 12
The support direction of the seedling with respect to the seedlings A is that the cotyledon development direction is in the rotation tangent direction of the scion processing unit 2 in the scion seedlings A, and the cotyledon development direction is in the rotation center direction of the stock processing unit 3 in the stock seedlings B. When supported, the grafted seedlings in which the cutting surfaces of the scion A and the stock B are brought into contact with each other and adhered are in a state where the cotyledon development direction of the scion A and the cotyledon development direction of the stock B intersect, Although it is predicted that this will have a positive effect on the growth of the grafted seedlings thereafter, grafted seedlings can be produced even by changing the direction of the cotyledons.

The scion processing unit 2 and the stock processing unit 3 are supported by a hand 12d of a seedling supply arm 12 of the seedling supply unit 1 as shown in FIGS. 1 to 9 and 11 to 20. The seedlings A and the rootstocks B are taken over one by one, held and rotated, and the seedlings are cut at predetermined positions so that the cut surfaces are brought into contact with each other. For this reason, the scion processing unit 2 and the stock processing unit 3 rotate so that the cut surfaces are opposed to each other (in the embodiment, the rotation directions of the scion processing unit 2 and the stock processing unit 3 are opposite. It is not necessary to stick to this rotation direction), and the holding position (height) is changed so that the seedling A does not fall below the rootstock B, and the opening direction of the hand described later becomes the opposite direction. The ground whose cutting direction is changed so that the cutting surface faces downward in the scion A and upward in the stock B has a similar configuration. Therefore, similar components are denoted by the same names and symbols, and detailed description will be given. Omitted.

The scion processing unit 2 (stock processing unit 3) is a circular fixed disk
The rotary shaft 17 is supported in the cylindrical support portion 15a of the device 15 via bearings 16 and 16, and a seedling transfer rotary plate 18 is fixed to the upper end of the rotary shaft 17, and a cup is mounted on the lower end of the rotary shaft 17. The output shaft of a stepping motor 20 is connected via a ring 19. The seedling transfer rotary plate 18 has a protruding portion obtained by equally dividing a circle around the rotation shaft 17, and a fixed hand 21 and an L-shaped movable hand 22 are provided in pairs at the equally divided positions, respectively. Reference numeral 22 denotes a movable hand that can be moved by four guide rollers 23 with respect to the fixed hand 21.
A return habit is given by a return spring 25 stretched between the two.

On the other hand, an arc-shaped cam 27 pivotally supported at one end by a pin 26 is provided at two places on the outer periphery of the fixed disk 15, and the other end of the cam 27 is provided by a pin (air) provided on the fixed disk 15. The cylinder 28 allows displacement between a position extending outward from the fixed disk 15 and a position retracting inward. And the movable hand
The cam roller 29 provided on the roller 22 is brought into contact with the cam 27, and the movable hand 22 is opened and closed with respect to the fixed hand 21 so as to grip or release the hogi seedling A (rootstock seedling B). A urethane rubber 30 is attached to opposing seedling holding surfaces of the fixed hand 21 and the movable hand 22 so that when the hypocotyl of the hogi seedling A (rootstock seedling B) is pinched, it is not damaged. I have. In addition, a disk-shaped protection plate 31 is provided above the seedling transfer rotary plate 18.

The stepping motors 20 and 20 of the scion processing unit 2 and the stocking processing unit 3 rotate intermittently by 1/3 turn, respectively. The scion seedlings A and B supported by the hand are clamped by the hands 21 and 22, and the scion seedlings A and B clamped by the hands 21 and 22 are cut by the scion cutting device 32 and the cutting stock. The cutting is performed from a predetermined position by the device 33, and the cut surfaces are opposed to and approach each other at the seedling junction 4 with the spikelet seedling A up and the rootstock seedling B down.

The scion cutting device 32 is attached to an output shaft 34a of a stepping motor 34, as shown in FIGS. 11 and 13.
A cutting blade holder 36 is provided at the tip of a rotating arm 35 that rotates counterclockwise, and a cutting blade (a double-edged safety razor in this embodiment) 37 is attached to the holder 36. This cutting blade 37
Is used for one half of each sheet, that is, four times. In addition, the rotary arm 35 has a cutting blade 37
A hypocotyl holder (a roller in the embodiment) 38 for pressing the hypocotyl of the scion seedling A is provided on the front side in the rotation direction of the seedling A.

On the other hand, an air cylinder 39 is provided which is supported on the outer periphery of the fixed disk 15 and the cylindrical support portion 15a of the scion processing unit 2, and the piston of the air cylinder 39 holds the scion seedlings A held by the hands 21,22. A hypocotyl support body 40 is provided for supporting the hypocotyl of the present invention when it is cut by the cutting device 32. A balancer 41 is provided at the other end of the rotating arm 35.

The stock cutting device 33 is attached to the output shaft 42a of the stepping motor 42, as shown in FIGS. 16 to 18,
Cutting blade holder at the tip of the rotating arm 43 that rotates clockwise
A cutting blade 45 is attached to the holder 44. The rotary arm 43 has a cotyledon presser (roller) 46 positioned on the front side in the rotation direction of the cutting blade 45 and pressing the cotyledon portion of the rootstock seedling B.
Is provided. On the other hand, the seedling transfer rotary plate 18 of the rootstock processing unit 3
A disc-shaped cotyledon portion posture regulating body 47 for supporting the cotyledon portion of the rootstock seedling B sandwiched between the hands 21 and 22 is provided on the upper side. The cotyledon posture regulating body 47 may also serve as the protection plate 31.

The gripper (clip) supply unit 5 is shown in FIGS.
As shown in FIGS. 22, 24, and 25, clips 48 are provided radially at equal intervals on the outer periphery of a clip supply disk 51 supported by a stepping motor 49 via a knob 50 so as to rotate in the vertical direction. (In this embodiment, 40) in such a manner that one of the rear ends thereof is fitted into the clip receiving grooves 52, 52,..., And a plurality of the supply disks 51 are prepared and can be replaced. ing.

The seedling bonding / discharging unit 6 has a long stroke air cylinder 54 attached to the base side of the base 53, a piston rod 56 attached to the piston 55, and a support unit 58 provided with the piston rod 56 at the rear end of the slide block 57. To be slidably supported. A clip push-out portion 59 is fixed to the tip of the piston rod 56.
A sharp cam 60 is mounted on the upper side. A pair of beaks 61 and 62 are supported at the distal end of the slide block 57 so as to be rotatable in the horizontal direction via shafts 62 and 62. Rollers 63 and 63 are provided at the proximal ends of the beaks 60 and 60. Are provided, and a return spring 64 is provided between the rollers 63, 63.

Then, the slide block 57 can move from the position shown in FIG. 18 to a position on the left and right sides (see FIG. 21) where the tip of the beak 61 opposes the ear tree seedling A and the root tree seedling B,
Also serves as a guide for the clip 48. A coil spring 65 is wound around the outer periphery of the piston rod 56. Also,
Although not shown, an air cylinder for discharging seedlings is provided below the seedling joint 4.

The grafted seedling transporting unit 7 is composed of a belt conveyor, and a container for storing the grafted seedlings to be transported is provided at the transport end.

Stepping motors 9e, 11c, 12c, 14c for the seedling supply,
Stepping motors 20, 20 for transferring seedlings, cylinders 11d, 10, 11d, hands 11e, 12d for feeding seedlings, pin cylinders 28 for holding seedlings, air cylinders 39 for supporting the scion germ axis, and stepping for feeding clips Power units such as a motor 49, stepping motors 34 and 42 for cutting seedlings, an air cylinder 54 for clipping, a pin cylinder 28 for releasing seedlings, and an air cylinder for discharging seedlings are all provided in the rotating mechanism in this embodiment. A stepping motor is used, and all the reciprocating mechanisms use air cylinders. The stepping motor driver employs one that can freely adjust the rotation angle and rotation speed.

A sequence control is performed using a programmable controller as a control unit for controlling these operations, and the timing chart is shown in FIG. As a control mode, a "manual mode" in which each unit can be driven independently, a "1 strain graft mode" in which only one strain is grafted and stopped, 20
Each mode, such as continuous grafting of stocks [20 stock grafting mode], is provided. An emergency switch is provided to stop all mechanisms in the event of an abnormality.

Next, the operation of the grafting device configured as described above will be described.

First, the seedlings and clips are prepared. The seedling storage tray 8 containing the seedlings A and the rootstock seedlings B is positioned and placed substantially horizontally on the tray mounting table 9. Fit into each clip receiving groove 52 of the supply disk 51,
Set by. Then, the control mode of the control unit is selected, and the power switch is turned on.

When the seedling extracting arm 11 moves forward to the right in the X direction in FIG. 1 and the seedling sensor 11f detects the hypocotyl B2 of the rootstock seedling B,
The hand 11e grasps the hypocotyl B2, and the air cylinder 11d extends to pull out the rootstock seedling B from the plug hole 8a of the seedling storage tray 8.
Synchronously with the pulling, the root pot push-out pin 10 pushes the root pot B1 of the rootstock seedling B upward from the lower side of the tray mounting base 9 and the seedling storage tray 8 through the small hole. When the hand 11e grips the hypocotyl B2, the seedling removal arm 11 retreats and the cotyledon detection mechanism
Move to 13 positions. Then, the piston 14b of the air cylinder 14a of the seedling rotating mechanism 14 is extended and the stepping motor 14
c and the turntable 14d are pushed up, and the root pot B1 of the rootstock seedling B held by the hand 11e enters the cone portion 14e of the turntable 14d. Then, the hand 11e is opened to the extent that the hypocotyl B2 can rotate, and the seedling supply arm 12 moves forward in the Y direction to
, So that the hypocotyl B2 can be rotated. In this state, the stepping motor 14c rotates and the turntable 14d and the rootstock seedling B
To rotate.

When the rootstock seedling B rotates, when the cotyledons B3 pass between the light receiving portion and the light projecting portion of the optical sensor 13a to block light, the cotyledons B3
Is determined, the rotation of the stepping motor 14c is stopped at the detection position of the cotyledon B3, and the developing direction of the cotyledon B3 becomes constant. In this state, the piston 14b of the air cylinder 14a contracts, the stepping motor 14c and the turntable 14d descend,
The hand 12d of the seedling supply arm 12 supports the deployment base of the cotyledon B3 of the rootstock seedling B, and the hand 12d grips the hypocotyl B2. The rootstock seedling B grasped by the hand 12d has the orientation of its cotyledon,
The height of the cotyledon deployment base is constant (the relative position between the hand 12d and the hands 21, 22 of the stock processor 3 is always constant). And
The seedling take-out arm 11 and the hand 11e retreat, the air cylinder 11d contracts, and the hand 11e descends. Then, the seedling supply arm 12 moves forward and supplies the rootstock seedlings B held by the hand 12d to the hands 21 and 22 of the rootstock processing unit 3. When the supply of the seedlings to the hands 21 and 22 is completed, the seedling supply arm 12 retreats, the seedling removal arm 11 advances again, and a series of operations similar to the above are repeated.

When the seedling sensor 11f detects that there is no rootstock seedling during the supply operation of the rootstock seedling B or the earling seedling A, the seedling take-out arm 11 retreats, the stepping motor 9e rotates intermittently and the ball screw 9c is turned off. Then, the tray mounting table 9 and the seedling storage tray 8 are advanced by one pitch. Such operations are repeated, and when there are no more seedlings in the seedling storage tray 8, a signal is issued to supply the next seedling storage tray 8. In this way, plug seedlings that have been raised in the seedling storage tray 8 in any direction can be automatically supplied with the orientation of the cotyledons and the height of the seedlings aligned.

When the power switch is turned on, the stepping motor 20 for transporting the seedlings (driving the rotary shaft 17), the pin cylinder 28 for holding and releasing the seedlings, the air cylinder 39 for operating the scion support 40, Stepping motor for clip supply 4
9. The stepping motors 34 and 42 for cutting the seedlings, the air cylinder 54 for clipping, and the air cylinder for discharging the seedlings operate according to the timing chart of FIG. That is, first, the seedling take-out arm 11 of the scion processing unit 2 and the stocking processing unit 3
In FIG. 1, the seedling-conveying rotary discs 18, 18 start rotating in the direction of the arrow 0.15 seconds later, and then the pin cylinder 28 0.25 sec. After the start of rotation of the seedling-conveying rotary disc 18 0.15 seconds.
Extend to extend the cam 27, move the movable hand 22 via the cam roller 29 to open the gap with the fixed hand 21, and hang it in the seedling support hole 12 of the seedling support arm 11. With the hypocotyls of the seedlings A and B positioned in the openings, the pin cylinder 28 is contracted and gripped between the urethane rubbers 30 and 30 of the fixed hand 21 and the movable hand 22.

Seedlings A and B gripped by hands 21 and 22
Is transported to a position facing the scion cutting device 32 and the stock cutting device 33 by the rotation of, and stops. The rotation of the stepping motors 34, 42 causes the rotating arms 35, 43 to rotate, and the cutting blades 37, 45 cut off the seedlings A with the root side cut obliquely downward, and the seedlings B with cotyledons. Is cut with the cut surface obliquely upward.

When the cuttings A are cut, a hypocotyl retainer 38 is provided on the front side in the rotation direction of the cutting blade 37, and a hypocotyl support 40 which is moved by an air cylinder 39 is provided on the fixed disk 15 side. Therefore, when the hypocotyl is cut, it can be stably cut at a predetermined position, and even when the hypocotyl is bent, it can be cut at a fixed position. That is, the hypocotyl holder 38 and hypocotyl support
If there is no 40, as shown in FIG. 12, if the axis is straight a, it is cut at point P, but if the axis is bent like b, c, the cut point is Although it is shifted or cannot be cut, or the cutting point is shifted downward, such a situation can be avoided in the present invention.

In the rootstock seedling B, as shown in FIG. 14 (a), only one of the cotyledons is cut to leave a growing point.
Neither the deep cutting shown in (c) nor the neck cutting shown in (d) is preferable, and it is desirable to cut one of the cotyledons and the growing point as shown in (b). Therefore, in the present invention, the cutting blade 45
Since the cotyledon pressing body 46 and the cotyledon part posture regulating body 47 are provided on the upper side of the seedling transporting rotary plate 18 in the rotation direction of, when cutting the rootstock seedling B, the cotyledons left as shown in FIG. Tilt it,
It can be cut to a substantially desired state.

As shown in FIGS. 15 (a) to 15 (c), the cuttings A and the rootstocks B of the cuttings A and B are cut and opposed to each other at the seedling junction 4 and are located vertically. Will be. In this embodiment, the so-called one-leaf cutting joint method is mechanized. For example, in the case of the split joint shown in FIG. 19, the buds shown in (a) are deepened, and the cotyledons of the rootstock seedling B are placed on both sides. If it hangs, clipping cannot be performed in the case of mechanization. Therefore, by providing a cotyledon posture regulating body as shown in (b), mechanization becomes possible. Also, the 20th
In the call connection shown in the figure, as shown in FIG.
Although the hypocotyl of rootstock seedling B is broken and clipping is not possible, as shown in (b), mechanization is possible by controlling the posture of the seedling seedling A and rootstock seedling B with the cotyledon posture regulating body, respectively. Becomes

In the seedling grasping body (clip) supply unit 5, a seedling transporting rotary plate
0.5 seconds after the rotation of 18 starts, the rotation of the stepping motor 49 causes the clip 48
Are sequentially supplied to the slide guide 57 of the seedling bonding / discharging unit 6.

In the seedling bonding / discharging section 6, the piston 55 of the air cylinder 54
Extend 0.5 seconds after the start of rotation of the graft transfer rotary disc 18 to move the piston rod 56. Piston rod 56
The clip 48 is pushed out by the clip pushing section 59 by the movement of the clip supply disk 51 and is pulled out from the clip supply disk 51. The slide block 57 is moved forward by the coil spring 65, and the slide block
When the movement of the clip 57 is stopped by the stopper, the clip 48 moves forward while opening along the slide block 57, and at the same time, the cam 60 returns the rollers 63, 63 of the beaks 61, 61 to the return spring 64.
Away from the projectile. This makes the beak 61,6
The tip of 1 is approached, and the cut surface of Hogi seedling A and
(3) As shown in FIGS. (A) and (b), approach them together, hold them with clips 48, and adhere the cut surfaces.

The grafted seedlings, for which clipping has been completed, open the hands 21 and 22 at the same time as the seedling discharging air cylinder is extended to push out and discharge the grafted seedlings and drop them. A belt conveyor of the grafted seedling transport unit 7 is provided at a position where the grafted seedlings drop, and is conveyed by this to be stored in a container.

Among the series of operations, the operations of grasping, cutting, supplying clips, and bonding the seedlings are performed almost simultaneously when the rotation of the seedling transport rotary disc 18 is stopped.

[Effects of the Invention] As described above, according to the method for supplying seedlings in the grafting apparatus of the present invention, the following effects can be obtained.

. A seedling pick-up supply mechanism for holding the embryo axis of the seedling placed on the seedling storage tray without determining the cotyledon development direction, and supplying the seedling to the gripping mechanism; During the supply, the detection means detects the cotyledon development direction, sets the cotyledon development direction to a fixed direction, and supplies the direction of the scion and rootstock to be gripped by the gripping mechanism, with one or both of them fixed. As a result, the single-leaf cutting and grafting operation by mechanization can be performed automatically and accurately.

. Since the cotyledon unfolding direction of the seedlings and / or the supply height of the seedlings to the gripping mechanism are determined in the transport path where the seedling removal and supply mechanism takes out the seedlings and supplies them to the gripping mechanism, the seedlings are supplied to the gripping mechanism. Since the seedlings can be automatically supplied directly from the seedling storage tray to the seedling holding mechanism, labor is saved. In addition, the cutting and joining positions of the scion and rootstock become accurate, and a highly accurate grafting operation can be performed.

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing one embodiment of the present invention, FIG. 2 is a partial side view of a seedling supply section, FIG. 3 is a partial perspective view of the same, FIG. Fig. 6 is a perspective view of a turntable, Fig. 6 is a plan view of a scion processing unit, Fig. 7 is a side cross-sectional view of the scion processing unit, and Fig. 8 is a cross-section of a scion processing unit and a stock processing unit. Fig. 9, Fig. 9 is a partially enlarged plan view of Fig. 1, Fig. 10 is a timing chart of the power unit, Fig. 11 is a side view of the scion cutting device, Figs. 14 (a) to (d) are explanatory diagrams of a stock cutting device, and FIG.
15 (a) to 15 (c) are explanatory views of the seedling bonding portion, FIG. 16 is a plan view of the rootstock cutting device, FIG. 17 is a side view of the same, FIG. 18 and FIG.
FIGS. 19 (a) and 19 (b) are explanatory views showing another embodiment of the grafted seedling, FIG. 20 is a plan view of a seedling grasping body (clip) supply section, and FIG.
FIG. 21 is a partial plan view of the same, FIG. 22 is a partial side view of the same, FIGS. 23 (a) and (b) are illustrations of clip hanging, FIGS. 24 (a), (b) and FIG. 25 ( (A) and (b) are a partial plan view and a side view of the clip supply unit. 1 ... seedling supply section, 2 ... scion processing section, 3 ... stocking processing section, 4 ... seedling joining section, 5 ... seedling gripping body (clip) supply section, 6 ... seedling bonding / discharging section. , 7 ... grafted seedling transport section, 8 ...
… Seedling storage tray, 9… tray mounting base, 10… root piercing push pin, 11… seedling removal arm, 12… seedling supply arm,
13 ... Cotyledon detection mechanism, 14 ... Sapling rotating mechanism, 15 ... Fixed disk, 16 ... Bearing, 17 ... Rotating shaft, 18 ... Sapling transport rotating disc, 19 ... Coupling, 20 ... Stepping motor ,
21: fixed hand, 22: movable hand, 23: guide roller, 24: locking piece, 25: spring, 26: pin, 27 ...
Cam, 28 Pin cylinder, 29 Cam roller, 30
Urethane rubber, 31 ... Protective panel, 32 ... Boring cutting device,
33 …… stock cutting device, 34 …… stepping motor, 35…
... Rotating arm, 36 ... Cutting blade holder, 37 ... Cutting blade, 38
… Hypocotyl holder, 39… Air cylinder, 40… Hypocotyl support, 41… Balancer, 42… Stepping motor, 43…
… Rotating arm, 44 …… Cutting blade holder, 45 …… Cutting blade, 46
…… Cotyledon presser body, 47 …… Cotyledon portion position control body, 48 …… Clip, 49 …… Stepping motor, 50 …… Knob, 51 ……
Clip supply disk, 52: Clip receiving groove, 53: Base, 54: Air cylinder, 55: Piston, 56: Piston rod, 57: Slide block, 58: Supporting part, 59: Clip Extruded part, 60 ... cam, 61 ... beak, 62 ... shaft, 63 ... roller, 64 ... return spring, 65 ...
... Coil spring, A ... Hogi seedling, B ... Rootstock seedling.

Claims (2)

(57) [Claims] 1. A scion and a stock are separately grasped by a grasping mechanism so as to sandwich the hypocotyl, cut at predetermined positions, and the cut surfaces are joined and fixed to produce a grafted seedling. In the grafting device, a seedling pick-up supply mechanism is provided, which holds the embryo axis of the seedling placed in the seedling storage toilet without determining the cotyledon development direction, and supplies the seedling to the gripping mechanism. While taking out the seedlings and supplying them to the gripping mechanism, the detecting means detects the cotyledon development direction and sets the cotyledon development direction to a fixed direction, and the direction of the scion and the rootstock to be gripped by the gripping mechanism, both or one of them. A method for supplying seedlings in a grafting device, wherein the seedlings are supplied in a fixed direction. 2. A method for determining the cotyledon development direction of the seedlings and / or the supply height of the seedlings to the gripping mechanism in a transport path for the seedling removal and supply mechanism to extract and supply the seedlings to the gripping mechanism. The method for supplying seedlings in the grafting device according to claim 1, wherein the seedlings are supplied.