JP3339146B2 - 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 grafting robot for producing grafted seedlings for automatically supplying, cutting and grafting rootstocks and spikelets.

[0002]

2. Description of the Related Art The inventors of the present invention have conducted repeated studies to develop a grafting robot having excellent operability in place of the above grafting robot, and have made a series of patent applications (Japanese Patent Application Nos. 4-161515 and 5-194828). ) Was done. The grafting robot developed by the present inventors cuts the rootstock seedling and the scion seedling arranged in the seedling supply device with respective cutting devices, and cuts the cut scion and the rootstock with these joining devices using clips. The grafting robot is a device for grafting a grafting device joined to a joining device and a clip onto a cutting tray or pot, and automatically performing these operations.

[0003]

In the grafting robot developed by the inventors of the present invention, the hand holding the root of the root of the root carrier is formed by two curved plate-like hands. In this case, the rootstock is supplied to the grafting robot in a state where the soil is attached or in a state where the rootstock is stored together with the soil in the rootstock pot. Accordingly, the root of the rootstock must be sufficiently open before gripping the rootstock. However, the conventional grafting robot developed by the inventor of the present invention has a hand opening degree almost equal to that of the rootstock hypocotyl, so that the rootstock root cannot be grasped in some cases. Accordingly, an object of the present invention is to provide a grafting robot that is easy to use by improving a hand for holding a rootstock of a rootstock transfer device of the grafting robot.

[0004]

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 with each transport device, a pair of hypocotyls that can grip the rootstock hypocotyl by opening and closing the tip of the rootstock transport device By opening and closing the tip below the hand and the hypocotyl hand, a pair of rootstock hands to grip the rootstock are provided, respectively, and the opening angle of the tip of the rootstock hand is larger than the opening angle of the tip of the hypocotyl hand. The grafting robot that was set.

[0005]

According to the present invention, the hypocotyl of the stock portion of the bonded seedling is thin, and the opening angle of the stock hypocotyl hand gripping the vicinity of the hypocotyl portion positioned in the feeding device of the stock seedling is small. However, since the rootstock hand is composed of, for example, a pair of dogleg-shaped hands arranged in mirror symmetry, the opening angle is large, and even if the diameter of the rootstock part is large, it should be sufficiently gripped. Can be.

[0006]

An embodiment of the present invention will be described with reference to the drawings. First, an outline of a grafting robot that automatically joins rootstock seedlings and spikelet seedlings will be described, and then a transplanting apparatus for the obtained joined seedlings will be described. FIG. 1 is a top view of the grafting robot of this embodiment.
FIG. 2 is an enlarged view of the portion (grafted portion), a front view is shown in FIG. 3, and a side view is shown in FIG.
In addition, as described later, the transplantation device should be illustrated in each drawing of FIGS. 1 to 4, but in order to simplify the drawing, up to the step of automatically joining the rootstock seedling and the spikelet seedling. In the drawings (FIGS. 1 to 4) for explaining the respective devices, the transplantation device is not shown.

As shown in FIG. 1, the mechanism for producing a bonded seedling of the grafting robot according to the present embodiment includes a clip feeder 1 and a grafted portion 2, and the grafted portion 2 includes a stock 3 and a scion 5 and a bonded portion. It consists of part 6. A clip guide rail 9 is provided from the outer periphery of the clip bowl 7 of the clip feeder unit 1, and the graft 2 is made adjacent to the distal end thereof. Further, respective robot manipulators 10 and 11 and a seedling supply plate 13 and 14 for grasping and transporting each of the stock and the scion.
Is suspended on the top plate 15 (FIG. 3) of the graft 2. FIG. 2 is 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, Similarly, a scion seedling supplying device 21, a scion conveying device 22, and a scion cutting device 23 are also included.

The rootstock embryo shaft is manually supplied to the receiving groove 13a (see FIG. 2) of the rootstock seedling supply plate 13 of the rootstock seedling supply device 13 which is larger than the diameter of the rootstock seedling axis. The rootstock seedling 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. The blade leaves one cotyledon of the rootstock seedling, and the other cotyledons are cut off. The stock cutting device 19 is a rotary cutter having a cutting blade attached to the tip, and rotates in a direction indicated by an arrow (C) in FIGS. 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 plate 14 of the scion seedling supply device 21 by hand are conveyed by the scion conveying device 22 in the arrow (d) direction (see FIG. 1), and at the cutting position. With the scion cutting device 23 rotating in the direction of the arrow (f) (see FIGS. 1 and 4), a part of the hypocotyl and the root are partially cut off, 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 graft 2 by the clip supplied from the clip feeder 1,
The joined seedling is transferred to a transplanting hand of a transplanting device described later.

Here, the stock carrier 18 and the scion carrier 22 will be briefly described mainly with reference to FIG. 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 provided below the actuator 29.
1 is rotatably supported. The stock transfer arm support 30 includes a stock transfer arm extruding cylinder 33 supported by the support 30, a stock transfer arm 34 fixed to the cylinder 33, and a stock grip portion at the tip of the transfer arm 34 ( A pair of rootstock hypocotyl hand 37, rootstock root hand 38, and cylindrical roller 41) are provided. The hand 37 is controlled to open and close so as to hold the stock by an air cylinder (not shown). The support arm 45 for rotating the cylindrical roller 41 in the vertical direction at the time of joining with the scion, and for lifting the cotyledon of the rootstock and the rotation actuator 49 for lifting the cotyledon of the rootstock are provided on the rootstock transport arm support 30. Have been. 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.
Then, the air cylinder (not shown) of the rootstock hand 38 is operated, and both hands 37 and 38 grip the rootstock seedling. At the same time as the operation of the rootstock germ axis hand 37 and the rootstock root hand 38, the rootstock transport rotation actuator 29 also operates, and the rootstock seedlings held by the hand 37 and the rootstock root hand 38 are transported to the cutting position. When joining with the scion, the support arm 4
Rotate 5 vertically to lift the cotyledons left on the rootstock,
Allow a clip (not shown) to grasp the rootstock hypocotyl.

The feature of this embodiment lies in the shape of the rootstock root hand 38 of the rootstock gripping portion. FIG. 5A is a partial side view of the rootstock transporting device 18 with the rootstock gripping portion as a center, showing a state when the rootstock seedling supply device 17 has received rootstock seedlings. FIG. 5B is a plan view showing a state in which the tip of the rootstock hand 38 is closed, and FIG. 5C is a plan view showing a state in which the tip of the hand 38 is open. 5A to 5C,
It is illustrated so that the mutual relationship between the tip position of the rootstock hand 38 and the reference line A indicating the tip position of the rootstock hand 37 can be understood. FIG. 6 shows a rootstock hypocotyl hand 37.
FIG. 6 is a view as viewed from the direction of the arrows AA in FIG. 5. According to the present embodiment, the opening angle of the pair of rootstock hypocotyl hands 37 that grasp the hypocotyl part of the rootstock part of the bonded seedling that is thin and that is positioned in the rootstock seedling supply device 17 is Although it may be small, the rootstock hand 38 is composed of a pair of U-shaped hands 38 which are arranged mirror-symmetrically.
When the hand 38 is opened as shown in (c), the opening angle of the tip of the hand 38 becomes large, and the hand 38 can be sufficiently gripped even if the root diameter is large. The tip of the rootstock hand 38 is at a position lower than the tip of the hypocotyl hand 37 when the tip of the hand 38 is opened with respect to the rootstock seedling supply device 17 (FIG. 5C). Therefore, the stock carrier 18
When the rootstock is received from the rootstock seedling supply device 17, the rootstock hand 38 does not interfere with the rootstock. In the state where the rootstock hand 38 is closed (FIG. 5)
(B)) Since the tip of the rootstock hand 38 is located ahead of the tip of the hypocotyl hand 37 with respect to the rootstock seedling supply device 17, the rootstock can be grasped and the rootstock can be stably stuck. You can receive seedlings.

As shown in FIG. 3, the scion seedling conveying device 22 includes a scion conveying rotating actuator 51 and a scion conveying arm support 52 below the actuator 51 so as to be rotatable about the actuator rotating shaft 53. Supported. The scion transfer arm support 52 includes a scion transfer arm extruding cylinder 55 supported by the support 52, a scion transfer arm 56 that is extended and contracted by the cylinder 55, and the transfer arm 56.
At the tip, the scion support plate 58 and scion hand 5
9 are provided. The hand 59 is controlled to open and close so as to hold the scion by an actuator (not shown) provided at the tip of the scion transport arm 56. The extruded amount of the scion transfer arm 56 is adjusted by an extruded amount adjusting shim 60 and is extruded by a transfer arm extruding cylinder 55. A backing guide 61 is fixed to the lower portion of the extrusion cylinder 55 of the scion transfer arm, and the bent piece at the tip thereof backs the hypocotyl at the time of cutting the hypocotyl of the scion to ensure the cutting of the hypocotyl. Can be done.

As a rootstock cutting device, as shown in FIG. 7, a cutting device 130 for cutting a rootstock hypocotyl together with a rootstock cotyledon cutting device 19 can be provided. When this configuration is adopted, one cotyledon of the rootstock is cut and the hypocotyl is cut at the same time. The cutting device 130 for cutting the rootstock hypocotyl is supported on the same column as the column of the cotyledon cutting device 19, and has the same structure as that of the cotyledon cutting device 19, which is mirror-symmetrical. When the cutting device 130 is provided, only the rootstock hypocotyl hand 37 as shown in FIG. 7 is provided, and the hypocotyl is cut by the cutting device 130 without providing the rootstock hand. Further, when the embryo bearing 131 is provided in the rootstock transporting device 18, it is easy to implant the joined seedling into a transplant container described later. In other words, as shown in a plan sectional view of the hypocotyl bearing 131 in FIG. 8, when cutting the hypocotyl hypocotyl, it is most suitable to cut the rootstock hypocotyl by the hypocotyl bearing 131 whose hypocotyl does not escape back and forth, left and right. Since the rootstock seedlings are reliably cut to the desired length, it is easy to implant the joined seedlings into the transplant container. Conventionally, rootstock seedlings prepared before grafting were supplied to grafting robots in a state of cutting them to an appropriate length.Because the hypocotyl lengths of grafted seedlings are not uniform, before transplanting in transplantation containers In such a case, the hypocotyl must be aligned and cut, which requires a lot of man-hours. However, by providing the cutting device 130, such trouble can be saved.

The clip feeder 1 and the joining device 25 will be described with reference to FIGS. 1, 2 and 9 (an enlarged top view of the joining device 25). Clip feeder 1 (see Fig. 1)
A clip 63 (see FIG. 9) is attached to a vibrating parts feeder having a spiral rising path along the inner surface of the clip bowl 7 of FIG.
A clip guide rail 9 composed of a vibrating trough formed with a groove for guiding both ends of the handle 63a is connected to a clip joining device 25 facing the graft 2 at the end of the guide rail 9. The distal end of the guide rail 9 narrows the guide interval between both ends of the handle 63a of the clip 63 immediately before the joint 6 of the stock and scion of the graft 2 and narrows the opening of the grip 63b of the clip 63. A guide rail 64 is connected. When the clip 63 (see FIG. 9A), which has been advanced with the grip 63b opened, comes to the joining position of the stock and the scion, the clip opening / closing member 65 releases the bias of the handle 63a of the clip 63. (FIG. 9B), the rootstock and the scion can be maintained in a joined state by the grip portion 63b. Thereafter, the joined seedlings are transferred to a transplanting device, which will be described in detail below, and cut into a tray.

FIG. 10 shows an overall view of the clip feeder unit 1, the joining unit 2, the transplanting device 67, and the plug tray conveying device 68 of the grafting robot of the present embodiment. FIG. 10 is a side view of the grafting robot, showing the clip feeder unit 1 and the grafting unit 2.
(Composed of the stock 3, the scion 5 and the joint 6 (see FIG. 1)) is arranged at the upper part, and below the clip feeder 1 and the graft 2, the planting part 69 of the joined seedling and both of them A loading section 71 and a loading section 72 of the plug tray transport device 68 are supported by a support frame 73 of the grafting robot, and are arranged on the side.
There is a transfer section 75 for transferring the clipped seedlings to the planting section 69 on the front surface of the joining apparatus 25 in the grafting section 2. Is transferred to the planting section 69. Then, the bonded seedlings are planted in the cells in the plug tray 76 sequentially loaded from the plug tray loading section 71 to the planting section 69, and the plug tray 76 with the planted seedlings is sequentially delivered to the unloading section 72. It has become.

Next, the transplanting device 67 and the plug tray loading section 7
The general configuration and functions of the unit 1 and the unloading unit 72 will be described. A plug tray 76 in which a plurality of cells 79 (see FIG. 11) are arranged in parallel as a set from a belt conveyor (not shown) on a rail 77 mounted on a support frame 73 in the plug tray carrying-in portion 71 sequentially. After the plug tray 76 is carried in, the carry-in hook 80 arranged below the rail 77 on the entrance side of the carry-in portion 71 is projected above the rail 77 after the carry-in of the plug tray 76, and the carry-in hook 80 is moved to the side wall surface at the rear end of the plug tray 76. The plug tray 76 is sent out to the planting section 69 by the carry-in cylinder 81 connected to the carry-in hook 80.
At this time, the carry-in section 71 is then moved by a belt conveyor (not shown).
In order to prevent the plug tray 76 sent to the plant from pushing the plug tray 76 set in the planting section 69,
A mechanism is adopted in which the tip end of the plug tray 76 is temporarily stopped by a carry-in stopper 83 that can rotate.

The transfer unit 75 and the implanting unit 6
9 and a horizontally movable arm 87 attached to a member 85 supported and fixed to the vertically movable cylinder 84.
A pair of transplanting hands 88 for holding the hypocotyl of the bonded seedling and a soil holding plate 89 are attached to the tip of the arm 87. The arm 87 is provided with an actuator 91 for opening and closing the transplanting hand 88. With these members, the joined seedlings can be planted in each of the plurality of cells 79 arranged in parallel in the plug tray 76. The supporting frame 73 of the planting section 69 has a base moving cylinder 9 movable in a direction perpendicular to the direction from the plug tray carrying-in section 71 side to the carrying-out section 72 side (perpendicular to the plane of FIG. 10).
2 and a base moving cylinder 93 movable in a direction from the side of the plug tray carrying-in section 71 to the side of the carrying-out section 72 (the direction of the paper surface in FIG. 10). All the cells 79 of the plug tray 76 can be moved below the joined seedling descending to a predetermined position of the planting part 69 by freely moving the cell 76 forward, backward, left and right in the horizontal direction. When the planting of the joined seedlings is completed in all the cells 79 of the plug tray 76 of the planting section 69, the unloading hook 95, which can be rotated, hooks the side wall surface of the rear end of the plug tray 76 as shown in FIG. The plug tray 76 is sent out to the plug tray discharge section 72 by sliding of the discharge cylinder 96 to which the discharge hook 95 is attached.

FIG. 11 shows a graft transfer device 1 of a grafting robot.
It is a figure which shows the principal part of the planting part 69 and the transfer part 75 seen from 8 side. The main part of the clip joining device 25, the stock transport device 18, the stock cutting device 19, and the transfer unit 75 are shown in the graft 2. The rootstock transporter 18 can see a rootstock hypocotyl hand 37 for holding the rootstock hypocotyl and a rootstock hypocotyl fixture 38 '. In the grafting robot shown in FIG. 11, a rootstock obtained by cutting the root of a rootstock in advance is supplied, so that the rootstock hypocotyl fixture 38 'has a different structure from the rootstock root hand 38 shown in FIG. FIG. 11 shows the rootstock hypocotyl hand 3
FIG. 7 shows two side views simultaneously as viewed from two orthogonal directions. As shown in FIG. 11, the transplanting device 67 includes a magnet (not shown) slidably mounted on a magnet type vertical moving cylinder 84 and a member 85 on an outer peripheral portion of the vertical moving cylinder 84, and a bonded seedling attached to the magnet. And a soil holding plate 89 for holding the soil in the cell 79, a cutter 99 for cutting the hypocotyl of the joined seedling, and the like. The vertically moving cylinder 84 is a member in which a magnet moves vertically by a magnetic member (not shown) that can move up and down in the cylinder by air pressure. Further, a horizontal moving arm 87 fixedly supporting the transplanting hand 88 and the earth pressing plate 89 is provided in the bearing 100 so as to be able to slide in the horizontal direction. The horizontally moving arm 87 slides along the bearing 100 when the extruding cylinder 101 for pushing out the arm slides.

The transplanting hand 88 has a tapered shape in which the connecting portion between the vertical portion and the horizontal portion is inclined.
The tip of 9 also has an inclined tapered shape, so that the joined seedling can be transplanted into the small cell 79. Further, the rootstock seedling and the scion seedling are clip-joined by the joining device 25, and the hypocotyl portion of the seedling in a state where the joined seedling is held by the rootstock hypocotyl hand 37 of the rootstock transporting device 18 is transferred to the transplanting device 67. The transplanted hand 88 is grasped, and then the rootstock hypocotyl hand 37 is released.
In this embodiment, as shown in FIG. 12, the plug tray carry-in section 71, carry-out section 72, planting section 69, graft section 2, and clip feeder section 1 are viewed from above, and are substantially co-linear. In this way, two workers, a scion supplier and a stock supplier, can work on both sides of the grafting robot, so that the plug tray can be transported without disturbing the seedling supplier. Can be.

[0019]

According to the present invention, the opening angle of the pair of hands for holding the rootstock is large, so that the rootstock can be sufficiently gripped even if the diameter of the rootstock is large. The rootstock seedlings can be reliably received, and the grafting productivity is improved without stopping the grafting robot due to the failure to receive the rootstocks.

[Brief description of the drawings]

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

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

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

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

FIG. 5 is a schematic top view of a main part of a clip joining device of the grafting robot according to one embodiment of the present invention.

FIG. 6 is a view as seen from the direction of arrows AA in FIG. 5;

FIG. 7 is a side view of a stock cutting device of the grafting robot according to one embodiment of the present invention.

FIG. 8 is a plan sectional view of a rootstock embryo bearing of the rootstock transfer device of the grafting robot according to one embodiment of the present invention.

FIG. 9 is a schematic top view of a main part of a clip joining device of a grafting robot according to an embodiment of the present invention.

FIG. 10 is a schematic side view of the entire grafting robot according to one embodiment of the present invention.

FIG. 11 is a schematic side view of a grafting portion and a planting portion of the grafting robot according to one embodiment of the present invention.

FIG. 12 is a layout view of each component of the grafted seedling production system 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, 17 ... Rootstock seedling supply device, 18 ...
Rootstock transport device, 19: Rootstock cutting device, 37: Rootstock hypocotyl hand, 38: Rootstock root hand, 63: Clip, 67: Transplantation device, 68: Plug tray transport device, 69: Planting unit,
Reference numeral 71 denotes a carry-in part, 72 denotes a carry-out part, 75 denotes a transfer part, 76 denotes a plug tray, 88 denotes a transfer hand, 89 denotes a soil holding plate, and 13
0: cutting device for cutting the stock hypocotyl, 131: hypocotyl bearing

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ken-ichi Nitta 1515 Tokumaru, Matsumae-cho, Iyo-gun, Ehime Prefecture Hit Engineering Co., Ltd. (56) References JP-A-3-130016 (JP, A) JP-A-5 −219835 (JP, A) (58) Field surveyed (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, the root of the rootstock transport device can be opened and closed to grip a rootstock embryo shaft. The hypocotyl hand and the tip of the hypocotyl hand are opened and closed below the hypocotyl hand, thereby providing a pair of rootstock hands for grasping the rootstock. A grafting robot characterized by being set to be larger than the angle.