JP3223578B2 - Grafting robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot for automatically supplying and grafting rootstock seedlings and scion seedlings, and more particularly to a scion supply part thereof.

[0002]

2. Description of the Related Art Conventional robots for producing grafted seedlings are known, for example, as disclosed in Japanese Utility Model Laid-Open No. 3-27933 and Japanese Utility Model Laid-Open No. 4-49935. The grafting robot described in the above-mentioned publication is characterized in that rootstock seedlings arranged in advance in a plurality of seedling support holes radially provided on the outer periphery of the disk stand and scion seedlings arranged on a disk stand having the same structure are each 3
While rotating 60 degrees, adjacent to the disk base, 3
The seedlings are transferred one by one to fixed hands protruding from the rootstock processing disk part and the scion processing disk part that rotate by 60 degrees, and the cutting device is rotated at a position where each seedling processing disk part rotates by a predetermined angle. This is a device that cuts rootstock seedlings and scion seedlings respectively, rotates these seedlings further by a predetermined angle, rotates and transports them to a position where the rootstock and scion can be joined, and joins the stock and scion with clips. .

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to further improve the above-mentioned conventional grafting robot and to provide a grafting robot which can be easily used.

[0004] More specifically, an object of the present invention is to make a feeding mechanism of a scion seedling of a grafting robot excellent in operability.

[0005]

The above object of the present invention is achieved by the following constitution. That is, it is distributed on the rootstock seedling supply plate.
Rootstock seedlings to be placed and saplings to be placed on the sapling supply board
Transported to each cutting position by the transport device for each seedling,
Each of the cut rootstock seedlings and spikelet seedlings is further transported
Grafting robot that transports and joins to the joining position by using
The spikelet supply plate is composed of two divided plates arranged in parallel,
This is a grafting robot in which the parallel arrangement interval can be adjusted according to the diameter of the scion hypocotyl .

In the scion seedling supply groove of the scion seedling supply plate, a notch for a true leaf at the base of cotyledon development of the hypocotyl of the scion seedling can be provided.

[0007] The scion seedling supply plate is opened to the scion seedling supply side.
Folding with Lateral Faces with Grooved Embryo Bearing Grooves
Consisting of a piece and an inclined piece with its bent piece at the end
can do.

[0008]

[ Function ] A spikelet supply plate is composed of two divided plates arranged in parallel.
Then, the parallel arrangement interval can be adjusted according to the hypocotyl diameter.

The scion embryo bearing groove of the scion seedling supply plate is
Open to the supply side, regardless of the supplier's dominant hand
It becomes easier to place the scion on the supply plate. Also, the scion hypocotyl
The receiving groove is provided on a bent piece with a horizontal plane.
So that the back of the cotyledon is settled on the bent piece
Wear. In addition, the cotyledon of the hypocotyl of the hogi seedling is displayed in the hogi embryo bearing groove.
By providing a cutout for the true leaves of the open base, the true leaves
It does not hinder the supply of scions.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. A top view of the grafting robot of the present embodiment is shown in FIG. 1 (a view with a top plate removed), an enlarged view of the portion (grafted portion) is shown in FIG. 2, a front view is shown in FIG. 3 (a view with a front cover removed), Figure 4 shows the side view
(The side view of the stock with the side cover removed) is shown in each figure. The grafting robot comprises a clip feeder 1 and a graft 2, and the graft 2 comprises a stock 3, a scion 5, and a joint 6 therebetween.

The clip bowl 7 of the clip feeder 1
A clip guide rail 9 is provided from the outer periphery, and the graft 2 is made to be adjacent to the distal end thereof. The robot manipulators 10 and 11 and the seedling supply plates 13 and 14 for grasping and transporting the stock and the scion, respectively, are suspended on the top plate 15 (FIG. 3) of the graft 2. Since all the movements are assembled on one top plate 15, dimensional accuracy is improved. In addition, the top plate 15 plays a role of a cover and a strength member of the grafting robot, and prevents scattering of cutting residues from the stock and scion. FIG. 2 is an enlarged view of the graft portion 2 shown in FIG. The stock 3 is composed of a stock seedling supply device 17, a stock seedling transfer device 18 and a stock cutting device 19, and the scion part 5 is likewise a scion seedling supply device 21, a scion conveyance device 22. And a scion cutting device 23.

The rootstock seedling supplied manually to the rootstock seedling supply device 17 is transported to the position of the rootstock cutting device 19 (cutting position) by the rootstock transporting device 18 rotating in the direction of the arrow (a) in FIG. Then, the cutting device 19 is rotated (see FIG. 4), and the cutting blade leaves one cotyledon of the rootstock seedling, and the other cotyledons are cut off. The stock cutting device 19 is a rotary cutter having a cutting blade attached to the tip, and rotates in the direction of arrow (c) in FIG. The rootstock that has been cut and leaves one cotyledon is transported in the direction of the arrow (b), and is joined to the scion by the joining device 25 at the joining part 2.

Similarly, the scion supply device 21 is also manually operated.
Is fed by the scion conveying device 22 in the direction of arrow (d), and the scion cutting device 23 rotating in the direction of arrow (f) at the cutting position leaves the tissue above the hypocotyl portion. The hypocotyl and the root are partially cut off. And the scion with cotyledons is transported in the direction of the arrow (e),
The stock and the joint 2 are joined by the clip supplied from the clip feeder 1, the grafting operation is completed, and the tree is dropped and collected below the graft 2.

Next, the stock supply device 17 and the transport device 18
I will explain. First, the stock supply device 17 will be described mainly with reference to FIGS. The rootstock seedling supply plate 13 is composed of a holding part 13b having a structure for receiving a rootstock at an angle to come into contact with the back surface of both cotyledons opened in a direction facing the receiving groove 13a larger than the rootstock seedling axis diameter. ing. Since the diameter of the receiving groove 13a is larger than the diameter of the base of the cotyledon deployment of the rootstock seedling, the rootstock of the rootstock is stably held by the holding portion 13b. Further, the holding unit 1 is held at an angle so as to contact the back of the cotyledon.
Since the rootstock 3b is provided, the seedlings can be placed on the supply plate 13 in substantially the same direction without setting the direction of the cotyledons accurately when feeding the rootstock seedlings.

The rootstock seedlings set on the rootstock supply plate 13 are gripped by the rootstock transport device 18 and are transported sequentially to the cutting position and the joining position. FIG. 5 shows a detailed view of the stock carrier 18. 5 (a) is a top view, FIG. 5 (b) is a side view, and FIG. 5 (c) is a bottom view of the tip of the transfer device.

A rotation actuator 29 for transporting the rootstock of the rootstock transporting device 18 is supported by the top plate 15. Under the actuator 29, a rootstock transport arm support 30 is rotatable about the actuator rotation shaft 31. Supported.
The stock transfer arm support 30 includes a stock transfer arm extrusion cylinder 33 supported by the support 30,
Rootstock transfer arm 34 fixed to, and rootstock gripper 35 at the end of the transfer arm 34 (rootstock embryo shaft hand 37, rootstock fixing hand 38, rootstock hanging piece 39, and cylindrical roller 41) are provided. I have. The hands 37 and 38 are controlled to be opened and closed by an air cylinder (not shown) provided in the box 42 of the stock transfer arm 34 so as to hold the stock. FIG. 5 is a bottom view of the hands 37 and 38 shown in FIG.
As shown in (c), the rootstock hypocotyl hand 37 is made of rubber inside the hand 37 so as not to damage the rootstock hypocotyl. The rootstock fixing hand 38 is a rootstock root pot 43 (FIG. 5).
In order not to lose the shape of (b), it is made of a curved plate that grips the cylindrical side surface of the rootstock 43.

The stock transport arm 34 has a stock neck suspension piece 3 for holding a stock cotyledon deployment base 40 (see FIG. 8).
9 and a cylindrical roller 41, and a neck hanging piece supporting arm 45 for supporting them and a neck hanging piece rotating actuator 46 attached to the lower surface of the supporting arm 45 for rotating the stocking hanging piece 39 in a horizontal plane direction. Rootstock neck suspension 4
7 are provided. In addition, the stock carrier arm support 30
Also, there is provided a rootstock cotyledon lifting rotary actuator 49 for rotating the rootstock neck hanging tool 47 in the vertical direction at the time of joining with the scion, and lifting the rootstock cotyledon.

The air cylinders of the rootstock embryonic hand 37 and rootstock fixing hand 38 at the end of the rootstock transfer arm 34 pushed out to the rootstock seedling supply plate 13 at the set position of the rootstock seedling operate to operate the rootstock. The seedlings are gripped (FIG. 8). At this time, the cotyledon deployment base 40 is above the hand 37 at a distance. At the same time as the operations of the hands 37 and 38, the rotation actuator 29 for the stock carrier arm also operates, and
The rootstock seedling grasped at 38 is transported to the cutting position. At the cutting position, the hands 37 and 38 are turned off for a predetermined time,
At this time, since the rootstock neck hanging piece 39 (which is at the position indicated by the broken line in FIG. 5A when the seedling is received by the rootstock seedling supply plate 13) has already reached the position indicated by the solid line in FIG. The cotyledon deployment base 40 of the seedling is in a state of being supported by the neck hanging pieces 39 (FIG. 5).
(B)). Immediately thereafter, the rootstock hypocotyl hand 37 and the rootstock fixing hand 38 grip the hypocotyl again, and the rootstock is gripped at the set cutting position in the hypocotyl direction.

This rootstock neck hanging tool 47 is used to support the rootstock 40 of the rootstock of the rootstock with the neck hanging pieces 39 to position the rootstock in a hanging state to position the rootstock cutting position. Difference in thickness of cotyledon development base 40 of seedlings of the same variety is 0.2 to
Since it is within the range of 0.3 mm, the cutting position in the direction of the hypocotyl of the rootstock with the rootstock hanging member 47 can be constant for each type of plant.

At the time of cutting, the rootstock cotyledon presser 50 located above the rootstock cutting position on the front side of the rootstock transporting rotary actuator 29 shown in FIG. 4 comes down and presses the cotyledons as shown in FIG. In this way, the cotyledon is sandwiched between the cylindrical roller 41 and the cotyled retainer 50, and a stock with one cotyledon easily obtained with the cutting blade of the cutting device 19 can be obtained. Also, at the time of joining with the scion,
As shown in (2), the stock neck suspension 47 is rotated in the vertical direction to lift the cotyledons left on the stock, so that the clip can grip the stock shaft.

Next, the scions will be described in detail. First, the description of the scion supply device 21 which is a characteristic part of the present embodiment will be described in detail. As is clearly shown in FIG. 2, the scion seedling supply device 21 is provided with a scion seedling supply plate 14 having a scion receiving groove 14c opened at the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is manually inserted into the groove 14c to support the scion seedling.

In the present embodiment, the scion can be supplied from the tangential direction of the scion conveyance circumference (arrows (d) and (e) in FIG. 1). That is, the scion carrier arm 79 whose opening portion of the scion receiving groove 14c of the scion seedling supply plate 14 is substantially in the front direction of the scion seedling supplier.
It is attached so as to face the tangential direction of the circumference (arrow (d) in FIG. 1) which is the conveyance locus of (see FIG. 11). Therefore, a right-handed supplier, such as a device in which the opening of the scion receiving groove 14c is oriented in the opposite direction to the conveying direction which is a tangential direction of the conveying circumference like a conventional scion seedling supply plate. This embodiment does not have the disadvantage that it is difficult to supply seedlings, and in the case of the present embodiment, it becomes easy to supply scion seedlings regardless of the dominant arm of the worker.
Another advantage is that the trajectories in the feeding direction of the scion seedlings and the conveying direction of the scion seedlings do not interfere with each other during automatic seedling feeding.

The opening of the scion receiving groove 14c of the scion seedling supply plate 14 can be formed so that the seedling can be supplied from the normal direction of the scion conveying circle. Also in this case, it becomes easy to supply the scion seedlings regardless of the worker's dominant arm. In addition, in this case, not only there is no interference at the time of automatic seedling feeding, but also at the time of feeding of the scion seedlings, since the feeding can be performed from the normal direction of the scion conveyance circumference, which is a natural movement of the worker's arm, less fatigue. .

FIG. 9 (a) is an enlarged view of the spikelet seedling supply plate 14 in the top view of the grafting robot of FIG. 1, and FIG. 9 (b)
FIG. 9 is a sectional view taken along line AA of FIG. FIG.
As shown in the enlarged view of the scion seedling supply plate 14 in (b), the scion seedling supply plate 14 has an inclined portion 14a, and a horizontal bent portion 14b is provided at the tip thereof. For this reason, the spikelet seedling supply plate 1
The seedlings are stably supported by supporting the cotyledons by the bent portions 14b of No. 4 and pulling the cotyledons downward by the weight of the roots. The operator arranges the scion seedlings on the scion seedling supply plate 14. At this time, as illustrated in FIG. The direction in which the seedlings are arranged is automatically determined. Thus, when the scion seedlings are arranged on the scion seedling supply plate 14 in a predetermined direction, as shown in FIG.
As shown in FIG. 0, there is no possibility that the scion cotyledons will interfere with the scrub cotyledons at the time of joining with the stock.

As shown in FIGS. 9 (a) and 9 (b) (cross section taken along the line AA), the spikelet seedling supply plate 14
The receiving groove 14c for inserting the hypocotyl 4 is provided in the bent portion 14b, and the hypocotyl of the scion seedling is supported by the receiving groove 14c. At this time, the notch 14d is inclined so that the true leaves 95 in the cotyledon developing base 93 of the hypocotyl enter the receiving groove 14c sufficiently.
4a. The petiole 95 of the true leaves of the hogi seedlings protrudes from the vicinity of the cotyledon development base 93 and becomes unstable when suspended if the escape of the petiole 95 does not exist on the supply plate 14. This can be prevented by the notch 14d. In addition, when the scion and the stock are clip-joined, if the stem leaf 95 is present at the position shown by the broken line in FIG. If the portion 14d is provided facing the inclined portion 14a, the leaf stem 95 of the true leaf is arranged at the position shown by the solid line in FIG.

Although not shown, it is also possible to divide the spikelet seedling supply plate 14 into two parts and arrange them in parallel, and provide an interval for inserting the hypocotyl between them. In this case, it can be set so that the true leaves 95 of the scion seedlings enter the interval. Also, 2
When the parallel arrangement interval of the divided scion seedling supply plates 14 can be adjusted, the interval between the left and right supply plates 14 can be changed depending on the difference in the embryo axis diameter, so that it is possible to cope with scion seedlings of various varieties having different embryo axis diameters. Become.

The scion seedlings supported by the scion seedling supply plate 14 are gripped by the scion conveying device 22 and sequentially conveyed to the cutting position and the joining position. FIG. 11 shows a detailed view of the scion transport device 22. 11A is a top view (illustration of a rotary actuator 73 for carrying a scion described later is omitted), and FIG. 11B is a side view. The scion conveying device 22 has a scion conveying rotation actuator 73 and a scion conveying arm support 75 below the actuator 73 supported rotatably about the actuator rotation shaft 76. The scion transfer arm support 75 has a scion transfer arm extruding cylinder 77 supported by the support 75, a scion transfer arm 79 which is extended and contracted by the cylinder 77, and a scion holding portion at the tip of the transfer arm 79. A scion cotyledon holding hand 81, a scion hypocotyl hand 83, and a scion fixing hand 84 constituting the scaffold 80 are provided. The hands 81 and 83 are opened and closed by an air cylinder 89 provided in a hand support member 85 at the tip of the scion transfer arm 79 so as to grip the scion. The inside of the hogi cotyledon holding hand 81 is made of rubber so as not to damage the hogi cotyledons. Only the scion hypocotyl hand 83 supports the scion at the scion supply position, and the scion cotyledon holding hand 81 grasps the cotyledon at the cutting position so as not to hinder cutting of the hypocotyl portion (see FIG. 12). ).

A support plate 87 for supporting the scion root fixing hand 84 is fixed to one side surface of the scion transport arm 79. The spike root fixed hand 84 is provided with a pneumatic rotary actuator 88 on the support plate 87 from a horizontal position to a vertical position so that the fixed hand arm 84a can rotate. This hand root fixed hand 84
When the hypocotyl near the scallops is sandwiched and supported by the scissors, and when the scion hypocotyl is cut by the scion cutting device 23 at the cutting position, the hand 84 is rotated directly downward (see FIG. 13). Keep the roots out of the way.

As described above, the scion gripping portion is constituted by the scion cotyledon holding hand 81, scion hypocotyl hand 83, scion root fixing hand 84 and the like.

The spike transfer arm 79 is pushed out by a transfer arm push-out cylinder 77, and the pushing amount is adjusted by a pushing amount adjusting shim 91. A backing guide 92 is fixed to a lower portion of the scaffolding transfer arm pushing cylinder 77, and when the scaffolding transfer arm 79 comes to a retracted position, the guide piece 92a at the tip of the backing guide 92 is moved to the embryo of the scion. The hypocotyl is backed when the shaft is cut (see FIG. 13). When the backing guide 92 cuts the scion, the cutter piece can be reliably cut by the backing support of the hypocotyl by the guide piece 92a. Note that the rotation direction of the scion cutting device is as shown in FIGS. 1 and 13, and the scion cutting device 19 is rotated in the opposite direction. The reason is that it is more advantageous to cut one cotyledon from the hypocotyl side to the cotyledon side while cutting one cotyledon in the hypocotyl when cutting the rootstock. This is for the purpose of effectively holding down the guide piece 92a at the tip of the contact guide 92 and for preventing the shape of the acute angle portion at the tip formed by cutting the hypocotyl.

Next, the cutting apparatus will be described with reference to FIG. The cutting device is provided in each of the stock 3 and the scion 5, but has a mechanism common to both. FIG. 14 shows a cutting device on the stock 3 side. FIG. 14 (a) is a top view of the same (direction viewed from the top of the grafting robot).
FIG. 14B is a side view seen from the direction of arrow A in FIG. 14A (the direction as viewed from the side wall of the scion part of the grafting robot). The cutter driving motor 111 is supported by a vertical column 112, and a cutter arm 115 is attached to a rotating shaft 113 of the motor 111. A cutting blade 117 is attached to a cutting blade support piece 116 provided at a tip of the cutter arm 115 in a direction orthogonal to the arm 115.
Is attached. The attachment position of the cutting blade support piece 116 to the cutter arm 115 is performed by an adjusting tool such as an adjusting screw 119 provided on the cutter arm 115. Adjustment of the mounting height of the cutter driving motor 111 is performed by the support 11.
The adjustment is performed by using an adjustment tool such as an adjustment screw 120 provided in the apparatus 2.

Further, the cutter arm 115 lifts the cotyledon (cotyledon to be cut off) of the seedling within the rotation locus of the cutting blade 117 before the cutting blade 117 hits the hypocotyl so as not to hinder the cutting of the hypocotyl. Cotyledon lifting guide 12
2 are provided. The scion cutting device 23 of the scion shown in FIG. 2 shows a state in which the cutting blade 117 is on the same vertical plane as the support 112.

Next, a clip supply device and a clip joining device are shown in FIGS. As shown in FIG. 1, the clip feeder unit 1 of the clip supply device
The both ends of the handle 123a of the clip 123 (see FIGS. 15, 16 and 17) are attached to a vibration type parts feeder (vibration system NB-300: Mortron Co., Ltd.) having a spiral ascending path along the inner surface of the clip 123. A clip guide rail 9 formed of a vibration trough having a groove for guiding is connected, and a leading end of the guide rail is connected to a clip hooking device 124 facing the graft 2.

FIG. 15 shows a clipping device 124 (= clip joining device 2) connected to the clip guide rail 9.
5) is a top view of a main part, and FIGS. 16 and 17 are side views. As shown in FIG. 15, the leading end of the guide rail 9 narrows the guide interval between both ends of the handle 123a of the clip 123 immediately before the joint between the stock and the scion of the graft 2, and the grip of the clip 123 A stenosis guide rail 125 for opening 123b is connected. Here, when the clip 123 (FIG. 15 (a)) which has moved forward with the grip portion 123b opened comes to the joining position of the stock and the scion, the clip opening / closing member 126 releases the bias of the handle 123a of the clip 123. (FIG. 15B), and the rootstock and the scion are kept in a joined state by the gripping part 123b.

The advance of the clip 123 is performed as follows in the procedure shown in FIGS. First, when the clip 123 supplied from the clip feeder unit 1 via the guide rail 9 reaches the position of the stenosis guide rail 125 (FIG. 16).
(A)), the clip pushing cylinder 127 starts to operate, the metal clip pushing tool 128 fixed and supported by the cylinder 127 moves forward, and places the clip 123 on the stenosis guide rail 125 (FIG. 16 (b)). ). At this time, the grip 123b of the clip 123 is opened, but the clip opening / closing member 126 operates as shown in FIG. 15B, so that the clip 123 can tighten the graft.
At the same time, the clip pusher 128 moves forward to drop the graft (FIG. 17A). As shown in the figure, the tip of the clip pusher 128 has the same shape as the upper corner of the clip grip portion 123b, and has a shape inclined from the tip to the base. It is possible to get over the clip holding portion 123b of the clip 123 supplied to the guide rail 125 (FIG. 17B). A sensor 1 for detecting the presence or absence of a clip is provided above the clip hooking device 124.
29 is provided, and when the clip 123 is not supplied, the operation is automatically stopped.

Next, the procedure of the operation of the grafting robot of this embodiment will be described. First, the operation sequence of the grafting robot will be described with reference to FIG. The rootstock seedling set on the rootstock seedling supply plate 13 is gripped by the rootstock embryonic shaft hand 37 and rootstock fixing hand 38 at the tip of the extruded rootstock transport arm 34, and is rotated and transported 90 degrees. After the rootstock is suspended while supporting the rootstock 50 of the rootstock of the rootstock with the neck hanging pieces 39, the rootstock is changed by the rootstock hypocotyl hand 37 and the rootstock fixing hand 38, and the cotyledon is cut at the cutting position. , And cut off the other cotyledons.

At the same time as the transfer of the rootstock seedling from the supply position to the cutting position, the scion set on the scion seedling supply plate 14 is also pushed out, and the scion carrier hand 81 at the tip of the scion transfer arm 79 is pushed out. Hogi Hypocotyl Hand 83 and Hokine Root Fixation Hand 8
4 and transported to the cutting position. At this point, the scion is fixed outside the locus of the cutting blade by the root fixing hand 84 so that the hypocotyl can be easily cut. The cut stock and scion are each transported 90 degrees to the joining position, where the clip 12
3 are joined. At this time, the cotyledon remaining in the rootstock and the pair of cotyledons in the direction opposite to each other are joined in a direction orthogonal to each other. The stock transfer arm 34 and the scion transfer arm 79 return to the initial positions, ie, the stock supply position and the scion supply position, by rotating back 180 degrees.

At this time, since the cutting devices 19 and 23 of this embodiment are machines used by rotating the cutting blade 117, they have the following safety devices. First, foot switches (not shown) are provided on the stock side and the scion side. In this way, the rootstock seedlings and the hogi seedlings can be supplied by different persons to their respective supply plates 1
It is necessary to set to 3 and 14, and when either of two persons wants to stop the robot, the robot can be stopped at any time. Further, since the front surface of the grafting section 2 of the grafting robot is covered with a safety cover (not shown), the robot stops when the safety cover is opened.
Further, when the clip presence / absence sensor 129 (FIGS. 16 and 17) detects that the clip 123 has disappeared, grafting of the stock and scion cannot be performed, so that the operation is also stopped in this case.
However, in this case, when the clip 123 is set,
Work continues with the reset switch. Clip 123
If the grafting robot stops other than when the robot disappears, the operation of the grafting robot is restarted from the beginning.

Next, a time chart (FIGS. 19 to 2)
The operation of the grafting robot will be described with reference to 1). First, the movement of each device of the stock will be described. Rootstock seedling supply plate 1
In order to grasp the rootstock seedling set in 3, air is supplied to the rootstock transport arm extrusion cylinder 33 and the transport arm 34
Moves forward. At the rootstock receiving position, the air cylinder (located in the rootstock transfer arm box 42) of the rootstock embryo hand 37 and rootstock fixing hand 38 at the tip of the arm 34 is operated to grip the rootstock seedling (FIG. 8). ). These hands 37, 3
At the same time as the operation of step 8, the stock transport rotation actuator 29 is also operated, and the stock held by the hands 37 and 38 is transported to the cutting position. At this time, since the cylindrical roller 41 is brought into contact with the back side of the cutting position of the stock, the stock transfer arm pushing cylinder 33 is turned off, and the transfer arm 34 is retracted. In the cutting position, the hands 37 and 38 are off for a predetermined time. At this time, since the stock root neck hanging piece 39 has already come to the position indicated by the solid line in FIG. 5A, the root stock 40 of the stock is supported by the neck hanging piece 39 (FIG. 5B). ). Immediately thereafter, the hypocotyl hand 37 and the fixed root hand 38 are turned on, and the set cutting position of the hypocotyl of the stock is determined. Next, the rootstock cotyledon presser 50 is turned on (FIG. 6). In this state, one of the rootstock cotyledons is left, and the other cotyledons are cut off by the cutting blade 117 as shown by the arrow in FIG.
Then, the rotary actuator 29 is turned on again, and the rootstock leaving one cotyledon is conveyed to near the joining position. In the vicinity of the joining position, the transfer arm pushing cylinder 33 is turned on again, and the rootstock advances to a position where it is joined to the scion. The rotation actuator 29 remains on until the clip 123 is pushed out to complete the joining. Note that the clip pushing position in the time chart of FIG. 19 is a clip pushing first stage position described later.

At the joining position, one cotyledon left on the rootstock is lifted by the cylindrical roller 41 so as to be easily joined.
The rotation actuator 49 for lifting the rootstock cotyledon rotates a predetermined angle as shown in FIG. After joining, the hypocotyl hand 3
7, root fixing hand 38, transport rotary actuator 29
And the cotyledon lifting rotary actuator 49 is turned off, and each returns to the stock supply position.

It should be noted that the rotation actuator 29 for transporting the rootstock
Is a two-stage actuator (manufactured by New Error Co., Ltd.), which can sequentially perform 90-degree rotational conveyance from the stock supply position to the cutting position and 90-degree rotational conveyance from the cutting position to the joining position.

Next, the operation of the various devices in the scion will be described with reference to the time chart of FIG. Hogi seedling supply plate 1
In order to grasp the scionling seedling set in 4, air is supplied to the scrubbing transfer arm pushing cylinder 77, and the scionling transfer arm 79 moves forward. At the scion receiving position, the transfer arm 79
The operating air cylinder 89 of the scion hypocotyl hand 83 at the tip operates to grip the hypocotyl of the scion seedling. At the same time as the operation of the hypocotyl hand 83, the rotation actuator 73 for transferring the scion is also operated to convey the scion grasped by the hand 83 to the cutting position. At this time, in order to make the back side of the cut portion of the hypocotyl of the scion abut against the backing guide piece 92a, the scrubbing transfer arm pushing cylinder 77 is turned off, and the transfer arm 79 is retracted. Also, while the scion is being transported to the cutting position,
The root fixing hand 84 fixes the scions as shown in FIG. This is because when the hypocotyl of the scion is cut with the cutting blade as shown by the arrow in FIG. 13, the scallops do not obstruct the operation of the cutting blade. At the cutting position, the cotyledon holding hand 81 operates to bundle the cotyledons of the scion as shown in FIG. 13 so that the cotyledons do not obstruct the operation of the cutting blade.

When the hypocotyl of the scion is cut, a part of the hypocotyl and the scion are cut off, and the remaining hypocotyl and cotyledon are cut with both hands.
While being held by 1, 83, it is rotated and transported to the vicinity of the joining position by the operation of the rotary actuator 73 for transporting the scion. In the vicinity of the joining position, the transfer arm pushing cylinder 77 is turned on again to advance the scion to a position where it is joined to the stock. The rotary actuator 73 for conveying the scions is provided with a clip 123.
Is kept on until it is pushed out and bonding is completed.
Note that the clip pushing position in the time chart of FIG. 20 is a clip pushing first stage position described later.

The rotary actuator 73 for conveying the scion
Is a two-stage actuator (manufactured by New Error Corporation) similar to the rotation actuator 29 for transporting the stock.

Next, the operation of the various devices of the clip supply unit will be described with reference to the time chart of FIG. When the stock and the scion are supplied to the joining position, the clip pushing cylinder 127 in FIG. 16B pushes the clip 123 to the clip pushing position (first-stage pushing position). The clip pushing cylinder 127 is a two-stage air cylinder, in which the clip pushing is temporarily stopped, and during that time, the clip opening / closing member 126 (FIG. 15) operates to open the biasing end of the clip. The tip of the clip closes. In synchronization with the operation of the opening / closing tool 126, the clip pushing cylinder 127 further pushes out the joined seedling to the position shown in FIG. 17A (the second-stage pushing position) and drops it into the joined seedling receiving portion. Thereafter, the clip 123 retreats to the original position. This operation is repeated for each joining.

[0046]

According to the present invention, the spikelet seedling supply plate is divided into two parts.
In parallel, and provide a space for hypocotyl insertion between them
By doing so, set so that the true leaves of the hogi seedlings enter the interval
Wear. In addition, the parallel arrangement interval of the two divided
If it is adjustable, the supply plate on the left and right
Since the interval can be changed, the seedlings of each variety with different hypocotyl diameter
And workability is improved.

[Brief description of the drawings]

FIG. 1 is a top view of a grafting robot according to an embodiment of the present invention.

FIG. 2 is a top view of a graft portion of the graft robot according to one embodiment of the present invention.

FIG. 3 is a front view of a graft portion of the graft robot according to one embodiment of the present invention.

FIG. 4 is a side view of a graft portion of the graft robot according to one embodiment of the present invention.

FIG. 5 is a view of a stock transfer device of the grafting robot according to one embodiment of the present invention.

FIG. 6 is a diagram showing the vicinity of a stock transporter when the graft is cut by the grafting robot according to one embodiment of the present invention.

FIG. 7 is a diagram of a rootstock transporter when the rootstock and the scion of the grafting robot of one embodiment of the present invention are joined.

FIG. 8 is a diagram of a rootstock transfer device in a state of being received from a rootstock supply device of the grafting robot according to one embodiment of the present invention.

FIG. 9 is an enlarged view of a scion seedling supply plate of the grafting robot according to one embodiment of the present invention.

FIG. 10 is a view showing a joint state of a stock and a scion of the grafting robot of one embodiment of the present invention.

FIG. 11 is a view of a scion transport device of the grafting robot according to one embodiment of the present invention.

FIG. 12 is a view of the scion transporting apparatus before cutting the scion seedlings of the grafting robot according to one embodiment of the present invention.

FIG. 13 is a diagram showing the vicinity of a scion transport device when cutting a scion of the grafting robot according to one embodiment of the present invention.

FIG. 14 is a diagram of a cutting device of the grafting robot according to one embodiment of the present invention.

FIG. 15 is a top view of the clipping device of the grafting robot according to one embodiment of the present invention.

FIG. 16 is a side view of the clipping device of the grafting robot according to one embodiment of the present invention.

FIG. 17 is a side view of the clipping device of the grafting robot according to one embodiment of the present invention.

FIG. 18 is a diagram showing an operation sequence of the grafting robot according to one embodiment of the present invention.

FIG. 19 is a diagram showing a time chart of a stock of a grafting robot according to an embodiment of the present invention.

FIG. 20 is a diagram showing a time chart of a scion part of the grafting robot of one embodiment of the present invention.

FIG. 21 is a diagram showing a time chart of a clip supply unit of the grafting robot according to one embodiment of the present invention.

[Description of Signs] 1 ... Clip feeder section, 2 ... Grove section, 3 ... Rootstock section, 5
... Hoki part, 6 ... Joint part, 9 ... Clip guide rail, 1
0: Rootstock robot manipulator, 11: Hogi robot manipulator, 13: Rootstock seedling supply plate, 14: Hoki seedling supply plate, 14a: Inclined piece, 14b: Bent piece, 14
c: Hoki receiving groove, 14d: Notch, 15: Top plate, 18
... stock transfer device, 19 ... stock cutting device, 22 ... wood transfer device, 23 ... wood cutting device, 25 ... clip joining device,
29: Rootstock transfer rotary actuator, 33: Rootstock transfer arm extrusion cylinder, 34: Rootstock transfer arm, 35: Rootstock gripping part, 37: Rootstock embryo shaft hand, 38: Rootstock root fixed hand, 39: Table Wood neck hanging piece, 41 ... cylindrical roller, 47 ... neck hanging tool, 49 ... rotary actuator for cotyledon lifting, 50
... Rootstock cotyledons, 73 ... Rotary actuator for transporting scions, 77 ... Extruding cylinders for scaffolding transport arms, 79 ... Scaffolding transport arms, 80 ... Scrubbing gripping parts, 81 ... Handheld scaffolding coping hands, 83 ... Scions Hypocotyl hand, 84… Hogin fixed hand,
Reference numeral 92: Backing guide, 95: Hogi leaves, 117: Cutting blade, 123: Clip, 124: Clip hanging device, 1
25: stenosis guide rail, 126: clip opening / closing device, 1
27: clip pushing cylinder, 128: clip pushing tool

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A01G 1/06

Claims (1)

(57) [Claims] 1. A rootstock seedling disposed on a rootstock seedling supply plate, and
A transport device for each seedling placed on the feeding plate for the seedlings
Rootstock seedlings transported to each cutting position with
And the seedlings are further transported by each transport device to the joining position.
In the grafting robot that joins by hand, the spikelet feeding plate consists of two split plates
That the arrangement interval can be adjusted according to the diameter of the scion hypocotyl.
Grafting robot featuring.