JP3194119B2 - Grafting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafting device for joining a rootstock of a rootstock and a stem of a splint at a cut surface of the two to fix them.

[0002]

2. Description of the Related Art In this type of grafting apparatus, for example,
The seedlings for rootstock and scion carried by the transmission line
When the seedlings have been moved to the
Cut the approximate middle of the lifting stem with a cutter,
Cutting the lower stem of the cut rootstock and the upper stem of the scion
There is a means for joining at a surface portion .

[0003]

The object of the invention is to be Solved However乍Ra the conventional hand
At the stage, the rootstock and scion seedlings are
Leaf and seedling posture
The seedlings are properly grasped by the grasping mechanism by the
There was a problem that the process could not be performed .

[0004]

According to the present invention, there is provided a transfer line for a seedling tray on which seedlings are planted, a holding mechanism for holding the stem of the seedling on the transfer line, and a seedling base after holding. In a grafting device having a cutting mechanism for cutting, a seedling attitude correcting mechanism for correcting the attitude of a seedling portion moving to a gripping mechanism position on the transport line is provided on a seedling tray pressing member of the transport line , the seedlings falling posture or leaves impede seedling tray which was configured so as to grip posture by seedling posture correcting mechanism in seedling grasping portion by the gripping mechanism of the conveying line, the conveying line
Hold the seedlings in the proper posture at
Hold and firmly grasp, cut the seedling accurately, grafting work effect
Is shall improve the rate.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory plan view of the seedling attracting portion, FIG. 2 is a schematic plan view of the entirety, FIG. 3 is a schematic front view, and FIG. 4 is a schematic plan view showing each work lateral movement range. As shown in FIG. The grafting device (1) has a seedling transfer line for scion (2), a seedling transfer line for rootstock (3), and a grafted seedling transfer line (4) arranged in parallel in plan view.

As shown in FIGS. 5 and 6, each of the transport lines (2), (3) and (4) is provided with pulleys (6) and (6) disposed in front of and behind a frame (5) (however, one pulley in the drawings). Only shown)
And an endless belt (7a) around which is transported with a well-known structure such as a belt conveyor (7) that is driven to rotate by a drive motor (not shown). Conveying line (2) (3)
(4) Each tray (8) placed on the upper side has a plurality of seedlings (H), rootstock seedlings (D), and grafted seedlings (S) each having a plurality (six rows in the X direction). , 12 rows in the Y direction) are formed in a matrix in a plan view.

Then, the tray (8) is moved by the seedling transfer line (2) at the left end in FIG. 2 and the seedling transfer line (3) at the center in the direction of arrow Y in FIG. Transported intermittently at intervals (P1) of the section (8a),
Various operations to be described later are executed in a lower part of a portal frame (12) in which a seedling holding and transferring mechanism (9) as a seedling holding means, a cutting mechanism (10) as a cutting means, a clip transport mechanism (11) and the like are arranged. The grafted seedling (S) having the root side of the rootstock seedling (H) and the tip side of the scionling seedling (D) grafted by the grafting clip (13) is transferred to the grafted seedling transfer line ( In 4), the sheet is intermittently conveyed at the pitch (P1) in a direction (arrow Y 'direction) opposite to the conveying direction of the trays (8) of the two conveying lines (2) and (3).

As shown in FIGS. 5 and 6, the belt conveyor (7) in each of the transport lines (2), (3) and (4)
A plurality of lifting / lowering means (1
5) The height is adjustable via (15), and each elevating means (15) pivotally connects a plurality of links (16) so as to be rotatable in an X-shape, and links (16) ( One end of the link (16) is fixed to the lower surface of the frame (5) of the main body frame (14) and the belt conveyor (7), and the link (1) is fixed.
6) Connect the other end of (16) manually freely in the lateral direction,
By increasing or decreasing the inclination angle of these links (16) with respect to the horizontal plane, a screw is inserted between a part of the pivot shaft (17) so as to change the vertical distance between the main body frame (14) and the frame body (5). The rod (18) is screwed, the screw rod (18) is rotatably supported by the bearing portion (19), and the worm gear (20) attached to one end of the screw rod (18) is connected to the operating shaft (21). ) Is connected to a gear (22) provided for rotation. At this time, as shown in FIG. 2, the operation shaft (21) is disposed below the belt conveyor (7) along the longitudinal direction, and a handle (23) for manual operation is provided at one end of the operation shaft (21). Installed.

This makes it possible to adjust the height of each of the seedling transfer line (2) for the scion, the seedling transfer line (3) for the rootstock, and the grafted seedling transfer line (4) independently. it can. In addition, as shown in FIG.
Is connected to a drive means (24) comprising a drive motor and a reduction mechanism capable of rotating forward and backward, and is conveyed to a point such as a gate-shaped frame (12) to be described later by a scion seedling transfer line (2). A scion height sensor (25) for detecting the height of the scion (H) on the tray (8) to be processed is provided. Based on the detection result of the scion height sensor (25), the central processing for control is performed. Judging by the device (26), the drive means (24) is rotated forward or backward to adjust the height position of the seedling transfer line (2) for the scion. In the embodiment, the upper and lower longitudinal light transmitting portions are arranged on one side of the seedling transfer line (2) for the scion so as to extend along the height direction of the scion and the other upper and lower linear light receiving portions are arranged on the other side. Then, the height from the reference position to the upper end of the scion is detected (measured).

Further, on the side of the grafted seedling transfer line (4) and below the portal frame (12), an unnecessary upper stem portion of the rootstock seedling (D) is collected. A disposal box (27) is installed, and a clip feeder (28) for supplying the clips (13) one by one to the clip transport mechanism (11) is arranged near the upper side of the disposal box (27). ing. Reference numeral (29) denotes a compressor serving as a source of compressed air for driving the mechanisms (9), (10), (11) and the like, and reference numeral (26) denotes an electric control circuit for controlling various operations. It is a central processing unit for control.

As shown also in FIGS. 7 and 8, the gripping transfer mechanism (9) moves the panicle from the trays (8) and (8) of the seedling transfer line (2) and the rootstock transfer line (3). Six seedlings (H) for tree and six seedlings (D) for rootstock, a total of 12 seedlings are grasped at once, and the stem at the root side and the tip (upper end side) of each seedling. The upper and lower gripping hands (30, 31) are held between the two parts (upper and lower). An upper transfer frame (32) supporting the group of upper gripping hands (30) and a lower transfer frame (3) supporting the group of lower gripping hands (31).
3) means that the seedlings, which are integrally raised by the dimension (H1) and held by the upper and lower gripping hands (30) and (31), are pulled upward from the pot portion (8a) of the tray (8), and then In the space above the tray (8), the upper and lower gripping hands (3
0) and (31), the cutter (34) of the cutting mechanism (10) is pushed forward, and the stems of 12 seedlings (D) and (H) are cut obliquely with respect to the axis at a stroke.

The tray (8) for storing the seedlings (H) for seedlings and the seedlings (D) for rootstocks is made of a flexible synthetic resin thin plate, and the seed pots (8a) are arranged in a matrix. The synthetic resin base box (3
5) It is mounted detachably. However, the base box (3
5) The height of the left and right side plates is substantially the same on the side of the pot portion (8a) group arranged in a horizontal row of the tray (8), and the front row portion and the rear row portion of the pot portion (8a) group are set. Set low between parts.

At a predetermined position below the gripping transfer mechanism (9), a transmission sensor (36) comprising a light transmission part and a light reception part provided on both left and right sides of each of the transport lines (2) and (3) is provided. (See FIG. 8), and in the trays (8), a portion of the gap on the lower surface side of the continuous flange portion between the front row portion and the rear row portion in the pot portion group arranged in a horizontal row of the pot tray (8a). When the light of the transmission sensor (36) passes, it is determined that the pot portion (8a) is located at the predetermined position, and it is determined that the group of pot portions (8a) arranged in a row has passed by blocking the light. It is constituted so that. As described above, when the sensor (36) detects that the pot portion (8a) of the tray (8) is located at a predetermined position below the gripping / transporting mechanism (9), as shown in FIG. Base box (3
5) The left and right flange portions of the tray (8) and the left and right flange portions of the tray (8) are clamped by an electromagnetic solenoid type clipper (37) to fix the position of the tray (8) and the gripping / transporting mechanism (9). When pulling the seedbed portion upward from the pot portion by holding the middle stem from each tray (8), the tray (8) and the like are prevented from lifting. The upper surface of the continuous flange portion at the intermediate position between the pot portions (8a) arranged in a horizontal row is pressed by an L-shaped pressing rod (38) in a side view, so that the left and right sides of the tray (8) are left and right. Avoid lifting the middle.

While holding the lower stems of the twelve seedlings (D) and (H) whose stems have been cut, the lower transfer frame (33) of the lower gripping hand (31) group is used as a rootstock seedling. The lower side stem (with nutrient) of (D) is located on the tray (8) of the grafted seedling transfer line (4), and the seedlings for scion (H)
The distance (L1) so that the lower side stem (with nutrients) is located on the tray (8) in the seedling transfer line (3) for rootstock.
Move horizontally (for one line width). On the other hand, the upper transfer frame (32) of the group of upper gripping hands (30) was raised slightly by the dimension (H2) (not shown) while holding the upper side stems of the twelve seedlings from which the stems were cut. Thereafter, the upper stem of the seedling for seedling (H) is located above the tray (8) of the grafted seedling transfer line (4), and the upper stem of the seedling for rootstock (D) is the waste box (27). ) Distance so that it is located above (L2)
After being laterally moved by the distance (twice the distance (L1)), the upper side stem of the seedling for seedlings (H) is cut on the cut surface of the lower side stem (with soil cultivation) of the seedling for rootstock (D). The group of upper gripping hands (30) is lowered by a predetermined dimension (H2) so as to be joined. In this state, the tray (8) of the grafted seedling transfer line (4)
When the clip (13), which is pre-loaded on the clip transport mechanism (11), is fixed close to the junction of the seedlings so as to be clamped, a grafted seedling (S) is formed. The grafted six seedlings (S), which have completed the grafting operation in this manner, lower the gripping / transporting mechanism (9) by a distance of (H1) and move the upper gripping hand (30).
By opening the lower gripping hand (31) to release the gripping of the stem, the stem is stored in the empty pot portion (8a) of the tray (8) of the grafted seedling transfer line (4). At this time, the root-side stem portion (with soil cultivation) of the seedling for seedlings (H), which becomes unnecessary, is moved in the rootstock seedling transfer line (3) by the opening movement of the lower gripping hand (31). The seedlings (D) are stored in the empty pots (8a) of the tray (8) from which they have been extracted,
In addition, the tip side stem of the rootstock seedling (D) that is no longer needed
When the upper gripping hand (30) is opened, it falls naturally toward the disposal box (27) and is discarded.

As shown also in FIG. 18, an extruder that protrudes and moves in the Y 'direction by an actuator (39) such as an electromagnetic solenoid is provided on the portal frame (12) above the waste box (27). The board (40) is suspended, and the tip side stem of the rootstock seedling (D), which has not fallen even by the opening movement of the upper gripping hand (30), is pushed by the pushing plate (40). And push it out. Also,
The transmission type sensors (41a) and (41b) indicate that all the tip side stems of the unnecessary rootstock seedlings (D) have fallen.
And then move on to the next grafting work cycle.
In the case of a drop, a warning is issued and the operation is stopped immediately.

Next, a detailed configuration of the gripping transfer mechanism (9) will be described with reference to FIGS. The lifting frame (42) of the gripping transfer mechanism (9) is moved by a first lifting actuator (43) such as a lifting air cylinder fixed to the upper plate of the gate-shaped frame (6), to the scribing line (2). And a vertically movable frame (42) with respect to the upper surface of the rootstock seedling transfer line (3).
A lower transfer frame (33) having twelve pairs of lower gripping hands (31) is mounted via a first horizontal movement actuator (43) such as a horizontal movement air cylinder that moves only horizontally.

Further, a second lateral movement actuator (45) such as a lateral movement air cylinder is arranged on a vertical guide rail (44) in front of the lifting frame (42) so as to be vertically movable. 45) is mounted so as to move up and down by a distance (H2) by a second lifting actuator (46) such as an air cylinder fixed to a lifting frame (42), and is mounted by the second lateral movement actuator (45). , 12
An upper transfer frame (17) provided with a pair of upper gripping hands (30) is configured to move laterally by a distance (L2).

Further, a lower gripping hand (3) for holding the lower side stem of the rootstock seedling (D) (also common to the seedling for seedling (H)).
The base of 1) is located on the opposite side far from the cutting mechanism (10), and the base of the upper gripping hand (30) for holding the upper side stem of the rootstock (D) is on the opposite side near the cutting mechanism (50). And left and right supports (30a) of the upper gripping hand (30)
(30b) the expansion / contraction movement mechanism and the lower gripping hand (31)
The left and right support members (31a) and (31b) have the same structure as the widening and narrowing movement mechanism, and as a representative description of the widening and narrowing movement mechanism in the lower gripping hand (31), as shown in FIG. A pair of left and right sliding support pieces (48a) and (48b) and a pair of left and right sliding support pieces (49a) and (49b) are attached to a pair of horizontally long guide shafts (47) (47) in the lower transfer frame (33). ) Are slidably fitted left and right, and the twelve left supports (31a) of the lower gripping hand (31) are attached to the pair of sliding support pieces (48a) (48b) at a constant interval (P2). The horizontal rod (50) is fixed, and the horizontal rod (51) for fixing the twelve right supports (31b) at a fixed interval (P2) is fixed to the other pair of sliding pieces (49a) (49b). .

9 and 10, the piston rod (52a) of the actuator (52) for widening and narrowing movement provided at the left end of the lower transfer frame (33) is fixed to the sliding support piece (48a). Lower transfer frame (3
Enlarging / narrowing movement actuator (53) provided at the right end of 3)
The piston rod (53a) is fixed to the slide support piece (49b), and the left and right widening movement actuators (52) (5)
When the piston rods (52a) and (53a) of 3) are protrudingly moved, the horizontal rods (50) and (51) are laterally moved so as to narrow the left-right distance between the left and right supports (31a) and (31b).
Left and right supports (31a) (31b)
a) In (54b), rootstock seedling (D) (earling seedling (H))
It is constructed so that the stem at the base of the tongue is sandwiched from left and right.

On the contrary, the piston rod (52
a) When retracting (53a), the left and right supports (31
a) The horizontal rod (5) is extended so as to widen the left-right space of (31b).
0) and (51) are laterally moved to the left and right supports (31a) and (3).
1b) The holding pieces (54a) and (54b) at the tips are expanded so as to release the stems.
Also in 2), the actuator for widening and narrowing movement (52)
(53) and the left and right supports (30a) (30b) are moved left and right via the horizontal rods (55) and (56), and the holding pieces (54a) and (54b) at the tip end are used for rootstock seedlings (D). It is used to hold the stem on the tip side of the seedling (H) or to release the stem. In FIG. 8, the upper transfer frame (3
2) and the like are not shown.

As shown in FIGS. 11 and 12, the holding pieces (54a) and (54b) are formed in an L-shaped cross section, and the inner side of the horizontal plate can be guided so as to surround the stem. V
A guide groove (55) is formed in the shape of a letter, and the holding piece (54a) is formed.
A rectangular elastic soft body (56), such as a sponge, for preventing damage to the stem during clamping is fixed to (54b).

Next, the cutting mechanism (10) will be described with reference to FIGS. 7 and 8, and FIGS. The cutter (57) in the cutting mechanism (10) is located at a position facing the gripping transfer mechanism (9) from the upstream side in the transport direction of the rootstock seedlings (D) (headstock seedlings (H)) to each stem. It cuts close to each other and cuts obliquely with respect to the axis of the stem as shown in FIG. When twelve rootstock seedlings (D) and scionling seedlings (H) nipped by the gripping transfer mechanism (9) and lifted to a predetermined height are cut at a time, the stem of each seedling is cut ( In order to prevent the escaping movement against the push-off of 57), a pair of left and right gripping pieces (58) is located between the upper and lower gripping hands (30) and the lower gripping hand (31).
a) After restricting the position of the stem in (58b), the cutter (57) is pushed forward in the direction of arrow Y in FIG.

The cutting frame (59) is held at the same height as the portal frame (12), and the cutting frame (59) supports the bases of the twelve left gripping pieces (58a). The horizontal rod (60) and the horizontal rod (61) supporting the base of the right gripping piece (43b) are supported so as to be movable left and right. Then, a gripping / moving actuator (62) such as an air cylinder attached to the cutting frame (59).
The piston rod (62a) projecting from the left side of the piston rod (62a) is connected to the horizontal rod (60), and the piston rod (62b) projecting from the right side is connected to the horizontal rod (61). 62b), the left and right gripping pieces (58a) and (58b) are shortened in the left and right direction to grip the stems of the seedlings (D) and (H) from the left and right, and the piston rods (62a) and (62b) ) Protrude from each other, the left and right grip pieces (58a) and (58b) are widened in the left-right space to release the seedlings (D) and (H).

On the other hand, a support frame (63) movably supported in the front-rear direction (arrow Y direction) of the cutting frame (59) has twelve round rods, square rods, plate-like cutter shafts (64). ) Are projected at regular intervals (P2), and the support frame (59) is moved (in the direction of the arrow Y) by the cutter actuator (65). As shown in FIG. 8, a nozzle (6) for injecting one or both of water and compressed air is provided below each of the cutters (57).
6) is provided, and after every cutting operation, water or compressed air is
7) to prevent cutting debris from adhering to the cutting edge and the like, thereby preventing dullness.

Next, the detailed configuration of the clip transport mechanism (11) will be described with reference to FIGS. When a clip (13) made of a washing scissor made of synthetic resin or the like is randomly placed in a clip feeder (28) made of a known vibration type part feeder or the like, the clip (13) is placed in a supply passage (28a) having an open top surface. ) Is such that the bifurcated stem gripping part (13a) is at the head near the supply port (28b), and the bifurcated opening / closing operation parts (13b) and (13b) are in the rear, so that the postures are aligned and aligned. (Fig. 15
(Refer to (a)), a bifurcated opening / closing operation section (13b)
The split ring spring (13) passing through the insertion groove of (13b)
By (c), the stem grasping portion (13a) is constantly urged in the closing direction.

As shown in FIGS. 13 and 14, the clip transport mechanism (11) is supported by a support frame (67) provided on the lower surface of the portal frame (12). The frame (68) is configured to be movable in the X and Y directions. That is, the upper suspension support (68a) of the movable frame (68) is movable in the left-right direction (X direction) with respect to the guide rail (69) elongated in the X direction fixed to the lower surface of the support frame (67). Driven pulley (70) and driving pulley (71) provided on the lower surface side of the support frame (67).
A timing belt (72) is wound around the drive belt, and a drive pulley (71) is driven by a forward / reverse rotatable step motor (73) fixed on the gate-shaped frame (12), and the timing belt (72) and the upper The suspension support (68a) is connected with the connection fitting (74). In addition, the upper hanging support (68
A movable actuator (76) is movably suspended from a front-rear (Y-direction) guide rail (75) provided on the lower surface of (a), and is fixed to the lower surface of the portal frame (12). ) Is connected to the movable frame (68), and the movable frame (68) is moved so as to approach the front surface of the gripping transfer mechanism (9) by the projecting movement of the piston rod. (See the two-dot chain line in FIG. 13).

The moving frame (67) holds a clip holder (77) comprising six pairs of left and right hand bodies (77a) (77b) on the upper gripping hand (3) of the gripping transfer mechanism (9).
0) (the lower gripping hand (31)) are arranged at a fixed interval (P2) equal to the installation interval. A horizontal rod (78) to which the bases of the six right hand bodies (77b) are fixed;
The horizontal rod (7) fixing the base of the left hand body (77a) of the book
9) is mounted so as to be able to move to the left and right with respect to the moving frame (67).

On the other hand, the left and right hand bodies (77a) and (77b) of each clip holder (77) are formed with guide grooves (80) and (80) which are open inward and are long in the Y direction. Clip (1) into groove (80) (80)
The split ring spring (13c) of (3) is inserted and held in a posture, while the stem (13) at the tip of the clip (13) is held.
a) is moved to the holding part (81).

Then, as described later, the left and right hand bodies (7
7a) With the interval of (77b) maintained at (P4), the supply path (28) of the clip feeder (28) is
When positioned in front of the supply port (28b) of a), the push body (83) at the tip of the piston rod (82a) in the clip supply actuator (82) such as an air cylinder disposed along the supply passage (28a). Then, the clip (13) is pushed forward and the clip holder (7) is pushed out.
7) (see FIG. 15A).

At this time, as shown in FIG. 16 (b), the base of the opening / closing operation section (13b) is connected to the middle of the stem grip section (13a) in the height direction. ,
A clip restrictor (84) made of a spring plate fixed to the base of each clip holder (77) is attached to the pair of left and right hand bodies (7).
7a) It is arranged so as to extend to the tip (free end) side below (77b), and the distal end side of each clip regulator (84) is bent upward, and this clip regulator (84) is bent.
The tip of the stalk gripper (13) in each clip (13).
a) and the lower end of the continuous portion of the opening and closing operation portion (13b). In addition, as shown in FIG. 15B, the distal end surface of the clip restrictor (84) at this time has both left and right hand bodies (77a) (77) in plan view.
It is arranged so as to be parallel to the tip of b) and protrude by the distance (L3).

When the transfer of one clip (13) to one clip holder (77) is completed,
Activate the step motor (73) to move the moving frame (68).
The whole is intermittently moved in the horizontal direction (X direction) by the pitch (P2), and the empty clip holder (77) is inserted into the supply port (2).
8b) and the clip holder (77)
When the clip (13) is supplied to all of the six clip holders (77) by repeating the operation of inheriting the clip (13), the rootstock seedling (D) and the scion seedling (H) The moving frame (68) is largely moved in the X direction toward the front of the gripping transfer mechanism (9) in a state where the cutting positions are joined.

A piston rod (85a) projecting from the left side of the first clip actuator (85) such as an air cylinder fixed to the moving frame (68) is connected to the second clip actuator (86). The piston rod (86a) of the clip actuator (86) is connected to the horizontal rod (78), while the piston rod (85b) protruding from the right side is connected to the second clip actuator (87). The piston rod (87a) of the actuator (87) for the horizontal rod (7).
Connect to 9). Thereby, both piston rods (85
a) When (85b) protrudes from each other, the left and right hand bodies (77a) and (77b) are set to (P3) (FIG. 15).
(Refer to the state of (b)) to narrow the gap between the left and right opening / closing operation parts (13b) and (13b) in the clip (13), and keep the stem gripping part (13a) in an expanded state. When the piston rods (85a) and (85b) are retracted from each other, the left-right distance between the left and right hand bodies (77a) and (77b) is expanded to (P4) (see the state of FIG. 15A), and the clip feeder is extended. Supply port (28)
The clip (13) is taken over from b) to a standby posture.
Then, in the expanded state, the second clip actuators (86) and (87) are operated to operate the piston rod (8).
6a) When (87a) is protruded and moved, the left and right hand body (77a) (77b) is set to (P5) (FIG. 15).
(See state (c))), and fix the joint portion of the grafted seedling (S) from the left and right at the stem grip portion (13a) of the clip (13). Piston rod (86a) (87
When a) is moved backward, the left and right hand bodies (77a) (7)
7B) is returned so as to narrow the left-right interval to (P4) (see the state of FIG. 15B).

As described above, the left and right hand bodies (77a)
When expanding the left-right distance of (77b), the clip (13)
The open / close operation portions (13b) and (13b) of the free end side (the most widened portion) are provided with the clip restrictor (8).
As shown in FIG. 16C, unless the tip of 4) regulates the location of the continuous portion between the stem gripping portion (13a) of the clip (13) and the base of the opening / closing operation portion (13b). The hand body (77a) comes into contact with the left and right holding parts (81) and (81).
Since the distance (L4) from the tip of (77b) remains constant, the pivots of the left and right stem grippers (13a) (in other words, the pivots of the hand bodies (77a) and (77b)) (8)
8) comes closer to the tips of the hand bodies (77a) (77b) as the tip sides of the left and right stem gripping portions (13a) become narrower. Therefore, in this case, as the tip sides of both left and right stem gripping portions (13a) (13a) become narrower,
The position of the stem is displaced so as to be shorter than the distance (L5) with respect to the position where the stem is grasped by the left and right stem grasping portions (13a) (13a), so that the stem grasping operation cannot be reliably performed. Therefore, if the clip (13) is restricted by the distal end edge of the clip restricting body (84) so as not to approach the distal end side of the hand bodies (77a) (77b), the work of grasping the stem can be executed reliably. In addition, the front edge of the clip restricting body (84) is brought into contact with a portion of a continuous portion between the left and right stem gripping portions (13a) and the base of the opening / closing operation portion (13b) to thereby provide the hand body (77a). At the time of opening movement of (77b), the timing of releasing the contact between one holding portion (81) and the hand body (77a) and the timing of releasing the contact between the other holding portion (81) and the hand body (77a). Even if it shifts, there is no shift in posture such that the left and right stem gripping portions (13a) (13a) rotate in plan view.

With the above arrangement, a total of 12 seedlings, 6 seedlings (H) and 6 rootstocks (D), are transferred by the gripping transfer mechanism (9) to the upper gripping hand ( 30) and the lower part are picked up from the tray (8) while being clamped at (31), the middle part of the stem is cut, and the upper part of the stem is slightly lifted after cutting and the upper part of the stem is (L2). And the lower part of the stem is laterally moved by the distance (L1), and then the upper part of the stem is lowered by the amount lifted, and the upper part of the seedling for the scion (H) is moved to the rootstock seedling (D). During the process of joining to the cut surface at the lower part of the stem in (6), the clip transport mechanism (11) loads six clips (13) from the clip feeder (28) into the clip holder (77), The process of moving in the X direction to approach the junction of the seedlings is simultaneously advanced.

When the grafting operation of fixing the junction of the six seedlings with the clip (13) is completed, the clip transport mechanism (11) returns to the original position and executes the clip loading operation. During this time, the grasped and transported mechanism (9) is lowered by the distance of (H1), so that the six grafted seedlings (S) that have completed the grafting work are placed on the tray (4) of the grafted seedling transport line (4). 8) Empty pot section (8
In this state, the upper gripping hand (30) and the lower gripping hand (31) may be opened to release the gripping of the stem. At this time, the root-side stem portion (with nutrients) of the seedling for seedlings (H), which becomes unnecessary, is attached to the lower gripping hand (3).
With the opening movement of 1), the rootstock seedlings (D) are stored in the empty pot portion (8a) of the tray (8) from which the rootstock seedlings (D) have been extracted in the rootstock seedling transfer line (3), and are no longer necessary. The stem at the tip end of the rootstock seedling (D) falls naturally toward the disposal box (27) by the opening movement of the upper gripping hand (30) and is discarded.

As shown in FIGS. 1, 18 and 19, when the seedlings (D) and (H) are gripped by the gripping / transporting mechanism (9), the posture of the stem of each seedling (D) and (H) is changed to two. A seedling pulling mechanism (90), which is a seedling attitude regulating means for regulating a set of seedling pulling plates (89a) and (89b), is provided on the tip side of the holding rod (38).
An actuator (9) composed of an electric, pneumatic, or hydraulic motor, cylinder, or the like is mounted on a rod base (91) which is fixedly mounted on each transport line (2) (3) with a base end fixed to 4).
2) and via the guide (93), the mounting holder (94) at the base end of the holding rod (38) is slidably supported in the reverse feed direction (Y 'direction). The lower surface of the horizontal portion (38a) slides and guides the upper end surface of the tray (8) on the transport lines (2) and (3), and is adjacent to the support shaft (15) which is provided upright on the top surface of the tip of the holding rod (38). Left and right seedling pulling plates (89a) and (89b) having a triangular shape in plan view and abutting on the stems of the two left and right seedlings (D) and (H) are symmetrically arranged.

The left and right pulling plates (89a) and (89b) have their inner portions wrapped up and down so as to be rotatably supported on a support shaft (95), and have guide pins (9) of a holding rod (38).
The guide holes (97a) and (97b) of the pulling plates (89a) and (89b) are engaged with 6), and an extension spring (98) is interposed between the upper and lower plates (89a) and (89b) around the support shaft (95). The rear side surfaces (89c) of the left and right pulling plates (89a) and (89b) are expanded in a horizontal line so that the two wings are normally expanded by the force of the spring (98).
9a) When the (89b) is brought into contact with the stem portion of the seedlings (D) and (H) in the forward position with the front inclined surface (89d) having the receding angle (α), the support shaft (95) as shown by the imaginary line in FIG. Left and right pulling plates (89a, 89b) with both wings narrowed around the center
Is contracted inward, and the left and right pulling plates (89a) (8)
It is configured such that the seedlings (D) and (H) pass outside of 9b). That is, the left and right pulling plates (89a) (89b)
When the seedlings (D) and (H) are conveyed to the gripping position of the gripping transfer mechanism (9) and come into contact with the front inclined surface (89d), the seedlings (D) contract inward against the force of the spring (98) and contract. ) (H) is allowed to pass, and the left and right seedling plates (89a) and (89b) after the passage of the left and right seedlings (D) and (H) are gripped by a certain distance when both wings are expanded. When pulling back, the right and left seedlings (D) and (H) are raised in the rear side surface (89c), and the seedlings (D) and (H), in which the leaves are obstructed and the leaves are in the way, are kept in an appropriate position. Thus, the gripping operation by the upper and lower gripping hands (30) and (31) can be surely performed. After the seedlings (D) and (H) are gripped by the gripping hands (30) and (31), the left and right pulling plates (89a) and (89b) are advanced by the actuator (92) and the hands (30) and (3) are moved.
1) is avoided.

As is clear from the above, the seedlings (D) and (H)
Line (2) (3) of seedling tray (8) with planted
And stems of seedlings (D) and (H) on the transfer lines (2) and (3)
A gripping transfer mechanism (9), which is a gripping mechanism for gripping the part,
Cutting mechanism for cutting seedlings (D) and (H) after holding (10)
A grafting device comprising:
(3) Seedling (D) moving to gripping mechanism (9) position above
(H) Naeiki, a seedling attitude correcting mechanism that corrects the attitude of the stem
A conveying mechanism (90), wherein the conveying line (2) is provided;
(3) Gripping of seedlings (D) and (H) by the gripping transfer mechanism (9)
Seedlings that obstruct the falling posture and leaves of the seedling tray (8)
(D) Grasp of (H) by seedling pulling mechanism (90)
It is configured to be active. And sowing and raising seedlings
Place the completed seedling tray (8) on the transport lines (2) and (3)
To perform grafting work, seedlings for rootstocks and scions (D) (H)
Saves the labor of supplying workers one by one
(D) (H) Simplification of supply work and improvement of work efficiency
The seedlings at the time of growth (D) (H)
Grasping mechanism (9) corrected by posture correcting mechanism (90)
Improper grafting work due to poor gripping or
Reduces damage to seedlings (D) and (H) and reduces seedlings (D) and (H)
Grasping in an appropriate posture prevents graft failure.

As shown in FIGS. 11 and 12, a pair of left and right gripping pieces (58a) (58) of the cutting mechanism (10) is provided.
b) shows the position of the stems (D) and (H) in a V-shaped restraining groove (99).
To keep the seedlings in a stable position.
At the center of 9), a soft elastic material (10
0) is buried to prevent inconvenience such as damaging the seedlings during restraint.

Further, as shown in FIGS. 16B and 16C, the left and right hand bodies (77a) and (7) of the clip transport mechanism (11).
7b), a seed presser plate (10
The left and right hand bodies (77a) (77)
b) V-shaped restraining grooves (102) formed on the upper surface (101a) and the lower surface (101b) of the holding plate (101) face up and down with the clip (13) held at the tip end therebetween. When the stalk is gripped by the clip (13), the opposite side of the stalk is pressed against the restraining groove (102) so that the seedling is held in place and the clips (13) and (13) are properly fixed. It is composed.

Further, as shown in FIG. 17, a nozzle (103) for injecting water or compressed air is provided at the lower end of the extruding plate (40) and on the side opposite to the extruding side, and when the extruding plate (40) is operated. Water or air is simultaneously ejected from the nozzle (103) to the pushing side to completely eliminate unnecessary stems and the like on the upper gripping hand (30).

FIGS. 20 and 21 show the seedling pulling plates (104a) and (104b) of the seedling pulling mechanism (90).
In this case, a swinging link (108a) (108b) is attached to a sliding rod (107) at the tip of a wire (105) interlockingly connected to a separate pulling actuator (106). The left and right pulling plates (104a) (104b) are interlocked and connected via
The front and rear guide pins (111a) and (111b) and the guide holes (112a) and (112b) are provided on the seedling tray holding plate (110) which is fixed to the holder (94) of the actuator (92) via the mounting shaft (109). The swinging link (108a) (108b) that supports the sliding rod (107) slidably back and forth through the shaft and connects one end of a pivot shaft (113) to the middle of the sliding rod (105). )
Each of the shafts (114a) (1) is attached to pulling plates (104a) (104b) which are swingably attached to the front guide pins (111a).
Interlocking connection via 14b). Then, the linear body holder (116) is attached to the actuator (106) including an electric / pneumatic / hydraulic motor or cylinder fixed to the center of the holder (94) via an L-shaped mounting plate (115). The other end of the wire (105) is connected via
When the wire body (105) is pushed or pulled forward or backward, the wings of the left and right pulling plates (104a) and (104b) are expanded outward or contracted inward, and the pulling plates (89a) ( 89b) front slope (89
d) The working surfaces (104c) of the left and right pulling plates (104a) and (104b) are brought into contact with the seedling only at the time of pulling the seedling immediately before gripping without bringing the seedling into contact with d). Attraction plate (104a) (104
The configuration is such that the seedling is not damaged by b) and the seedling is securely held.

[0043]

As is clear from the above embodiments, the present invention provides a method for transporting seedlings (D) and (H) to seedling trays (8), and carrying lines (2) and (3). (3) A gripping mechanism (9) for gripping the stem of the seedlings (D) and (H) on the upper side, and a cutting mechanism (10) for cutting the base of the seedlings (D) and (H) after the gripping.
A grafting device comprising:
(3) Seedling (D) moving to gripping mechanism (9) position above
(H) Seedling posture correction mechanism (90) for correcting the posture of the stem
Seedling tray (8) of transfer line (2) (3)
8), the seedlings (D) and (H) are held by the holding mechanism (9) of the transfer lines (2) and (3). H) is set to a gripping posture by a seedling posture correcting mechanism (90), and is used for each of the scion and rootstock on the transport lines (2) and (3).
Seedlings (H) and (D) Hold the seedlings (H) and (D) in the proper posture at the gripping position.
Hold and hold firmly, cut the seedlings (H) and (D) accurately
And the grafting work efficiency can be improved .

[Brief description of the drawings]

FIG. 1 is an explanatory plan view of a seedling attracting plate portion.

FIG. 2 is a schematic plan view of the grafting device.

FIG. 3 is a schematic front view of the grafting device.

FIG. 4 is an explanatory diagram showing a movement range of each mechanism.

FIG. 5 is an explanatory diagram of a line elevating unit.

FIG. 6 is an explanatory diagram of a line elevating unit.

FIG. 7 is an explanatory plan view of a gripping transfer mechanism.

FIG. 8 is an explanatory side view of the gripping transfer mechanism.

FIG. 9 is an explanatory front view of the gripping transfer mechanism.

FIG. 10 is an explanatory perspective view of a lower gripping hand unit.

FIG. 11 is an explanatory perspective view of a cutting mechanism.

FIG. 12 is an explanatory sectional view of a cutting mechanism.

FIG. 13 is an explanatory side view of the clip transport mechanism.

FIG. 14 is an explanatory diagram of a clip transport mechanism.

FIG. 15 is an explanatory view of clip inheritance of a clip holder.

FIG. 16 is an explanatory view of a clip holder.

FIG. 17 is an explanatory diagram of an extruding plate portion.

FIG. 18 is an explanatory plan view of a seedling pulling mechanism.

FIG. 19 is an explanatory side view of the seedling pulling mechanism.

FIG. 20 is an explanatory side view of another seedling pulling mechanism.

FIG. 21 is an explanatory plan view of another seedling pulling mechanism.

[Explanation of symbols]

(2) (3) Transfer line (8) Seedling tray (9) Grasping and transferring mechanism (gripping mechanism ) (10) Cutting mechanism (90) Seedling pulling mechanism (seedling attitude correction mechanism ) (D) (H) Seedling

────────────────────────────────────────────────── ─── Continuing from the front page (72) Akira Takahashi 1-32 Chayamachi, Osaka City Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Masanao Kamiyama 5-3-1 Tsukaguchi Honcho, Amagasaki City, Hyogo Prefecture Inside Showa Seiki Kogyo Co., Ltd. (72) Inventor Yoshinori Abe 5-3-1 Tsukaguchi Honcho, Amagasaki City, Hyogo Prefecture Showa Seiki Kogyo Co., Ltd. (56) References JP-A-4-304817 (JP, A) Kaihei 6-98629 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01G 1/06

Claims (1)

(57) [Claims] 1. A transfer line (2) (3) of a seedling tray (8) on which seedlings (D) (H) are planted, and seedlings (D) (H) on the transfer lines (2) (3). )), A grafting device including a gripping mechanism (9) for gripping the stem and a cutting mechanism (10) for cutting the base of the seedlings (D) and (H) after the gripping, on the transport lines (2) and (3). The seedling (D), (H), which moves to the position of the gripping mechanism (9) by using the seedling attitude correcting mechanism (90), which corrects the attitude of the stem, is moved to the seedling tray (8) of the transport line (2) (3).
The transfer line (2) (3) provided on the holding member (38 ).
The seedling (D) and (H) gripping portions of the seedling (D) and (H) gripping portions of the seedling tray (8) and the leaves (D) and (H) obstructing the leaves are gripped by the seedling attitude correcting mechanism (90). A grafting device characterized in that the grafting device is configured to perform