JP3294137B2 - Seedling delivery device for grafting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafting facility for vegetable seedlings and the like, which is used for grafting (for spikes) planted in each seedling raising container on a tray in which a plurality of seedling raising containers are arranged vertically and horizontally. Seedling transfer device used to transfer seedlings to a seedling arrangement device.Specifically, a seedling for grafting planted in a seedling container supplied to the seedling receiving position,
The present invention relates to a device configured to be gripped by a seedling gripping device having left and right seedling gripping pieces in a front-rear posture and transported to a seedling treatment device.

[0002]

2. Description of the Related Art In this kind of grafting equipment delivery apparatus,
In general, a seedling supply conveyor for feeding seedlings to a seedling receiving position is operated to move a seedling raising container in a front-rear direction with respect to a seedling holding device, or move the holding device back and forth with respect to a seedling raising container. By moving the set amount in the direction,
It is configured to transfer a seedling to the seedling holding space of the seedling holding device. Conventionally, in a state where the seedling has been transferred to the seedling holding space, the seedling holding device is operated to hold the seedling with the left and right seedling holding pieces.

[0003]

However, the above-mentioned conventional technique has the following disadvantages. That is,
The seedlings planted in the seedling raising container are not always located at the front, rear, left and right centers of the seedling raising container, and there are large variations in the position of the seedlings in the front-rear direction and the left-right direction with respect to the seedling raising container. Therefore, even if the seedling holding device and the seedling raising container are accurately positioned and the seedlings are transferred to the holding space, the position of the seedlings relative to the seedling holding device varies greatly. As a result, when the seedling is gripped by the seedling gripping device, the variation in the position of the seedling in the left-right direction is eliminated by the gripping, but the position in the front-rear direction remains varied. Therefore, when transferring the grasped seedlings to the seedling treatment device, the positions for transferring the seedlings to the seedling treatment device are not aligned, and seedling failure such as falling off occurs, resulting in waste of the seedlings.

[0004] An object of the present invention is to prevent poor seedling delivery to a seedling treatment apparatus and prevent waste of seedlings.

[0005]

The features, functions and effects of the first aspect of the present invention are as follows.

[Features] A seedling for grafting planted in a seedling container supplied to a seedling receiving position is gripped by a seedling gripping device having left and right seedling gripping pieces in a front-rear direction and transported to a seedling processing device. A seedling delivery device of a grafting facility that is configured so as to perform, in a state where the seedlings are transferred to a seedling holding space of a seedling holding device located at the receiving position, one of the seedling raising containers in the seedling raising container at a position more than a specific position in the front-rear direction. Positioning means for pressing the seedling located on the side to a specific position in the front-rear direction is provided, and the positioning means
And the seedling holding device is located at an entrance of the seedling holding space.
Is pressed by the seedling due to the relative movement between
To allow the transfer of seedlings to the seedling holding space.
The seedlings in the direction opposite to the direction in which the transferred seedlings were transferred
With the relative movement between the gripping device and the seedling raising container,
Seedling holding device for one-way gate that presses to a specific location
In that the means provided for the above is provided .

According to the first aspect of the present invention, the positioning means presses the seedling located on one side of the specific location in the front-rear direction in the container for seedling raising to the specific location in the front-rear direction. By positioning the seedlings on the other side of the specific location in the front-rear direction including the specific location in the front-rear direction, it is possible to suppress variations in the front-rear direction of the seedlings with respect to the seedling holding device.

In particular, when the specific location in the front-rear direction is set at one end in the front-rear direction of the container for seedling raising, no matter where the seedlings are planted with respect to the container for seedling raising in the front-rear direction, the pressing action is performed. Thereby, the seedling can be positioned at one specific position in the front-rear direction.

Further, as a positioning means, a one-way
By configuring the means for providing a seed to the seedling holding device,
For relative movement of the seedling holding device to one side with respect to the seedling raising container
At the same time, the seedlings are transferred to the seedling holding space, and the
Seedlings at one-way gates at specific location
So that the seedlings can be
Relative to the seedling holding device and the seedling container to transfer
Moving the seedling holding device back and forth with respect to the seedling raising container
Reciprocating device and seedling container for seedling holding device
A device for pressing seedlings simply by improving the device to move
Can be configured.

[Effect] Therefore, according to the first aspect of the present invention, the variation of the seedling in the front-rear direction with respect to the seedling holding device due to the variation in the front-rear direction of the seedling with respect to the seedling raising container is reduced or eliminated. It is possible to promote the certainty of the transfer of the seedlings from the device to the seedling treatment device, to reduce poor seedling transfer, and to prevent the waste of the seedlings.

The seedlings are transferred to the seedling holding space of the seedling holding device.
For moving the seedling holding device and the seedling container relative to each other
Can be effectively used as positioning means, and the positioning means is structured
Simple and inexpensive configuration .

According to the second aspect of the present invention, the features, operations and
The effects are as follows.

[Features] In the features of the first aspect of the present invention, the seedling holding device is moved relative to the seedling raising container in the front-rear direction so that the seedlings are transferred into the seedling holding space. It is in.

[Action] According to the second invention , in addition to the action of the first invention, the following is provided.
The following effects can be obtained. Since the direction of pressing the seedlings by the positioning means and the direction of relative movement between the seedling holding device for transferring the seedlings to the seedling holding space and the container for seedling raising are matched, an apparatus for pressing the seedlings for positioning the seedlings And a device for transferring the seedlings into the seedling holding space can be used for the same purpose.

[Effects] Therefore, according to the second invention, in addition to the effects of the first invention,
Thus, the following effects can be obtained. While the positioning means is provided, it is possible to suppress the complication of the structure and the cost increase by sharing the components.

According to the third aspect of the present invention, the features, operations,
The effects are as follows.

[Features] In the features of the first and second aspects of the present invention, the seedlings are reciprocated in the front-rear direction with respect to the seedling holding device, so that the seedlings are transferred to the seedling holding space by forward movement. And the one-way gate is configured to be pressed by the backward movement.

[Action] According to the third invention, the action of the first invention or the second invention is provided.
In addition to the above, the following operation can be achieved. Since the transfer of the seedling to the seedling holding space and the pressing operation of the pressing tool are performed by reciprocating movement of the seedling holding container with respect to the seedling holding device, the transfer and positioning of the seedling to the seedling holding space are performed at the seedling receiving position. It can be performed simply by controlling the seedling supply conveyor for supplying seedlings.

[Effect] Therefore, according to the third invention, the first invention or the second effect is provided.
In addition to the above, the following effects can be obtained. While transferring and positioning the seedlings into the seedling holding space, only one control target is required to execute them, and the controllability can be improved.

According to the fourth aspect of the present invention, the feature, operation and
The effects are as follows.

[Features] In the features of the first invention or the second invention, the seedling holding device is reciprocated in the front-rear direction with respect to the seedling raising container, so that the seedlings are transferred into the seedling holding space in the forward movement. ,And,
The point is that the one-way gate is configured to be pressed by the backward movement.

[Operation] According to the fourth invention, the operation of the first invention or the second invention is performed.
In addition to the above, the following operation can be achieved. Since the reciprocating movement of the seedling holding device with respect to the seedling raising container causes the transfer of the seedlings into the seedling holding space and the pressing of the seedlings, the transfer and positioning of the seedlings into the seedling holding space are controlled by one seedling holding device. Just do it.

[Effects] Therefore, according to the fourth invention, the first invention or the second invention is
In addition to the effects, the following effects can be obtained.
While transferring and positioning the seedlings into the seedling holding space,
Only one control target is required to execute them, and controllability can be improved.

According to the fifth aspect of the present invention, the features, operations and
The effects are as follows.

[Features] In the features of the first invention, the second invention, the third invention, and the fourth invention, the seedling holding device holds a plurality of seedlings arranged in a row at a time. In this way, a plurality of sets of seedling holding pieces corresponding to each seedling are provided.

[Operation] According to the fifth aspect of the present invention, since the seedling holding device has a plurality of seedling holding spaces and collectively holds a plurality of seedlings arranged in a row, a plurality of seedling holding devices are provided. Can be conveyed to the seedling treatment device at once.

[Effect] Therefore, according to the fifth aspect of the present invention, the seedlings can be efficiently transported to the seedling treatment device.

According to the sixth aspect of the present invention, the features, operations and
The effects are as follows.

[Features] In the features of the first invention, the second invention, the third invention, the fourth invention, and the fifth invention, the seedling holding device includes a seedling associated with the holding of the left and right seedling holding pieces. Is provided with a cutting blade for cutting the seedling below the portion to be gripped.

[Operation] According to the sixth aspect of the present invention, the cutting blade cuts the seedling below the portion to be gripped by the cutting blade as the seedling is gripped by the seedling gripping piece, and the excess portion at the lower part of the seedling is removed. Can be cut and removed, so that the transfer of the seedlings to the seedling treatment device and the seedling treatment by the seedling treatment device can be performed without being disturbed by an excessive portion of the seedlings.

[Effect] Therefore, according to the sixth aspect of the present invention, the transfer of the seedlings to the seedling treatment apparatus can be performed more reliably.

[0032]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [First Embodiment] As shown in FIGS. 1 and 2, an automatic grafting equipment comprises a plurality of upper and lower rootstock trays 2 (see FIG. 3) each containing rootstocks 1 for seedlings. Stocker 10 for supporting a stocking tray 10, a scioning tray 5 for accommodating seedlings 4 for scioning (see FIG. 3) in a plurality of upper and lower stages, and a temporary planting for transplanting seedlings 7 after grafting. A temporary stocker 12 for supporting the tray 8 in a plurality of upper and lower stages, a stock supply conveyor 3 for supplying the stock tray 2, a scion supply conveyor 6 for supplying the scion tray 5,
Temporary planting tray supply conveyor 9 for supplying the temporary planting tray 8
A first seedling aligning device 14, a second seedling aligning device 15, a first seedling cutter 16, a second seedling cutter 17, a third seedling cutter 18, a first transfer device 21, a second transfer device 22, a first robot. A hand 19, a second robot hand 20, a roller conveyer type tray collection conveyor 23, a clip supply mechanism 30, a curing stocker 33, and a storage container 34 are provided.

The seedlings 1 for the rootstock and the seedlings 4 for the scion are the seedlings a for grafting in the present invention, and have a pair of cotyledons. Seedling a or simply seedling a. When it is not necessary to distinguish between the rootstock supply conveyor 3 and the scion supply conveyor 6, it is referred to as a seedling supply conveyor C, and the first seedling arrangement device 14 and the second seedling arrangement device 15 according to the present invention. It is an example of the seedling treatment apparatus A, and when no distinction is required thereafter, it is simply referred to as a seedling arrangement apparatus A, and the first delivery device 21 and the second delivery device 22 are the seedling delivery devices according to the present invention. Hereinafter, when no distinction is required, it is referred to as a seedling delivery device.

As shown in FIG. 3, the rootstock tray 2, the scion tray 5, and the temporary planting tray 8 are made of a soft resin in which a plurality of seedling raising containers b are formed in parallel in a plurality of rows and rows. In the rootstock tray 2, seedlings 1 for rootstock are planted in each of the seedling raising containers b. On the other hand, in the scion tray 5, each of the seedling raising containers b is mounted in each of the seedling raising containers b. When the seedlings 4 are planted and it is not necessary to distinguish between the rootstock tray 2 and the scion tray 5 hereafter, it is simply referred to as a tray T.

In the temporary planting tray 8, as shown in FIG. 4, the soil 37 is filled in each seedling raising container b.
7 has a vertical hole 37 for inserting the seedling 7 after the grafting process.
a is formed. The tray T and the temporary planting tray 8 are put into a plastic nursery box 13 for growing rice seedlings and vegetables and handled.

Rootstock stocker 10 and scion stocker 1
1. The temporary planting stockers 12 are arranged side by side in a state where the temporary planting stockers 12 are located at the center.

Rootstock supply conveyor 3 and scion supply conveyor 6
Are arranged in parallel and at the same height in plan view, and the provisional planting tray supply conveyor 9 is provided with a seedling supply conveyor C
At a lower position, it extends rearward in parallel with the seedling supply conveyor C.

The seedling supply conveyor C has a front half 24 disposed obliquely downward and a rear half 25 disposed horizontally.
The first half 24 is for continuous supply, and the second half 25 is for intermittent supply with a set amount corresponding to the length in the front-rear direction of the seedling raising container b. It is. Further, the temporary planting tray supply conveyor 9 includes:
The front half 26A is disposed obliquely downward, the middle half 27 is disposed horizontally, and the rear half 26B is disposed horizontally. The front half 26A and the rear half 26B are continuous. The middle half 27 is intermittently supplied with a set amount corresponding to the length in the front-rear direction of the seedling raising container b.

Each of the first seedling arrangement device 14 and the second seedling alignment device 15, as shown in FIGS.
It is arranged at the transport end of the stock supply conveyor 3 and the scion supply conveyor 6, and has the same structure. Then, as shown in FIGS. 5 (a) and 5 (b), the seedling alignment device A is opposed to each other at intervals so as to form a slit S of a predetermined width, and has one end in the longitudinal direction located below. Arranged in an inclined posture, the seedlings a are hung so that the axis thereof hangs down through the slits S, and the seedlings a are supported in a state in which a plurality of the seedlings a are arranged in the longitudinal direction. A pair of vibrating support plates 31 are provided to be conveyed to one end side in the direction, and a pair of cotyledons are provided at the transfer end portions of these vibrating support plates 31 so as to abut on the cotyledons of the first seedling a and rotate around the axis of the seedling a. Is provided with a posture regulating pin 32 for regulating the posture to a posture orthogonal to the vibration support plate 31. In addition, the following seedling a is regulated to the same posture as the preceding seedling a by the cotyledon contacting the cotyledon of the preceding seedling a with the vibration conveyance, and as a result, all the seedlings supported by the vibration support plate 31 Are aligned in a predetermined direction. In addition, the entrance Sa of the slit S, which is the moving path of the shaft, is formed in a shape that becomes wider toward the tip end, and the slit S of the shaft is formed.
It is easier to transfer to

The first seedling transfer device 21 and the second seedling transfer device 22 have the same structure.
As shown in FIG.
A seedling holding device B capable of holding and releasing gripping at 5, 50 is provided, and among the seedlings a planted on the tray T supplied by the seedling supply conveyor C, the seedlings a located in the front row in the supply direction are collectively collected. A position changing means for changing the seedling holding device B is provided at a seedling receiving position for receiving the seedlings and a seedling passing position for passing the seedlings a to the seedling aligning device A collectively, and a positioning means is provided.

The seedling holding device B is shown in FIGS.
As shown in FIG. 0 to FIG. 28, among the seedlings a on the tray T, a plurality of seedling holding pieces 45 and 50 corresponding to the plurality of seedlings a located in the front row in the supply direction are provided. a is collectively held, and the seedling holding pieces 45, 50 are moved relative to the tray T in the front-rear direction (supply direction) in a state where the seedling holding pieces 45, 50 are released. The seedlings a are introduced into the seedling holding spaces c formed between the 50 seedlings.

Specifically, as shown in FIGS. 6 and 7,
A pair of front and rear support rods 40 are fixed to the support frame 39, and a first support plate 41 and a second support plate 42 are attached to the support rod 40 so as to be movable in the rod longitudinal direction. A gripping piece (hereinafter, referred to as one seedling gripping piece) 45 is attached, and the other left and right seedling gripping piece (hereinafter, referred to as the other seedling gripping piece) 50 is attached to the second support plate 42, and is extended to extend one side. The first support plate 41 is moved in one direction so that the seedling holding pieces 45 move collectively in the holding direction (the direction approaching the other seedling holding piece 50), and the one seedling holding piece 45 is contracted by being contracted. A first cylinder 49 for moving the first support plate 41 in a direction opposite to the above so as to move collectively in a grip release direction (a direction moving away from the other seedling holding piece 50), and similarly extended by extending the other. Seedling grasp The second support plate 42 is moved in the opposite direction so that the 50 collectively moves in the grasping direction (the direction approaching the one seedling grasping piece 45), and contracts, so that the other seedling grasping piece 50 collectively moves. And a second cylinder 53 for moving the second support plate 42 in the one direction so as to move in the grip release direction (a direction away from the one seedling gripping piece 45). And a plurality of pairs of seedling gripping pieces 45 and 50 are collectively gripped by the first cylinder 4.
By synchronously driving the 9 and the second cylinder 53, a plurality of pairs of seedling holding pieces 45 and 50 are configured to be collectively released. The one seedling gripping piece 45
8 and 10, as shown in FIGS. 8 and 10, a substrate 45A fixed to the first support plate 41 and a grip portion 45B made of urethane rubber attached to the substrate 45A. In addition, as shown in FIG. 9 and FIG.
It is composed of a substrate 50A fixed to the support plate 42 and a gripping portion 50B made of urethane rubber attached to the substrate 50A.
The tip portions 45a, 50a of the substrates 45A, 50A which form the entrance of the seedling holding space c are formed in an inclined posture for guiding the transferred seedling a to the left and right central sides of the seedling holding space c. In addition, as shown in (a) of FIG. 10, the tip part 45a of one seedling holding piece 45 is arrange | positioned above the tip part 50a of the other seedling holding piece 50. As shown in FIG.

As shown in FIG. 10, the first support plate 41 cooperates with a cutter contact 50b formed by bending the substrate 50A of the other left and right seedling holding piece 50, thereby holding the seedling a with the holding operation. Seedling a below the part to be gripped
The tool rest 43 which supports the cutting blade 29 for cutting is fixed. Examples of the cutting blade 29 include a rectangular shape as shown in FIG. 11A and a trapezoidal shape as shown in FIG. 11B. Also, each cutting blade 29
As shown in FIG. 12, the cutting angles θ1 to θ6 inclined with respect to the front-rear direction are set to be smaller as the cutting angle of the cutting blade 29 located at one end side in the juxtaposition direction.

As shown in FIGS. 20 to 28, the position changing means includes a receiving posture orthogonal to the supply direction by swinging around the vertical axis P, and a position along the supply direction, that is, the vibration supporting plate. A first base portion 36 is provided which is switchable to a transfer posture along the longitudinal direction of the base member 31 and is extendable and contractible in the longitudinal direction. A movable portion of the first base portion 36 is capable of vertically changing the position of a second base portion 38. The support frame 39 of the seedling grasping device B is movably attached to the second base 38 via a pair of rods 38a in a direction orthogonal to the sliding direction, and the first base 36 is mounted around the longitudinal axis P. An actuator (not shown) for swinging operation, an actuator (not shown) for expanding and contracting the first base 36, and an actuator (not shown) for changing the position of the second base 38 up and down with respect to the first base 36. Z) , The seedling grasping device B second base 38
And a cylinder 70 that performs reciprocating operation with respect to. That is, as shown in FIGS.
The first base 36 is contracted to swing to the receiving position, the second base 38 is positioned at the lower position, and the cylinder 70 is extended to move the seedling holding device B toward the seedling supply conveyor C side. Thereby, the seedling holding device B is positioned at the seedling receiving position, the cylinder 70 is contracted to move the seedling holding device B backward, the second base 38 is positioned at the upper position, and the first base 36 is transferred to the seedling. By swinging to the position, the row of seedlings held by the
The seedling grasping device B is positioned at a standby position to be positioned on an extension of the slit S, and in that state, as shown in FIG.
By extending the first base 36, the seedlings a gripped in a state of being arranged in a row in the seedling holding device B are transferred to the slit S from the top of the row, so that the entire seedling a is transferred to the slit S. The seedling a is transferred from the seedling holding device B to the seedling alignment device A by positioning the seedling holding device B, releasing the holding of the seedling a by the seedling holding device B, and positioning the second base 38 at the lower position. As shown in FIGS. 23 to 26, after the first base 36 is contracted to position the seedling holding device B at the standby position, the first base 36 is swung as shown in FIG. It is configured to be prepared for.

The means for transferring the seedlings a in the front row on the tray T to the respective seedling holding spaces c of the seedling holding device B located at the seedling receiving position is, as shown in FIGS. Are actuated by a set amount in the supply direction. The set amount is a length corresponding to the length of the seedling raising container b in the front-rear direction, and the center of the seedling raising container b in the front-rear direction and the center of the seedling holding space c in the front-rear direction by the set amount operation of the seedling supply conveyor C. The tray T is placed on the seedling supply conveyer C so that the values of.

The positioning means is basically provided in FIG.
As shown in the figure, in a state where the seedlings a are transferred to the seedling holding space c of the seedling holding device B located at the seedling receiving position, the seedlings a located on one side of the specific location in the front-rear direction of the seedling raising container b are moved back and forth. This is a means for pressing and pressing a specific position in the direction. Specifically, as shown in FIGS. 6 to 10, 13 and 14, the seedling a is moved into the seedling holding space c by operating the seedling supply conveyor C by a set amount in the supply direction, and the seedling is moved. a to allow the transfer of the seedling a into the seedling holding space c, while operating the second set amount in the direction opposite to the supply direction of the seedling supply conveyor C after the transfer (retreat). Actuation), the seedling holding device B is provided with a one-way gate 72 for pressing the seedling a located on the entrance side from the specific position in the front-rear direction to the specific position in the front-rear direction. The specific location in the front-rear direction is the central location in the front-rear direction of the seedling raising container b, and the second set amount is half the length in the front-rear direction of the seedling raising container b.

Therefore, as shown in FIG. 15, among the seedlings a transferred to the seedling holding space c, the seedlings a are located closer to the supply side than the center in the front-rear direction due to the variation in the planting positions in the seedling raising containers b. The seedling a is pushed by the one-way gate 72 in accordance with the retreat operation of the seedling supply conveyor C, and is located at the center in the front-rear direction. As a result, the seedling holding device B is positioned at the center of the seedling raising container b in the front-rear direction. The seedling a located on the location and the supply lower side than the location is gripped, and the range of variation of the seedling a in the front-rear direction in the gripping state is half the length of the seedling raising container b in the front-rear direction.

As shown in detail in FIGS. 13 and 14, the one-way gate 72 includes left and right seedling holding pieces 45, 50.
The gate member 72 is provided at each of the tip portions 45a and 50b of the
a is swingably mounted in the transfer direction, and a stopper 72b is formed on the seedling gripping pieces 45, 50 to prevent the gate member 72a from swinging in the transfer direction beyond the closed position.
A spring 72 for urging the gate member 72a in the moving direction
c is provided.

Therefore, the width of variation of the seedlings a held by the seedling holding device B in the front-rear direction is half that of the case where the positioning is not performed by the positioning means. The variation of the seedlings a in the width direction of the slits S when transferring the seedlings is reduced, and the reliability of the transfer of the seedlings a to the slits S can be increased.

In the grafting facility, the grafting process and the temporary planting process are performed using the first robot hand 19, the second robot hand 20, and the clip supply device 30. Specifically, as shown in FIGS. 16 and 26, the first
The robot hand 19 takes out the seedling 1 for the rootstock of the first seedling aligning device 14 and carries it to the position of the first cutter 16. As shown in FIG. The upper part of the seedling 1 is cut diagonally leaving one leaf. At the same time, the second robot hand 20 takes out the first seedling 4 for the scion of the second seedling aligning device 15 and carries it to the position of the second cutter 17 (see FIGS. 16 and 26). ), The second cutter 17
Thereby, the lower part of the seedling 4 for the scion is cut diagonally.

Next, the first robot hand 19 and the second robot hand 20 move toward the center, and as shown in FIGS. 18 and 27, the upper part is moved by the first robot hand 19 and the second robot hand 20. The lower end of the cutting seedling 4 for which the lower part has been cut is joined to the upper end of the cut stocking seedling 1, and the clip 35 is sandwiched between the joining parts by the clip supply device 30. Ends the grafting process. In this case, the seedling 4 for the scion is joined to the seedling 1 for the stock such that one leaf of the seedling 1 for the stock and the cotyledon of the seedling 4 for the scion are substantially orthogonal in plan view.

When one grafting process is completed,
As shown in FIG. 19, the third cutter 18 cuts a position of a predetermined length from the upper end to the lower side of the seedling 7 after the grafting process, and adjusts the height of the seedling 7 after the grafting process to the set height. After that, the seedlings 7 after the grafting process are transplanted to the soil 37 of the temporary planting tray 8 by the first robot hand 19 as shown in FIGS. This transplant is performed on soil 37
This is performed by inserting the seedling 7 after the grafting process into the vertical hole 37a formed in the above.

Next, the overall flow of the automatic grafting equipment will be described. As shown in FIG. 1 and FIG. 2, a rootstock tray 2 containing rootstock seedlings 1 from a rootstock stocker 10.
Are taken out one by one by the operator and placed on the stock supply conveyor 3, and the scion trays 5 containing the scion seedlings 4 are taken out of the scion stocker 11 one by one by the worker. It is placed on the scion supply conveyor 6 and the temporary planting tray 8 containing the soil 37 from the temporary planting stocker 12
The workers are taken out one by one and placed on the temporary planting tray supply conveyor 9.

The tray T is in the second half 25 of the seedling supply conveyor C.
, The seedling holding space c of the seedling holding device B located at the seedling receiving position as shown in FIGS.
, The seedling a in the front row of the tray T enters.

As shown in FIG. 15C, the seedling a is positioned by the retreating operation of the seedling supply conveyor C.

Thereafter, as shown in FIG. 15D, the seedling holding device B performs a holding operation, whereby all the seedlings a in the front row are held and cut at the same time.

Next, the seedling holding device B is moved from the seedling receiving position to the seedling passing position by the position changing means, and the seedling a held by the seedling holding device B is moved to the pair of vibration supporting plates of the seedling alignment device A. During 31, that is, it is inserted into the slit S.

When the insertion is completed, the holding by the seedling holding device B is released, the seedling a is transferred to the seedling alignment device A, and the seedling holding device B is lowered by the position changing means, and then returned to the seedling receiving position. It is.

As described above, when the seedling a is put between the pair of vibration supporting plates 31 of the seedling alignment device A, the vibration supporting plate 31 vibrates, and the seedling a But,
The pair of cotyledons is corrected to a predetermined orientation while being moved to the terminal side (see FIG. 25).

Next, as shown in FIGS. 26 to 28, a single grafting process is performed by the first robot hand 19, the first cutter 16, the second robot hand 20, and the clip supply device 30, and the setting is performed by the third cutter 18. The seedlings 7 after the grafting treatment by the first robot hand 19 are aligned to the height and transplanted to the temporary planting tray 8.

As described above, the joining and transplanting of one seedling 1 for rootstock and seedling 4 for spikes are repeated, and are supported by the first seedling aligning device 14 and the second seedling aligning device 15. When the joining and transplanting of the seedlings 1 for the rootstock and the seedlings 4 for the scions are completed, the rear half 25 of the seedling supply conveyer C provides only one pitch corresponding to the length in the front-rear direction of the seedling raising container b. The tray T is intermittently supplied, and the seedling delivery device is operated as shown in FIGS.
Is taken out and put into the seedling arrangement device A.

When the transplantation to one temporary planting tray 8 is completed, the temporary planting tray 8 is conveyed and is supported by the curing stocker 33 in a plurality of upper and lower stages as shown in FIGS.

On the other hand, at the end of the seedling supply conveyor C,
When all the seedlings a are removed from the tray T, the empty tray T is transported by the recovery transport mechanism 23 and is recovered in the storage container 34.

[Second Embodiment] In the first embodiment, the positioning means is modified as follows. That is, as shown in FIGS. 29 (a) to (d), it is possible to extend and contract between the cylinder 70 and the seedling holding device B with a stroke corresponding to the length in the front-rear direction of the seedling raising container b. As a result, the seedling holding device B located at the receiving position is moved to the supply lower side with respect to the seedling supply conveyor C, and the seedling a in the front row in the tray T is transferred to the seedling holding space c ((b) in FIG. 28). ), The front end of the seedling raising container b is designated as a specific position in the front-rear direction and is pressed to the specified position in the front-rear direction via the one-way gate 72 (see (c) in FIG. 28). 73 is provided. In this case, since the seedling a is pressed at the specific position in the front-back direction, there is no variation in the front-back direction of the seedling a, and as a result, there is no variation in the front-back direction of the holding position of the seedling a by the seedling holding device B. .

[Another Embodiment] In the above embodiment, the seedling delivery device is shown in which a plurality of seedlings a supplied in a state of being arranged in a row are transferred to the seedling treatment device A at once. The seedlings a may be transferred to the seedling treatment apparatus A one by one.

[Brief description of the drawings]

FIG. 1 is an overall plan view of an automatic grafting device.

FIG. 2 is an overall side view of the automatic grafting device.

FIG. 3 is a perspective view showing a state of a stock tray and a scion tray.

FIG. 4 is a perspective view showing a state in which the seedling after the grafting process, the lower part of which has been cut by a third cutter, is transplanted to a temporary planting tray by a first robot hand.

FIG. 5 is a perspective view of first and second seedling alignment mechanisms.

FIG. 6 is a perspective view of a seedling holding device.

FIG. 7 is an exploded perspective view of the seedling holding device.

FIG. 8 is an exploded perspective view of one seedling holding piece.

FIG. 9 is an exploded perspective view of the other seedling holding piece.

FIG. 10 is a plan view for explaining the operation of the seedling holding pieces.

FIG. 11 is a plan view showing the shape of a cutting blade.

FIG. 12 is a plan view showing the arrangement of cutting blades.

FIG. 13 is a perspective view of a main part of a seedling holding piece (one-way gate).

FIG. 14 is a cutaway plan view of a main part (one way gate) of a seedling holding piece.

FIG. 15 is a plan view of a main part of the seedling holding device showing a positioning operation.

FIG. 16 is a view showing a state where the first and second robot hands are the first and second robot hands;
Side view showing a state in which a seedling for a rootstock and a seedling for a scion are sandwiched and taken out from the end side of the seedling alignment mechanism.

FIG. 17 is a side view showing a state in which an upper part of a rootstock seedling is cut by a first cutter, and a state in which a lower part of a seedling for seedling is cut by a second cutter;

FIG. 18 is a perspective view showing the lower end of the cuttings of the cuttings with the lower part cut to the upper end of the rootstock seedlings with the upper part cut, and the lower ends of the seedlings are joined in a predetermined posture by the first and second robot hands. Is a side view showing a state in which the grafting process has been performed with the sheet sandwiched.

FIG. 19 is a side view showing a state where the lower part of the seedling after the grafting treatment is cut by the third cutter.

FIG. 20 is a plan view showing a state where the seedling holding device is located at a seedling receiving position.

FIG. 21 is a plan view showing a state where the seedling holding device holds the seedling.

FIG. 22 is a plan view showing a state where the seedling holding device is located at a standby position.

FIG. 23 is a plan view showing a state where the seedling delivery device is extended and the seedlings are inserted into the seedling alignment mechanism.

FIG. 24 is a plan view showing a state in which the seedling delivery device contracts, the seedling holding device returns to the standby position, and the seedling alignment mechanism vibrates to align the orientation of the cotyledons of the seedlings.

FIG. 25 is a plan view showing a state in which the cotyledons of the seedlings are aligned and have reached the end of the seedling alignment mechanism.

FIG. 26 is a plan view showing a state where the seedlings are taken out from the terminal end side of the seedling alignment mechanism by the first and second robot hands and carried to the positions of the first and second cutters.

FIG. 27: A lower end of a cutting stock of which a lower part is cut is joined to a lower end of a cutting stock of which a lower part is cut by a first and a second robot hand in a predetermined posture to perform grafting processing. Plan view showing the broken state

FIG. 28 is a plan view showing a state in which seedlings after grafting have been transplanted to a temporary planting tray by the first robot hand.

FIG. 29 is a plan view of a main part of the seedling holding device showing a positioning operation in the second embodiment.

[Explanation of symbols]

 b Container for seedling raising a Seedling 45 Seedling holding piece 50 Seedling holding piece B Seedling holding device A Seedling processing device c Seedling holding space 72 One way gate 29 Cutting blade

Claims (6)

(57) [Claims] 1. A seedling for grafting planted in a seedling container supplied to a seedling receiving position is gripped by a seedling holding device provided with left and right seedling holding pieces in a front-rear direction and transported to a seedling treatment device. A seedling delivery device for grafting equipment configured as described above, wherein one side of the seedling raising container in the front-rear direction specific location in a state where the seedlings are transferred to the seedling holding space of the seedling holding device located at the receiving position. seedlings located is provided with a positioning means for pressing position in the longitudinal direction a specific location, the positioning
As means for positioning, positioned at the entrance of the seedling holding space,
As the seedling holding device moves relative to the seedling container,
It is released by being pressed to transfer the seedling to the seedling holding space.
Allowed, but opposite to the direction in which the transferred seedlings were transferred
With the relative movement of the seedling holding device and the seedling container in
A one-way gate that presses to a specific location in the front-rear direction
A seedling delivery device for a grafting facility provided with means provided in the seedling holding device. 2. The seedling transfer device according to claim 1, wherein the seedling transfer device is configured to move the seedling into the seedling holding space by relatively moving the seedling holding device in the front-rear direction with respect to the seedling raising container. 3. A structure in which the seedling raising container is reciprocated in the front-rear direction with respect to the seedling holding device, whereby the seedling is moved into the seedling holding space in the forward movement, and the one-way gate is pressed by the backward movement. The seedling delivery device for a grafting facility according to claim 1 or 2, wherein 4. A structure in which a seedling holding device is reciprocated in the front-rear direction with respect to a seedling raising container to move a seedling into a seedling holding space in a forward movement, and press a one-way gate in a backward movement. The seedling delivery device for a grafting facility according to claim 1 or 2, wherein As 5. A seedling grasping device, rows plurality of located seedlings collectively of claims 1-4 in which to grip is provided with a material having a plurality of sets of seedling holding pieces corresponding to each seedling A seedling delivery device for the grafting facility according to any one of the preceding claims. As 6. seedling gripping device, according to claim than the part which is gripped within the seedlings with the gripping by the left and right seedling holding pieces is provided with a one with a cutting blade for cutting the seedling below 1-5
The seedling delivery device of the grafting facility according to any one of the above.