JP3282280B2 - 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 feeding the seedling 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]

The grafting robot developed by the present inventors manually supplies rootstock seedlings or spikelets to each supply device, and transports the seedlings on the supply device to each transfer device. Conveyed to the cutting position by the device At the cutting position, each cutting device leaves one cotyledon of the rootstock and cuts off the hypocotyl and root, and the scion cuts down from the middle part of the hypocotyl and joins them at the joint.

However, in the above grafting robot, when a scion with a light root weight, such as a root cutting seedling, is supplied to the scion supply device, the hypocotyl is opposite to the pair of hands for gripping the hypocotyl of the scion transport device. When bent, the hypocotyl is lifted from the backing metal fittings provided on the scion transport device to make it easier to cut by backing it close to the hypocotyl at the time of cutting, and the cutting position becomes unstable was there. 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. More specifically, an object of the present invention is to provide an apparatus for supplying scion seedlings of a grafting robot with excellent operability.

[0005]

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,
In a grafting robot that transports and cuts each of the cut rootstock seedlings and scion seedlings to a joining position by each of the conveying devices, the installation orientation of the scion seedlings in the scion supply device is set at a root position rather than a scion cotyledon deployment base. A guide for tilting the side toward the scion transporting device is provided , and the scion transporting device receives a guide from the scion feeding device.
Receiving the collected scion seedlings in a state inclined to the scion transport device side
When cutting by the cutting device,
A grafting robot provided with a backing guide for backing vertically .

[0006]

According to the present invention, since the installation orientation of the scion seedlings in the scion supply device is such that the root side is tilted toward the scion transporting device side from the cotyledon development base, the scion is gripped and moved to the cutting position. In the scion conveying device, the hypocotyl hits the backing guide piece of the scion conveying device in an inclined state. Therefore, the hypocotyl comes into contact with the backing guide piece, and the hypocotyl becomes vertical , so that the cutting is reliably performed and the joining accuracy with the rootstock is improved.

[0007]

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 1 and a graft 2, and the graft 2 comprises a stock 3, a scion 5 and a joint 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 shows an enlarged view of the graft portion 2 shown in FIG. 1. The root portion 3 is composed of a rootstock seedling supply device 17, a rootstock transport device 18, and a rootstock cutting device 19, and the scion portion 5 is also provided. Similarly, it comprises a scion seedling supply device 21, a scion conveying 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.
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), and is joined to the scion by the joining device 25 (see FIGS. 2 and 3) of the joining portion 6 at the grafting portion 2. Similarly, the scion seedlings supplied to the scion seedling supply device 21 manually by the scion conveying device 22 are indicated by arrows (d).
The tissue is transported in the direction (see FIG. 1) and rotated at the cutting position in the arrow (f) direction (see FIGS. 1 and 4). Shafts and roots are cut off. The scion having the cotyledon portion is transported in the direction of the arrow (e), and is joined to the stock and the grafting portion 2 by the clip supplied from the clip feeder portion 1, and the grafting operation is completed. Dropped and collected.

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. In addition, as shown schematically in FIG.
In the lower part of the receiving groove 13a, a pair of hands 13c for gripping the rootstock seedlings and a switch 13e for an actuator (not shown) of the hand 13c, and for operating the switch 13e when the rootstock is inserted into the receiving groove 13a. Actuator 13
f is provided. 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. 5 (a) is a top view, and FIG. 5 (b) is a side view (FIG. 5 (a) is a view along line AA in FIG. 5 (b)). A rotation actuator 29 for transporting the rootstock of the rootstock transporting device 18 is supported by the top plate 15, and a rootstock transport arm support 30 is supported below the actuator 29 so as to be rotatable about the actuator rotation shaft 31. I have. 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 holding part 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. Rootstock Hypocotyl Hand 37
The inside of the hand 37 is made of rubber so as not to damage the hypocotyl of the stock. The rootstock fixing hand 38 is made of a curved plate that grips the cylindrical side surface of the rootstock root pot 43 (see FIG. 5B).

A support arm 45 for rotating the cylindrical roller 41 in the vertical direction when joining with the scion and lifting the stock of cotyledons and a rotary actuator for mounting of the stock cotyledons are provided on the stock transport arm support 30. 49 are provided. A rootstock hypocotyl hand 37 at the tip of the rootstock transport arm 34 pushed to the rootstock seedling set position on the rootstock seedling supply plate 13.
The air cylinder operates to grip the rootstock seedling. Hand 3
At the same time as the actuation of 7, the rotation actuator 29 for the rootstock transport arm is also operated, and the rootstock seedlings held by the hand 37 are 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.

A shield plate 37a for shielding the vicinity of the root of the rootstock hypocotyl hand 37 is provided above the hypocotyl hand 37, and the rootstock seedling fails to bond with the scion at the bonding position. Rootstock seedlings that failed to join even after release
The rootstock of the rootstock that has failed to join can be smoothly discharged from the rootstock transporter. Also,
As shown in FIG. 6, the cotyledons left on the rootstock are lifted by the cylindrical roller 41 at the time of joining with the scion, but if the cotyledons left on the rootstock are maintained after the joining, the failed bases can be joined. Even if there is a tree seedling, it will not penetrate into the root of the rootstock hypocotyl hand 37. This is because after the joining timing, the rootstock transport arm 34 is retracted, and the process moves to the return transport for grasping and transporting the next rootstock seedling, and the cotyledons of the rootstock seedling are pushed out of the hypocotyl hand 37. Rootstock gripper 3 in the state
5 moves, so the rootstock that failed to join is the hypocotyl hand 3
This is because it is easy to be discharged from the container 7 and the possibility of carrying around is reduced.

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 at the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is manually inserted into 14a to support the scion seedling. In this embodiment, as shown in FIG. 7 (FIG. 7 (a) is a front view, FIG. 7 (b) is a bottom view), so that the scions can be easily inserted into the receiving grooves 14a of the scion supply plate 14. There is a scion insertion guide plate 14 having a flared opening for scion insertion.
b and 14b 'may be provided. That is, a guide plate 14b 'is newly provided in addition to the scion insertion guide plate 14b.
As shown in FIG. 7, the guide plates 14b and 14b 'are inclined so as to be able to support the cotyledons. There is no danger of supply, and the number of joining errors with the stock has been reduced.

Further, as shown in an enlarged side view of the portion of the scion supply plate 14 (FIG. 8A) and an enlarged view of the portion provided on the scion supply plate 14 from below (FIG. 8B). , Scion supply board 1
A movable gripping hand 14c for gripping the hypocotyl and an actuator 14d for driving the gripping hand 14c are provided below the receiving groove 14a. The gripping hand 14c rotates around the base on the actuator 14d side, and can hold the hypocotyl with the fixed gripping hand 14c 'fixed to one side of the receiving groove 14a.
The drive control of the actuator 14d is performed by detecting the insertion of the seedling in the receiving groove 14a by the actuator 14f of the microswitch 14e. Then, the sequencer 150 is operated by the input of the microswitch 14e, the valve 151 is driven, and the movable gripping hand 14c is driven by the air pressure from the compressor 152. for that reason,
The actuator 14f is disposed so as to cross the receiving groove 14a, and is mounted so as to be rotatable around a rotation shaft 14f 'provided on the bottom surface of the microswitch 14e.
An end of the L-shaped hypocotyl guide 14g is supported and fixed to the actuator 14d.

When the scion is inserted into the receiving groove 14a of the scion supply plate 14, as shown in the bottom view of the main part of the scion supply plate 14 in FIGS. 9 (a) and 9 (b) (FIG. 9 (a)). ), By detecting the hypocotyl of the actuator 14f, the movable gripping hand 1
4c and the fixed gripping hand 14c 'grip the hypocotyl of the scion seedling (FIG. 9B). Then, when the scion is pulled down manually, the cotyledon development base of the scion seedling is grasped by the gripping hands 14c, 14c.
The hook is caught on c ', and the scion seedlings are positioned at that position (FIG. 9 (c) side view). Although not shown,
A guide may be provided to limit the downward movement of the actuator 13f in order to prevent the actuator 13f from being entangled and falling down when the ear tree seedling is manually pulled downward.

At this time, the hypocotyl guide 14g is positioned as shown in FIG.
As described above, the installation orientation of the scion seedlings on the scion seedling supply plate 14 is set such that the root side is tilted toward the scion transport device 22 side from the cotyledon deployment base. Then, in the scion transporting device 22 that has gripped the scion and moved to the cutting position, the hypocotyl hits the backing guide piece 92a of the scion transporting device 22 in an inclined state as shown in FIG. Therefore, the hypocotyl comes into contact with the backing guide piece 92a in a state as shown by the solid line, and the hypocotyl becomes vertical, so that the cutting is reliably performed and the joining accuracy with the rootstock is improved. on the other hand,
When the hypocotyl is grasped in a state as shown by a broken line, a gap is formed between the hypocotyl and the backing guide piece 92a, and the hypocotyl is not vertical, and the cutting thereof may not be reliably performed. is there. The hypocotyl guide 14g may be fixedly supported by the movable gripping hand 14c, and may be movable together therewith. Also, as shown in FIG. 11, even when the holding hand mechanism is not provided on the scion supply plate 14, the width is also α ≧ 0 so that the root is inclined toward the scion conveying device 22 from the cotyledon deployment base. May be provided with a guide 14g.

A notch 14c "is provided at a position of the movable gripping hand 14c where the rootstock seedling hypocotyl portion is gripped. Due to the presence of the notch 14c", as shown in FIG. The hypocotyl is set in the vertical direction without the seedling being supplied obliquely. Further, as shown by a solid line scion in FIG. 12B, it is possible to prevent the movable axis of the hand 14c other than the notch 14c ″ from gripping the hypocotyl, and to prevent the embryo from being set at the set position as indicated by the broken line scion. The hypocotyl can be gripped by a notch 14 ″ as shown in the bottom view of FIG.
Can be gripped along the inner surface of the embryo, and the gripping direction of the hypocotyl is stabilized. In this way, the cutout 14c "eliminates the cutting error of the scion and reduces the joining error with the scion. If the notch is also provided in the fixed gripping hand 14c ', the scion transporting device 22 will have the scion seedling. It is not desirable because the notch may be caught when delivering.

The scion seedlings supported by the scion seedling supply plate 14 are gripped by the scion conveying device 22 and sequentially conveyed to a cutting position and a joining position. FIG. 13 shows a detailed view of the scion transport device 22. FIG. 13A is a top view, and FIG. 13B is a side view. FIG. 13A is a view along line AA of FIG. 13B. 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. Hogi cotyledon support plate 81 and hogi hypocotyl hand 8 constituting 80
3 are provided.

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 scion transfer arm 79 is pushed out by the 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 scribing transfer arm pushing cylinder 77, and when the scioning transfer arm 79 comes to a retracted position, the backing guide 9 is moved.
The two tip guide pieces 92a back 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. Guide piece 92 at the end of contact guide 92
This is because the shape of the acute angle portion at the tip formed by cutting the hypocotyl is not disturbed, and the shape of the hypocotyl is cut.

Further, the scion transport arm 79 is at the push-out 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. 13B). In addition, when joining the scion and the stock, the backing guide 92
In this case, the transfer arm 79 is pushed out, and the hypocotyl hand 83 and the like are made to protrude, so that interference between the backing guide 92 and the hand 83 and the like can be prevented. If the scion grasping portion 80 of the hypocotyl hand 83 or the like is not elastic at the time of joining the scion and the stock, and if it is fixed, a gap must be provided between the scion and the stock to prevent interference between the stock and the scion. Must
In order to carry out the clip joining, a mechanism for individually attracting each seedling when this gap is present is required. Also, if the scion gripper 80 is fixed, the seedling supply direction is limited to the tangential direction of the transport circumference, so that a left-handed person has difficulty in supplying seedlings during scion supply. However, in the case of the present embodiment, since the scion gripping portion 80 can expand and contract, the seedling moving mechanism becomes unnecessary and at the same time, regardless of the difference in the dominant arm,
Workability is improved.

As described above, by the expansion and contraction of the transfer arm 79,
Since the scion holding portion 80 is movable, the degree of freedom in the method of receiving the scion seedlings from the supply plate 14 is increased. 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.

The structures of the cutting devices 19 and 23, the clip feeder unit 1 and the clip joining device 25 are the same as those described in the applicant's earlier application (Japanese Patent Application No. 5-6753). Further, the operation sequence of the grafting robot of the present embodiment is as disclosed in FIG. 14, and the operation time charts of the respective devices of the stock 3 and the scion 5 of the grafting robot of the present invention are shown in FIGS. 16 as disclosed. The operation time chart of each device of the clip feeder unit 1 is described in the earlier application (Japanese Patent Application No.
161512).

[0023]

According to the present invention, since the installation orientation of the scion seedlings in the scion supply device is such that the root side is inclined toward the scion conveyance device side with respect to the cotyledon development base, the scion transporting the scion and moving to the cutting position. In the device, the hypocotyl hits the backing guide piece of the scion transport device in a state of being inclined. Therefore, the hypocotyl comes into contact with the backing guide piece and the hypocotyl becomes vertical , so that the cutting is surely performed,
The joining accuracy with the stock 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 of a scion supply plate of the grafting robot according to one embodiment of the present invention.

FIG. 8 is a mechanism diagram of a gripping hand of the scion feeding device of the grafting robot according to one embodiment of the present invention.

FIG. 9 is a diagram showing a holding state of a scion seedling of the scion supplying device of the grafting robot according to one embodiment of the present invention.

FIG. 10 is a diagram showing a state in which the scion abutment on the backing guide piece of the scion transport device of the grafting robot according to one embodiment of the present invention.

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

FIG. 12 is a view for explaining a problem or the like in a case where the gripping hand of the scion feeding device of the grafting robot according to the embodiment of the present invention has no notch for gripping the hypocotyl.

FIG. 13 is a view of a scion transport device of the grafting robot according to one embodiment of the present invention.

FIG. 14 is a diagram showing an operation sequence of the grafting robot according to one embodiment of the present invention.

FIG. 15 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. 16 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
... Hoki part, 6 ... Joint part, 13 ... Rootstock seedling supply plate, 14 ... Hoki seedling supply plate, 14a ... Receiving groove, 14b ... Inclined guide plate, 14c ... Movable gripping hand, 14c '... Fixed gripping Hand, 14c "... notch, 14d ... actuator, 14
e: Microswitch, 14g: Hypocotyl guide, 17: Rootstock seedling supply device, 18: Rootstock transfer device, 19: Rootstock cutting device, 21: Rootstock seedling supply device, 22: Rootlet transfer device, 23
… A scion cutting device, 37… Bankstock hypocotyl hand

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-4-190718 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01G 1/06

Claims (1)

(57) [Claims] 1. A rootstock that is placed in a rootstock supply device and a rootstock seedling that is placed in a scion supply device are transported to respective cutting positions by a transporting device for each seedling, and the rootstocks that have been cut are respectively separated. In a grafting robot that further transports and joins a seedling and a scion seedling to a joining position with each transfer device, the setting position of the scion seedling in the scion supply device is such that the root side of the scion cotyledon deployment base is conveyed to the scion. A guide that tilts toward the apparatus is provided , and the scion transport device receives the guide from the scion supply apparatus.
Received the scion seedlings tilted toward the scion transport device side,
At the time of cutting with the cutting device, the tilted scion seedlings are vertically
A grafting robot having a backing guide for backing in a shape .