JP3282281B2 - 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 spikelet seedlings, and more particularly to a rootstock seedling supply device.

[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). 6753, Japanese Patent Application No. 5-64939, etc.).

[0003]

SUMMARY OF THE INVENTION The grafting robots of the inventions of Japanese Patent Application Nos. 4-161512 and 5-6753 developed by the present inventors supply rootstock seedlings or spikelets, respectively. The seedlings are manually supplied to the apparatus, and the seedlings on the supply apparatus are transported to the cutting positions by the respective transport apparatuses. 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. In this grafting robot, the notch of the rotatable neck hanging piece and the cylindrical roller of the stockholding part of the stockstock transfer device are used to suspend the stock's cotyledon deployment base, thereby positioning the stockstock vertically. I was
However, if the rootstock has a cotyledon deployment base that is thinner than the cut-off value of the neck suspension piece, the rootstock will slide down to below the hypocotyl position of the rootstock to be cut, and the cutting position of the rootstock will decrease. There was a shift.

Therefore, in the invention of Japanese Patent Application No. 5-64939, a drive shaft for grasping a hypocotyl is provided on a rootstock seedling supply plate, and one side of the grasping hand (the side which is the cutter side at the cutting position). The hand is fixed to the supply table, and when the rootstock seedling is transported to the cutting position by the rootstock transport device and then cut by the cutter, the cutter is cut at a predetermined position on the hypocotyl regardless of the difference in the thickness of the rootstock seedling. Improvements have been made to insert the blade. At this time, an actuator of a microswitch for detecting that the rootstock seedling has been inserted is provided in the hypocotyl grasping hand portion of the rootstock seedling supply plate, and the inserted rootstock seedling is a child hand of the hypocotyl. The actuator is also entangled and lowered when pulling the rootstock seedling down so as to support the leaf deployment base in a hanging state. At this time, in order to transport the rootstock seedling to the next cutting device area, the actuator may be broken by contacting the rootstock transport arm of the rootstock transporter that receives the rootstock seedling from the rootstock seedling supply plate and transports it. there were.

[0005] When transferring seedlings to the seedling supply device,
The pair of hands for securely holding the hypocotyl of the seedling in the supply device
May damage the seedlings when they touch the seedlings.
Was. 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 provide a seedling supply device for a grafting robot with excellent operability.

The above object of the present invention is achieved by the following constitution. That is, the rootstock seedlings arranged in the rootstock seedling supply device and the scionling seedlings arranged in the scionling seedling supply device are transported to the respective cutting positions by the respective seedling transfer devices, and the respective cut rootstock seedlings are cut. In the grafting robot that further transports and joins the seedlings to the joining position by each transport device, a pair of hands for gripping the hypocotyl of the seedling is provided in the seedling supply device, and the seedling at the tip of the pair of hands is provided. A grafting robot characterized in that a contacting part is formed into a convex curved surface.

[0007]

According to the present invention, when transferring a seedling to the seedling supply device,
A pair of hands (e.g., a hand 13, 13 'in FIG. 9) for gripping the hypocotyl of seedlings seedling supply device because the portion in contact with the tip of the seedlings are convex curved surface, seedling supply device (the seedling supply When the seedlings are inserted into the receiving grooves 13a) of the plate 13, there is no risk of damaging the seedlings when positioning the supply of the seedlings thereafter.

[0008]

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.

A rootstock seedling supplied manually to the rootstock seedling supplying device 17 is transported to a position (cutting position) of a rootstock cutting device 19 by a 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.

[0010] Similarly, the spikelet seedling supply device 2 is also manually operated.
The scion seedling supplied to 1 is conveyed in the direction of arrow (d) (see FIG. 1) by the scion conveying device 22, and the scion rotating in the direction of arrow (f) (see FIGS. 1 and 4) at the cutting position. The cutting device 23 cuts off part of the hypocotyl and the root, leaving the tissue above the hypocotyl. 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. Fall to
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. 2, 3, and 5 to 9. 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 so as to be in contact with the back surface of the cotyledon, the seedling can be supplied in substantially the same direction even when the orientation of the cotyledon is not set accurately when the stock is supplied.
Can be put on top.

Further, as shown in an enlarged side view of the rootstock seedling supply plate 13 (FIG. 5 (a)) and an enlarged view from below the rootstock seedling supply plate 13 (FIG. 5 (b)), Rootstock seedling supply plate 13
A movable gripping hand 13c for gripping the hypocotyl and an actuator 13d for driving the gripping hand 13c are provided below the receiving groove 13a. Then, the movable gripping hand 13c rotates around the base on the actuator 13d side, and can hold the hypocotyl with the fixed gripping hand 13c 'fixed to one side of the receiving groove 13a. The drive control of the actuator 13d is performed by the receiving groove 13
a that the rootstock seedling has been inserted into the microswitch 13e
The detection is performed by the actuator 13f. And
The sequencer 140 is actuated by the input of the microswitch 13e to drive the valve 141, and the movable gripping hand 13c is driven by the air pressure from the compressor 142. Therefore, the actuator 13f is disposed so as to cross the receiving groove 13a, and is mounted so as to be rotatable around a rotation shaft 13f 'provided on the bottom surface of the microswitch 13e. Then, as shown in FIG.
And the fixed grasping hand 13c 'grasps the hypocotyl of the rootstock seedling (FIG. 6).
After (a)), when the rootstock is pulled downward by human power, the cotyledon deployment base of the rootstock is hooked on the grips 13c, 13c ',
At that position, the rootstock seedling is positioned (FIG. 6B).

The actuator 13f is disposed so as to cross the receiving groove 13a, and is mounted so as to be rotatable around a rotation shaft 13f 'provided on the bottom surface of the microswitch 13e. A guide 13g is provided below the actuator 13f of the microswitch 13e. The guide 13g has a bent piece 13g 'attached to a plate supported on the bottom surface of the actuator 13d. The guide 13g prevents the actuator 13f from being entangled and lowered when pulling the rootstock seedling downward by human power so that the base of the rootstock seedling deployment is supported by the receiving groove 13a while hanging the neck. The actuator 13f is no longer broken by coming into contact with the stock transport arm (described later) of the tree transport device 18. Since the fixed gripping hand 13c 'is fixed, the position of the hypocotyl portion of the rootstock seedling abutting on the fixed gripping hand 13c' is constant even if the hypocotyl thickness is different. In the cutting position, the hypocotyl portion of the rootstock that contacts the fixed gripping hand 13c 'is on the side that hits the cutting blade (not shown) of the cutter, and the hypocotyl is irrespective of the thickness of the hypocotyl at the cutting position. Always abuts the cutting blade at a specific coordinate point.

A notch 13c "is provided at a position of the movable gripping hand 13c where the rootstock seedling hypocotyl portion is gripped. Because of the notch 13c", as shown in FIG. Without being supplied, the hypocotyl is set in the vertical direction (FIG. 7 (a)), and the hypocotyl is prevented from being gripped by the gripping hand 13c other than the notch 13c ″, and the joining error is eliminated. Further, the long axis direction (arrow direction) of the cross section of the hypocotyl can be gripped along the inner surface of the notch 13c "(FIG. 7 (b)), and the gripping direction of the hypocotyl is stabilized. Thus, the notch 13c "eliminates the cutting mistake of the rootstock cotyledon and the joining mistake with the scion. The notch 13c"
When the shape of c "is an arc, the shape of the notch 13c" is an elliptical shape having a circumference of less than half the circumference of the virtual circle. Even in the case of an arc shape, the virtual ellipse is formed to have a circumferential portion having a length equal to or less than half the circumferential length of the virtual ellipse.

[0015] As shown in FIG.
It is not desirable to provide a notch also in c ′ because the notch may be caught when the rootstock seedling is transferred to the transport device 18. Further, as shown in the enlarged view of FIG. 9, a portion of the movable gripping hand 13 c and the fixed gripping hand 13 c ′ that comes into contact with the rootstock seedling is provided with a round (R) as shown in the enlarged view of FIG. When inserted into the groove 13a, there is no risk of damaging the rootstock seedlings when positioning the rootstock seedlings thereafter. The rootstock seedling set on the rootstock seedling supply plate 13 is the rootstock transporter 1
8 and sequentially conveyed to the cutting position and the joining position. FIG. 10 shows a detailed view of the stock carrier 18. FIG.
10A is a top view, and FIG. 10B is a side view (FIG.
(A) is an AA line view of FIG. 10 (b)).

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,
And a rootstock gripper 35 (a pair of rootstock embryo shaft hands 37, a pair of rootstock fixing hands 38, and a cylindrical roller 41) fixed to the transfer arm 34. The two hands 37 and 38 are attached to the stock transport arm 34.
Is controlled by an air cylinder provided in a box (not shown) to hold the stock. The rootstock hypocotyl hand 37 is used to prevent damage to the rootstock hypocotyl.
The inside is made of rubber. In addition, rootstock fixed hand 3
Numeral 8 is a curved plate that grips the cylindrical side surface of the rootstock 43 (see FIG. 10B).

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 rootstock cotyledon and a rotary actuator for mounting the rootstock cotyledon are provided on the rootstock transfer 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. Also, at the time of joining with the scion, FIG.
As shown in (2), the cylindrical roller 41 is rotated in the vertical direction to lift the cotyledons left on the rootstock, so that the clip can grip the rootstock embryo shaft. The shield plate 37a that shields the vicinity of the root of the rootstock hypocotyl hand 37 fails to bond the rootstock seedling to the scion at the bonding position, and fails to bond even if the hand 37 separates the rootstock seedling. The rootstock does not bite into the root of the hypocotyl hand 37, and the rootstock seedlings that have failed to join are smoothly discharged from the rootstock transporter.

As shown in FIG. 11, the cotyledons left on the rootstock are lifted by the cylindrical roller 41 when they are joined to the scion, but if the cotyledons left on the rootstock are maintained after the joining, Even if there is a rootstock seedling that has failed to join, it will no longer cut 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. This is because the rootstock gripper 35 moves in this state, so that rootstock seedlings that have failed to join are easily discharged from the hypocotyl hand 37, 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. 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. A detailed view of the scion transport device 22 is shown in FIG.
FIG. 12A is a top view, and FIG. 12B is a side view. FIG. 12A is a view taken along the line AA of FIG. 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. In the scion transfer arm support 75,
A scribing transfer arm extruding cylinder 77 supported by the support body 75, a scion transfer arm 79 extended and contracted by the cylinder 77, and a scion cotyledon support plate 81 at the tip of the transfer arm 79, which constitutes a scion gripper 80. And a hogi hypocotyl hand 83 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 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. 12B). 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.

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. 13 shows a cutting device on the stock 3 side. FIG. 13 (a) is a top view of the same (direction viewed from the top of the grafting robot).
FIG. 13B is a side view seen from the direction of arrow A in FIG. 13A (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. Also, the cutting arm 117 is attached to the cutter arm 115 before the cutting blade 117 hits the hypocotyl so as not to hinder the cutting of the hypocotyl.
7 is provided with a cotyledon lifting guide 122 for lifting cotyledons (cotyledons to be cut off) of the seedlings within the rotation locus of No. 7.

The clip feeder unit 1 and the clip joining device 25 are described in the earlier application filed by the present applicant (Japanese Patent Application No. 5-675).
No. 3) is adopted. Also,
The operation sequence of the grafting robot of the present embodiment is as disclosed in FIG.
The operation time charts of the respective devices of the scion part 5 are as disclosed in FIG. 15 and FIG. The operation time chart of each device of the clip feeder unit 1 is as described in the applicant's earlier application (Japanese Patent Application No. 161512/1992).

[0026]

According to the present invention , a seedling is transferred to a seedling supply device.
Sometimes there is no risk of damaging the seedlings and the bonding rate of the seedlings is high.
Round.

[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 diagram of a rootstock seedling supply device of the grafting robot according to one embodiment of the present invention.

FIG. 6 is a diagram showing gripping positioning of rootstock seedlings to the rootstock seedling supply device of the grafting robot according to one embodiment of the present invention.

FIG. 7 is a diagram showing a holding state of a rootstock seedling on a holding hand of a rootstock seedling supply device of a grafting robot according to an embodiment of the present invention.

FIG. 8 is a view for explaining a problem at the time of transfer when a notch for holding a hypocotyl is also provided in the fixed holding hand of the rootstock seedling supply device of the grafting robot according to one embodiment of the present invention.

FIG. 9 is an enlarged view of a gripping hand of the rootstock seedling supply device of the grafting robot according to one embodiment of the present invention.

FIG. 10 is a diagram of a stock transfer device of the grafting robot according to one embodiment of the present invention.

FIG. 11 is a view of a rootstock transfer device when the rootstock and splint of the grafting robot of one embodiment of the present invention are joined.

FIG. 12 is a diagram of a scion transport device of a grafting robot according to one embodiment of the present invention.

FIG. 13 is a diagram of a cutting 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 ... Junction, 13 ... Rootstock seedling supply plate, 13c ...
Movable gripping hand, 13c '... fixed gripping hand, 13c "
... Notch, 13f ... Actuator, 13g ... Guide,
Reference numeral 17: rootstock seedling supply device, 18: rootstock transfer device, 19: rootstock cutting device, 21: scion seedling supply device, 22: scion conveyance device, 23: scion cutting device, 37: rootstock hypocotyl hand

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-5-30856 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01G 1/06

Claims (1)

(57) [Claims] 1. A rootstock seedling placed in a rootstock seedling supply device and a seedling seedling placed in a spikelet seedling supply device are transported to respective cutting positions by respective seedling transport devices, and cut. In a grafting robot for transporting and joining a rootstock seedling and a scion seedling further to a joining position by each transport device, a pair of hands for holding a hypocotyl of the seedling is provided in the seedling supply device, and the tips of the pair of hands are provided. A grafting robot characterized in that a portion that comes into contact with a seedling is formed into a convex curved surface.