JP3277595B2 - 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 producing grafted seedlings for automatically supplying and grafting rootstock seedlings and spikelet seedlings, and more particularly to an apparatus for cutting seedlings.

[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. . The present inventors have previously improved the conventional grafting robot and invented a grafting robot that can be easily used, and have filed a series of patent applications (Japanese Patent Application Nos. Hei 4-161512 and Hei 5-Hei 5). No. 6753).

[0003]

Since the cutting blade of the cutting device in the grafting robot developed by the present inventors is attached to the tip of the cutting device in a plane, a circle which is the flow line of the cutting blade is used. For the arc-shaped cutter trajectory, the cutting blade
Since the plane is angled and a force is applied in the direction to widen the cut of the hypocotyl, the side where the seedling is cut pushes the thin part near the base of cotyledon development of the seedling that is left for grafting, and there is a problem that cracks enter there. there were. This was common in rootstocks, and in particular, cracks often occurred in hard seedlings. In addition, even in the case of a scion with a relatively small hypocotyl diameter, the cutting blade attached in a planar shape applies force to the hypocotyl in the direction to widen the cut, so that the hypocotyl on the side to be cut is tangential to the cutter locus. There was a problem that the epidermis remained at the inclination and at the end of cutting of the scion. Therefore, an object of the present invention is to further improve the grafting robot developed by the present inventors to provide a grafting robot that is more usable.
Specifically, an object of the present invention is to make a cutting device for a seedling of a grafting robot excellent in operability.

[0004]

The above object of the present invention is achieved by the following constitution. That is, the rootstock seedlings arranged in the rootstock supply device and the scionling seedlings arranged in the scion supply device are transported to the respective cutting positions by the transport devices of the respective seedlings,
The cutting blade of the cutting device, in grafting robot for joining and conveyed to the joining position by the conveying apparatus further each respectively cut stock seedling and scion seedling, eggplant line of the cutting edge of the cutting blade
Direction is grafting robot fitted with said cutting blade to the cutting device so as to face in an oblique direction with respect to seedling slicing trajectory of the cutting blade.

[0005]

According to the present invention, the direction of the line formed by the cutting edge of the cutting blade is provided.
Was attached to the cutting device so as to be oblique to the cutting trajectory of the cutting blade of the cutting blade (see FIG. 11). By attaching such a cutting blade, the cutting edge of the cutting blade is cut obliquely with respect to the hypocotyl, so that the hypocotyl can be cut off, the impact force at the initial stage of cutting decreases, and cracks are formed in the hypocotyl. No longer occurs. Also, with the cutting resistance being reduced,
Since the cutting speed is also stable, the cut surface becomes smooth, and the survival rate of the seedling after joining is improved.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. A top view of the grafting robot of this embodiment is shown in FIG. 1 (a view with the top plate removed), an enlarged view of the portion (grafted portion) is shown in FIG. 2, a front view is shown in FIG. 3, and a side view is shown in FIG. . The grafting robot comprises a clip feeder unit 1 and a grafting unit 2, and the grafting unit 2 comprises a stock 3, a scion 5 and a joining unit 6. A clip guide rail 9 is provided from the outer periphery of the clip bowl 7 of the clip feeder unit 1, and a graft portion 2 is provided at the end thereof.
Are adjacent. Further, respective robot manipulators 10 and 1 for grasping and transporting each of the stock and the scion.
1 and the seedling supply plates 13 and 14 are suspended on a 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. Rootstock part 3 includes rootstock seedling supply device 17, rootstock transport device 18, and rootstock cutting device 1
9, and the scion part 5 is likewise connected to the scion seedling supply device 2.
1, a scion transport 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 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.
It 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) (see FIG. 1), and is joined to the scion by the joining device 25 (see FIGS. 2 and 3) of the joint 6 at the graft 2. Is done. Similarly, the scion seedlings supplied to the scion seedling supplying device 21 by hand are transferred to the scion conveying device 22.
Is transported in the direction of arrow (d) (see FIG. 1), and the tissue above the hypocotyl is left by the scion cutting device 23 which rotates in the direction of arrow (f) (see FIGS. 1 and 4) at the cutting position. The hypocotyl and the root are partially cut off. The scion having the cotyledon portion is transported in the direction of the arrow (e) (see FIG. 1), and is joined to the rootstock and the grafting unit 2 by the clip supplied from the clip feeder unit 1 to complete the grafting operation.
It is dropped and collected below the graft 2.

Next, the rootstock seedling supply device 17 and the transport device 1
8 will be described. First, the rootstock seedling supply device 17 will be described 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 holding portion 13b is provided at an angle to come into contact with the back surface of the cotyledon, the seedling can be placed on the supply plate 13 in substantially the same direction even when the direction of the cotyledon is not accurately set when supplying the rootstock. Can be. The rootstock seedlings set on the rootstock supply plate 13 are gripped by the rootstock transport device 18 and transported sequentially to the cutting position and the joining position.

FIG. 5 shows a detailed view of the stock carrier 18.
5A is a top view, and FIG. 5B is a side view (FIG.
(A) is an AA line view of FIG. 5 (b)). The rotation actuator 29 for transporting the rootstock of the rootstock transporting device 18 is
5, and under the actuator 29, a rootstock transfer arm support 30 is supported rotatably about the actuator rotation shaft 31. The stock transfer arm support 30 includes a stock transfer arm extruding cylinder 33 supported by the support 30, a stock transfer arm 34 fixed to the cylinder 33, and a stock grip 35 at the tip of the transfer arm 34.
(A pair of rootstock hypocotyl hands 37, a pair of rootstock fixing hands 38, and a cylindrical roller 41) are provided. The hands 37 and 38 are controlled to be opened and closed by an air cylinder provided in a box (not shown) of the stock transfer arm 34 so as to hold the stock. The rootstock hypocotyl hand 37 is made of rubber inside the hand 37 so as not to damage the rootstock hypocotyl. In addition, the rootstock fixing hand 38 is a rootstock root 43
It is made of a curved plate that grips the cylindrical side surface of FIG. 5 (b). A support arm 45 for rotating the cylindrical roller 41 in the vertical direction at the time of joining with the scion and lifting the root cotyledon is provided on the stock transport arm support 30.
And a rotation actuator 49 for raising the rootstock cotyledon.

The air cylinder of the rootstock embryo hand 37 at the tip of the rootstock transfer arm 34 pushed to the rootstock seedling supply position on the rootstock seedling supply plate 13 operates to grip the rootstock seedling.
At the same time as the operation of the hand 37, the rotation actuator 29 for the stock transport arm is also operated, and the stock seedling held by the hand 37 is transported to the cutting position. At the time of joining with the scion, as shown in FIG. 6, the cylindrical roller 41 is rotated in the vertical direction to lift the cotyledons left on the stock, so that the clip can grip the stock shaft. As shown in FIG. 7, an L-shaped cotyledon support plate 42 may be provided on the support arm 45 so as to be located above the cylindrical roller 41 for supporting the hypocotyl. 7A is a front view, and FIG. 7B is a side view as viewed from the direction of arrow A in FIG. 7A. Conventionally, when cotyledons of a rootstock are open, if there is no regulation of cotyledons, a part of true leaves to be cut off at the time of cutting may remain on the grafted seedling side without being cut. However, by providing the cotyledon supporting plate 42, the cotyledon of the rootstock can be cut clean similarly when the cotyledon is opened or closed. In addition, even when the rootstock seedlings are adjusted to be deeply cut, the cotyledons that hang down at the time of joining with the scion, because they support the cotyledons remaining on the grafted seedling side,
No joining mistakes have been made. In addition, a shield plate 37a for shielding the vicinity of the root of the rootstock hypocotyl hand 37 is provided above the hypocotyl hand 37 to prevent rootstock seedlings that have failed to join from penetrating into the root of the hypocotyl hand 37.

Next, the scions will be described in detail. First, the spikelet seedling supply device 21 will be described. 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 14a opened in the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is inserted into the groove 14a manually to support the scion seedlings. The scion seedlings supported by the scion supply plate 14 are gripped by the scion transporting device 22 and sequentially transported to the cutting position and the joining position. FIG. 8 shows a detailed view of the scion transport device 22. FIG. 8A is a top view, and FIG. 8B is a side view. FIG. 8A is a view along line AA of FIG. 8B.
The scion conveying device 22 includes a scion conveying rotary actuator 73.
And a scion carrier arm support 75 below the actuator 73 is supported rotatably about the actuator rotation shaft 76. The scion transfer arm pushing cylinder 7 supported by the scion transfer arm support 75
7, the scion transfer arm 7 extended and contracted by the cylinder 77
9 and a tip of the transfer arm 79 are provided with a scion cotyledon support plate 81 and a scion hypocotyl hand 83 which constitute a scion gripper 80. The hand 83 is controlled to be opened and closed by an actuator 89 provided at the tip of the scion transport arm 79 so as to grip the scion. The hogi cotyledon support plate 81 has a plate-like portion 81a on which the back of the hogi cotyledon is placed.

The scribing 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. Further, a backing guide 92 is fixed to the lower part of the extrusion cylinder 77 of the scion transfer arm, and when the scion transfer arm 79 comes to a retracted position,
The guide piece 92a at the tip of the backing guide 92 backs the hypocotyl when cutting the hypocotyl of the scion. The supporting of the hypocotyl by the guide piece 92a allows the cutter to reliably perform cutting. The direction of rotation of the scion cutting device 23 is as shown by the arrow (f) in FIGS. 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.

Further, the scion transport arm 79 is at the pushing position while the scion is being transported from the supply position to the cutting position, and at the time of cutting, the arm 79 moves to the retracted position (FIG. 8B). Further, when the scion and rootstock are joined, the backing guide 92 gets in the way.
By projecting the hypocotyl hand 83 and the like, the backing guide 92
Interference with the hand 83 and the like can be prevented. As described above, the expansion and contraction of the transfer arm 79 enables the movement of the scion holding portion 80, thereby increasing the degree of freedom in the method of receiving scion seedlings from the supply plate 14. Further, as described above, the pushing amount of the scion gripping portion 80 is adjusted by the shim 91 of the transfer arm 79 of the scion seedling. This is because the cutting surface of the stock and the scion must be in the opening at the tip of the clip when joining with the clip. This is because it is necessary to finely adjust the extrusion amount. In the present embodiment, the shim 91 is provided in the scion carrier 22, but the shim 91 may be provided in the stock carrier 18.

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. 9 shows a cutting device on the stock 3 side. FIG. 9A is a front view, and FIG. 9B is an enlarged view of a portion where the cutting blade of FIG. 9A is attached. The cutter driving motor 111 is supported by a column 112 which is vertically oriented.
A cutter arm 115 is attached to the rotation shaft 113 of the cutter. The arm 115 is attached to the tip of the cutter arm 115.
The cutting blade 117 is attached to a cutting blade support piece 116 and a holding plate 118 provided in a direction perpendicular to the direction of the arrow. 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 with an adjusting tool such as an adjusting screw (not shown) provided on the column 112. Further, the cutter arm 115 does not hinder the cutting of the hypocotyl, and a cotyledon lifting guide for lifting 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. 122 are provided. The feature of the present embodiment is that the mounting shape of the cutting blade 117 is formed along the cutter locus. In FIG. 9, the shapes of the cutting blade supporting piece 116 and the holding plate 118 are polygonal, but may be curved. Thus, cracks were not generated when cutting the rootstock seedlings, and the epidermis was not completely cut off and remained when cutting the cuttings. In addition, since the cutting blade was bent, its rigidity was improved, and the cutting of the seedling was stabilized.

Also, as shown in FIG.
Cut from the center line H ₀ of the cutter arm 115 on the stock side (a straight line parallel to the straight line passing through the center of the cutting blade 117 and the center of the cutting blade arc and passing through the rotation center of the cutter arm 115) when viewed from the side. The blade 117 may be disposed forward in the traveling direction. This is the center line H of the cutter arm 115.
_If the center line H _{1 of the} cutting blade 117 (corresponding to the apex of the arc of the cutting blade 117) is coincidently mounted on 0, the opposite side of the cutting blade 117 traces the hypocotyl cutting surface to roughen the cutting surface. Although the trouble that the survival rate is lowered occurs, the trajectory at the time of cutting the surface on the opposite side of the cutting blade 117 is located inside the cutter trajectory of the cutting blade 117, so that the cutting surface of the seedling does not trace the cutting blade 117. Can be kept smooth.

FIG. 11 (FIG. 11 (a) is a side view, and FIG. 11 (b) shows a state in which the holding plate 118 is removed.
FIG. 5 is a diagram viewed from the direction of arrow A. ), The cutting blade 117 was attached obliquely to the surface of the cutting blade support piece 116. By attaching such a cutting blade 117, the cutting edge of the cutting blade 117 is cut obliquely with respect to the hypocotyl, so that the hypocotyl can be cut off, the impact force at the initial stage of the cutting decreases, and the hypocotyl is reduced. Cracks no longer occur.
Further, as the cutting resistance is reduced, the cutting speed is also stabilized, so that the cut surface becomes smooth, and the survival rate of the seedlings after joining is improved. On the other hand, when the cutting blade 117 enters from the direction perpendicular to the hypocotyl, the hypocotyl is pushed out, and a large cutting force is required. In addition, a hard seedling of the epidermis, a seedling with a hypocotyl tissue that is brittle, and the like are particularly cut. In such a case, a crack may be formed in a direction crossing the axis of the hypocotyl at a portion where the cutting blade 117 is inserted.

Also, as shown in FIG.
The cutter locus of the third cutting blade 117 was made to coincide with the vicinity of the lower end of the guide piece 92a of the backing guide 92 of the scion hypocotyl. The reason is that if the cutter trajectory is arranged at a position distant from the lower end of the backing guide piece 92a, the cutting position of the hypocotyl is not stable, so that the cutter trajectory of the cutting blade 117 comes to the lower end of the guide piece 92a as much as possible. In this way, stable cutting is performed to improve the survival rate after joining with the stock.
Clip feeder 1 (FIG. 1) and clip joining device 25
(FIGS. 2 and 3) employ the configuration as described in the earlier application filed by the present applicant (Japanese Patent Application No. 5-6753). Further, the operation sequence of the grafting robot of the present embodiment is as disclosed in FIG. 13, and the operation time chart of each device of the stock 3 and the scion 5 of the grafting robot of the present invention is shown in FIG. 14 and FIG. 15 as disclosed. The operation time chart of each device of the clip feeder unit 1 is described in the earlier application of the present applicant (Japanese Patent Application No. Hei 4-1615).
No. 12).

[0018]

According to the present invention, the cutting blade is connected to the cutting device.
The mounting angle was made diagonal to the cutting path of the cutting blade
As the cutting resistance of the seedlings is reduced, the cutting speed is also lower.
The cut surface of the lung axis of the seedling becomes smooth,
The survival rate afterwards 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 transport device of the grafting robot according to one embodiment of the present invention.

FIG. 6 is a view of a stock transfer device when the graft and the scion of the grafting robot of one embodiment of the present invention are joined.

FIG. 7 is a view showing a case where a cotyledon support plate is provided in a stock transport device of the grafting robot according to one embodiment of the present invention.

FIG. 8 is a view of a scion transport device of the grafting robot according to one embodiment of the present invention.

FIG. 9 is a diagram of a cutting device on the stock side of the grafting robot according to one embodiment of the present invention.

FIG. 10 is a view showing a mounting shape of a cutting blade of the cutting device according to the embodiment of the present invention.

FIG. 11 is a diagram showing a mounting shape of a cutting blade of the cutting device according to one embodiment of the present invention.

FIG. 12 is a diagram illustrating a relationship between a cutter trajectory and a backing guide piece of the scion transport device when cutting scion according to one embodiment of the present invention.

FIG. 13 is a diagram showing an operation sequence of the grafting robot according to one embodiment of the present invention.

FIG. 14 is a diagram showing a time chart of driving of a stock unit of the grafting robot according to one embodiment of the present invention.

FIG. 15 is a diagram showing a time chart of driving of the scion part of the grafting robot according to one embodiment of the present invention.

[Explanation of symbols]

1: clip feeder section, 2: graft section, 3: base stock section, 5
... Hook part, 6 ... Joint, 13 ... Rootstock seedling supply plate, 17 ... Rootstock seedling supply device, 18 ... Rootstock transfer device, 19 ... Rootstock cutting device, 21 ... Honystock supply device, 22 ... Scion transport device, 23
... Sponge cutting device, 37. Rootstock hypocotyl hand, 42. Rootstock cotyledon support plate, 115. Cutter arm, 116... Cutting blade support piece, 117. Cutting blade, 118.

Claims (1)

(57) [Claims] 1. A rootstock seedling arranged in a rootstock supply device and a scionette seedling arranged in a scion supply device are transported to respective cutting positions by respective seedling transport devices, and cutting of each cutting device is performed. In the grafting robot that transports and cuts the rootstock seedlings and earlings that have been cut by the blades to the bonding position with the respective transport devices, the direction of the line formed by the cutting edge of the cutting blade corresponds to the cutting path of the cutting blade of the cutting blade. A grafting robot, wherein a cutting blade is attached to the cutting device so as to face diagonally.