JP3409394B2 - Grafting robot - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafted seedling manufacturing robot for automatically supplying and grafting rootstock seedlings and spikelets. The present invention relates to a seedling supply device. [0002] The present inventors have previously, to improve the traditional grafting robot, was a series of patent applications and invention for the good grafting robot to use the I (Japanese Patent Application No. 4 1615
12, Japanese Patent Application No. 5-6753, etc.). The grafting robot developed by the present inventors manually supplies rootstock seedlings or spikelets to each supply device, and transports the seedlings on this supply device to the cutting position by each transport device. At the cutting position, the rootstock is cut off the hypocotyl and the root, leaving one cotyledon, and the scion is cut down from the middle part of the hypocotyl with each cutting device.
These are joined at the joint. [0003] In the above grafting robot, the rootstock cotyledons and the hogi cotyledons are generally grafted at the time of joining the stock and the scion. However, since the length from the root portion to the cotyledon of a solanaceous plant or the like is short, there has been a problem that the cotyledon is easily damaged by a cutter blade when cutting with a seedling cutting device of a grafting robot. Therefore, the present invention improves the grafting robot developed by the present inventors, and does not damage the cotyledon of a plant having a short length from the root portion to the cotyledon of a solanaceous plant or the like during cutting of scioning performed before joining. Thus, an object of the present invention is to provide a grafting robot that can be cut. [0004] The above object of the present invention is achieved by the following constitution. That is, the rootstock seedling supply device 1
The rootstock seedlings arranged at 7 and the scionling seedlings arranged at the scionling seedling supply device 21 are conveyed by the respective seedling conveying devices 18 and 22 to the cutting positions where the respective cutting devices 19 and 23 are arranged. In a grafting robot that further transports and cuts the cut rootstock seedling and the earling seedling to the joint 6 by the respective transport devices 18 and 22 , the rootstock seedling supply device 17 and the earling seedling supply are performed.
The device 21, the stock cutting device 19 and the scion cutting device 23
Arranged symmetrically with respect to the joint 6 and
Transfer arm 34 and scion transfer device 2 provided in the storage 18
Each of the scribing transfer arms 79 provided at 2 is approximately 90 degrees
Rotate each time and feed each seedling from seedling supply devices 17 and 21
Configuration for transporting to the positions of the cutting devices 19 and 23 and the joint 6
The seedling transfer trajectory of the rootstock transfer arm 34 and the scion transfer
And the transportation locus of the seedling of the
The seedling hypocotyl is inserted into the scion seedling supply device 21.
Seedlings with receiving grooves cut out from the transport direction of the seedlings
A supply substrate 14a is provided, and the supply substrate 14a
When the scion seedlings of the scion seedling supply device 21 are transferred to the scion conveyance device 22 by providing the member 14b rising along the receiving groove, the cotyledon development direction of the scion seedlings is changed to the scion conveyance device 22.
A structure capable of supplying a scion seedling in scion seedling supply device 21 so that the direction orthogonal to the extending direction of the grasping hand 83 provided in, and scion cutting device 23, the normal of the conveying path of the seedling
Further, when the rootstock seedlings of the rootstock seedling supply device 17 are transferred to the rootstock transport device 18 , the cotyledon development direction of the rootstock seedlings is set to the gripping hand 7 of the rootstock transport device 18.
Rootstock seedling supply device 1 so as to be in the same direction as the extension direction of 9
7 is a grafting robot having a structure capable of supplying rootstock seedlings. [0005] The scion part 2 and the stock part 3 are connected to each other with respect to the joint 6.
Because of the symmetrical configuration, the cutting device is used for the stock 3 and the scallops 2.
Structures such as 19 and 23 and transport devices 18 and 22 can be shared.
It is possible to reduce costs and supply seedlings.
Mutual cotyledon development of rootstock seedlings and hogi seedlings in devices 17 and 21
How to develop cotyledons when seedlings are joined due to directional relationship
It becomes easier to determine the direction relationship. In addition, spikelet seedling supply device 2
1 of scion seedlings when delivered to the scion carrying device 22, seedlings
By the member 14b rising upward from the supply board 14a, the cotyledon development direction of the scion seedling can be adjusted by the gripping hand of the scion transport device 22 .
With the structure that can supply the scion seedlings to the scion seedling supply device 21 so as to be in a direction orthogonal to the extension direction of the 83, the gripping hand 83 of the scion transporting device 22 can move the roots of the solanaceous plant from the cotyledons. It is easier to grasp short-length scion seedlings.
When cutting the seedlings , the cotyledon is not damaged, and bacteria and the like are prevented from invading from the wound of the cotyledon, so that the disease is less likely to occur. Further , when the rootstock seedling of the rootstock seedling supply device 17 is transferred to the rootstock transport device 18 , the cotyledon development direction of the rootstock seedling is set to be the same as the extension direction of the gripping hand 79 of the rootstock transport device 18. With the structure capable of supplying the rootstock seedling to the rootstock seedling supply device 17 at the time, one of the cotyledons can be reliably cut off when the rootstock is cut, and the other can be reliably left.
In addition, the cotyledon development direction of the rootstock seedling is
By supplying rootstock seedlings in the same direction as the long direction,
The seedlings are set differently in the cotyledon development directions of the tree seedling and the hogi seedling.
Can be joined. An embodiment of the present invention will be described below with reference to the drawings. A top view of the grafting robot of this embodiment is shown in FIG. 1 (a view with the top plate removed), an enlarged view of the portion (grafted portion) is shown in FIG. 2, a front view is shown in FIG. 3, and a side view is shown in FIG. . The grafting robot comprises a clip feeder unit 1 and a graft unit 2, and the graft unit 2 comprises a stock 3, a scion unit 5, and a joining unit 6. A clip guide rail 9 is provided from the outer periphery of the clip bowl 7 of the clip feeder unit 1, and the graft 2 is made adjacent to the distal end thereof. Also, respective robot manipulators 10 for grasping and transporting each of the stock and scion,
11 and the seedling supply plates 13 and 14
(FIG. 3). Since all the movements are assembled on one top plate 15, dimensional accuracy is improved. Further, 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, a scion seedling supplying device 21, a scion conveying device 22, a scion cutting device 23
Consists of The rootstock seedling supplied manually to the rootstock seedling supply device 17 is transported to the position of the rootstock cutting device 19 (cutting position) by the rootstock transporting device 18 rotating in the direction of arrow (a) in FIG. Then, the cutting device 19 is rotated (see FIG. 4), and the cutting blade leaves one cotyledon of the rootstock seedling, and the other cotyledons are cut off. The stock cutting device 19 is a rotary cutter having a cutting blade attached to the tip.
It rotates in the direction of arrow (c) in FIG. The rootstock that has been cut and leaves one cotyledon is transported in the direction of the arrow (b), and is joined to the scion by the joining device 25 (see FIGS. 2 and 3) of the joining portion 6 at the grafting portion 2. Similarly, the scion seedlings supplied to the scion seedling supply device 21 manually by the scion conveying device 22 are indicated by arrows (d).
The tissue is transported in the direction (see FIG. 1) and rotated at the cutting position in the arrow (f) direction (see FIGS. 1 and 4). Shafts and roots are cut off. The scion having the cotyledon portion is transported in the direction of the arrow (e), and is joined to the stock and the grafting portion 2 by the clip supplied from the clip feeder portion 1, and the grafting operation is completed. Dropped and collected. Next, the rootstock seedling supply device 17 and the transport device 1
8 will be described. First, the base stock will be described in detail. First, the rootstock seedling supply device 17 will be described. FIG. 6 shows a front view of the rootstock seedling supply device 17. The rootstock seedlings shown are seedlings of Solanaceae plants. Rootstock seedling supply device 17 of the present embodiment
Has a structure in which the hypocotyl of a rootstock seedling is received vertically. That is, the receiving groove 13a for receiving the rootstock seedling (FIG. 2)
The rootstock seedling supply plate 13 provided with the rootstock seedling supply device 13 is supported and fixed to a column 71 of the rootstock seedling supply device 17 in a horizontal direction. The support of the rootstock seedling supply plate 13 to the support column 71 is performed via an actuator support plate 72 which is fixed to a plate (not shown) slidable on the support column 71 by fastening with a bolt or the like. Since the bolt hole 73 of the actuator support plate 72 is a long hole as shown in the drawing, the tightening position by a bolt or the like can be changed within the range of the long hole. 13 can be adjusted to some extent in the horizontal direction. The rootstock seedling supply plate 13 is fixed to the upper surface of the actuator 76. One end of the rootstock seedling supply plate 13 is provided with a surface 13b bent in a direction perpendicular to the horizontal plane. The surface 13b prevents dust or disturbance light from entering the actuator 76 and the sensor 77 described below. The other end of the rootstock seedling supply plate 13 has an inclined surface 13c. A pair of gripping hands 79 for gripping the rootstock embryo shaft driven by the actuator 76 is provided on the back side of the horizontal surface of the rootstock seedling supply plate 13. Note that by adopting a configuration in which one of the pair of gripping hands 79 is a movable hand and the other is a fixed hand, the holding position of the hypocotyl on the fixed hand side can always be set to a predetermined position. Further, the rootstock seedling supply plate 13 is moved by the horizontal movement adjusting device 70.
Is fixed to the plate 74. Horizontal movement adjustment device 70
Is fixed to a nut of a plate (not shown) slidable on the column 71, so that the position of the rootstock seedling supply device 17 in the horizontal direction can be adjusted. An adjusting device 78 is provided for adjusting the position of the rootstock seedling supply plate 13 in the vertical direction. In addition,
Since the extrusion amount of the stock holding portion 35 of the stock transport device 18 is determined at the time when the interval with the stock is adjusted at the joining position, the horizontal direction of the stock seedling supply plate 13 is adjusted accordingly. If fine adjustment can be performed using the adjusting device 80 of the rootstock seedling supply device 17, it is possible to accurately adjust the rootstock embryo shaft gripping position by the rootstock transport device 18. [0010] Both the rootstock seedling supply plate 13 and the distal end of the actuator support plate 72 are provided with receiving grooves 13a for embryo bearing.
(See FIG. 2), after the rootstock hypocotyl is supplied to the receiving groove 13a or the like, the actuator 76 is operated, and the gripping hand 79 is operated to grip the hypocotyl portion. At this time, the rootstock is supplied to the receiving groove 13a of the rootstock seedling supply plate 13 such that the developing direction of the cotyledon of the rootstock seedling of the Solanaceae plant is along the extension direction of the grip 35 of the rootstock transporting device 18. In this way, when the rootstock is transported to the rootstock cutting position by the gripper 35 of the rootstock transport device 18 and the rootstock seedling is cut by the cutting device 19,
Even a solanaceous plant with a short length from the root to the cotyledon can surely cut one cotyledon and leave the other cotyledon when cutting the rootstock. In addition, the rootstock seedlings are supplied and gripped while their cotyledons are positioned above the gripping hand 79 of the rootstock seedling supply device 17, so that the rootstock seedling height can be used as a guide for the vertical positioning of the rootstock seedlings. Because of the uniformity, growth can be made uniform. The rootstock seedlings set on the rootstock supply plate 13 are gripped by a rootstock transport device 18 and are transported sequentially to a cutting position and a joining position. FIG. 5 shows a detailed view of the stock carrier 18. 5 (a) is a top view, and FIG. 5 (b) is a side view (FIG. 5 (a) is a view along line AA in FIG. 5 (b)). A rotation actuator 29 for transporting the rootstock of the rootstock transporting device 18 is supported by the top plate 15, and a rootstock transport arm support 30 is 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 35 at the tip of the transfer arm 34. (A pair of rootstock hypocotyl hands 37, a pair of rootstock fixing hands 38, and a cylindrical roller 41) are provided. The hands 37 and 38 are controlled to be opened and closed by an air cylinder provided in a box (not shown) of the stock transfer arm 34 so as to hold the stock. The rootstock hypocotyl hand 37 is made of rubber inside the hand 37 so as not to damage the rootstock hypocotyl. In addition, the rootstock fixing hand 38 is the rootstock root bowl 4
3 is made of a curved plate as to grip the cylindrical side surface of the (see FIG. 5 (b)). In addition, the stock carrier arm support 30
The support arm 4 for rotating the cylindrical roller 41 in the vertical direction at the time of joining with the scion, and lifting the rootstock cotyledon.
5 and a rootstock cotyledon lifting rotary actuator 49 are provided. [0012] The air cylinder of the rootstock embryo hand 37 at the tip of the rootstock transfer arm 34 pushed to the rootstock seedling setting position on the rootstock seedling supply plate 13 operates to grip the rootstock seedling.
At the same time as the operation of the hand 37, the rotation actuator 29 for the stock transport arm is also operated, and the stock seedling held by the hand 37 is transported to the cutting position. Further, at the time of joining with the scion, as shown in FIG. 7, the cylindrical roller 41 is rotated in the vertical direction to lift the cotyledons left on the stock, so that the clip can grip the stock shaft. A shielding plate 37a is provided above the hypocotyl hand 37 for shielding the vicinity of the root of the rootstock hypocotyl hand 37, and the rootstock seedling fails to bond with the scion at the bonding position,
Even if the hand 37 releases the rootstock seedling, the rootstock seedling that has failed to join does not bite into the root of the hypocotyl hand 37, and the rootstock seedling that failed to join is smoothly discharged from the rootstock transport device. Further, as shown in FIG. 7, the cotyledons left on the rootstock are lifted by the cylindrical roller 41 at the time of bonding with the scion, but if the lifting state of the cotyledons left on the rootstock is maintained after bonding, the bonding will fail. Even if there is a rootstock seedling, the rootstock of the rootstock hypocotyl hand 37 will not penetrate. 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. FIG. 8 shows a front view of the scion seedling supply device 21, FIG. 9A shows a view seen from line AA ′ in FIG. 8, and FIG. 9B shows a bottom view of the actuator support plate. The illustrated scion seedling is a seedling of a solanaceous plant. The scion seedling supply device 21 of this embodiment has a structure in which the hypocotyl of the scion seedling is received in a vertical direction. In other words, the scion seedling supply plate 14 (the scion seedling supply board 14a and the cross-shaped V-shaped plate member 14 having the receiving groove (not shown) for receiving the scion seedlings).
b) is horizontally supported and fixed to the support 16 of the scion seedling supply device 21. The support of the scion seedling supply board 14a on the support 16 is performed via an actuator support plate 51 which is fastened and fixed to a plate 50 (FIG. 9) slidable on the support 16 by a bolt 58 or the like. Since the bolt hole 52 of the actuator support plate 51 is a long hole as shown in the drawing, the tightening position by a bolt or the like can be changed within the range of the long hole. 14 can be adjusted to some extent in the horizontal direction. The hogi seedling supply plate 14 is fixed to the upper surface of the actuator 53. One end of the spikelet supply board 14a has a surface 14a 'that is bent in a direction perpendicular to the horizontal plane. The surface 14a 'prevents dust or disturbance light from entering the actuator 53 and the sensor 63 described later. A plate member 54 is fixed to the back side of the inclined surface of the cross-shaped plate member 14b.
An inverted letter-shaped plate member 62 is fixed to the back side of the horizontal plane. When the plate members 54 and 62 are integrated, they have a function as a hand for fixing the hypocotyl as described later. In addition, the other end of the surface of the cross-shaped V-shaped plate member 14b is
Is fixed to the plate 60 of the horizontal movement adjusting device 59. Also, one end of the vertical position adjusting device 61 together with the horizontal movement adjusting device 59 can be
(FIG. 9), the position of the spikelet seedling supply device 21 in the vertical and horizontal directions can be adjusted. Since the amount of extrusion of the gripping hand 83 of the scion transporting device 22 is determined at the time when the distance from the stock is adjusted at the joining position, the horizontal direction of the scion seedling supply board 14a is adjusted accordingly. After adjusting the extrusion amount of the gripping hand 83 of the scion transporting device 22, fine adjustment of the scion seedling supply board 14a in the horizontal direction is performed.
If fine adjustment can be performed using the adjusting devices 59 and 61 of the scion seedling supplying device 21, it is possible to accurately adjust the scion embryo shaft gripping position by the scion transporting device 22. A pair of grasping hands 62 for grasping the hypocotyl of the scion seedlings operated by the actuator 53 are provided below the scion seedling supply board 14a. It should be noted that one of the pair of gripping hands 62 is a movable hand, and the other is a fixed hand integrated with the plate member 54, whereby the holding position of the hypocotyl on the fixed hand side can always be set to a predetermined position.
Also, the hogi seedling supply board 14a and the actuator support plate 5
Both of the distal end portions 1 are provided with receiving grooves for embryo bearings (only the receiving groove 55 of the actuator support plate 51 is shown in FIG. 9). Then, after supplying the scion hypocotyl to the receiving groove 55 and the like, the actuator 53 is operated to
To grip the hypocotyl. At this time, the development direction of the cotyledons of the scion seedling of the solanaceous plant is determined by the gripping hand 8 of the scion transporting device 22.
3 is supplied to the receiving groove of the scion seedling supply board 14a in a direction orthogonal to the extending direction. When the scionling seedling is conveyed to the scion cutting position by the gripping portion 80 of the scion conveying device 22 and cut by the cutting device 23, it is a solanaceous plant having a short length from the root to the cotyledon. In addition, the cotyledon will not be damaged when cutting the scion seedlings, and bacteria and the like will be prevented from invading from the wound of the cotyledon, and the disease will not easily occur. In addition, since the cotyledon is supplied and gripped while its cotyledon is positioned above the gripping hand 62 of the scion seedling supply device 21, it serves as a guide for the vertical positioning of the scion seedling and the height of the scion seedling. Because of the uniformity, growth can be made uniform. The hypocotyl detection sensor 63 for operating the actuator 53 of the spikelet seedling supply board 14a is a non-contact photoelectric sensor and is provided below the upper surface of the supply board 14a. This is because the hypocotyl of the scion is often thin, and if a contact-type limit switch or the like is used as the hypocotyl detection sensor 63, the hypocotyl is pushed back by the spring force of the switch. Hypocotyl detection sensor 63
, So that even soft seedlings can be supplied. In addition, by disposing the hypocotyl detection sensor 63 below the hogi seedling supply board 14a, it is not necessary to apply the influence of external light to the photoelectric sensor during work in the house or the like. It is possible to prevent the operation from being attached to the surface of the detection sensor 63 and causing a malfunction. Such a non-contact photoelectric sensor is also provided with a hypocotyl grasping hand operated by an actuator on the supply plate 13 of the rootstock seedling. It may be provided on the lower side. The scion seedlings supported by the scion seedling supply plate 14 are gripped by the scion conveying device 22 and sequentially conveyed to a cutting position and a joining position. FIG. 10 shows a detailed view of the scion transport device 22. FIG. 10A is a top view, and FIG. 10B is a side view. FIG. 10A is a view taken along line AA of FIG. 10B. The scion conveying device 22 has a scion conveying rotation actuator 73 and a scion conveying arm support 75 below the actuator 73 supported rotatably about the actuator rotation shaft 76. The scion transfer arm support 75 has a scion transfer arm extruding cylinder 77 supported by the support 75, a scion transfer arm 79 which is extended and contracted by the cylinder 77, and a scion holding portion at the tip of the transfer arm 79. A scion hypocotyl hand 83 constituting 80 is 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. A pair of gripping hands 83 shown in FIG.
Can be structured as shown in the plan view of FIG. 11A and the front view of FIG. 11B. As shown in an enlarged partial view of the tip of the gripping hand 83 in FIG. 11 (c), the pair of gripping hands 83 having the structure shown in FIG. It is also possible to adopt a configuration in which line contact is made at four locations with the hypocotyl. Since the hypocotyl of a solanaceous plant is thinner and harder than that of Cucurbitaceae, the gripping force is not sufficient at two line contacts of a pair of gripping hands 83 or at a curved notch provided on the opposite side of the hypocotyl gripping side. Since the position is sufficient and the position may be shifted due to rotation or slipping at the gripping portion, contact is made at four places, and gripping can be ensured. Since the notch 83a as shown in FIG. 11 is formed as a right-angled groove, the center of the stem can always be kept at the same position even for seedlings having different hypocotyl diameters due to the notch 83a. This also ensures that the hypocotyl can be grasped and the positioning during cutting and joining is assured. Also, unlike the Cucurbitaceae, the scion of Solanaceae is grafted when at least two or three true leaves appear on the cotyledons, so the seedling weight is heavy, and the seedlings may be shaken by inertia during transportation. However, it is possible to maintain a secure transfer posture by holding at four places. As shown in FIG. 12, elastic bodies are provided above, below, or both up and down of the pair of gripping hands 83 so as to overlap the right-angled notch 83a of the hypocotyl gripping portion of the scion gripping hand 83. 83b may be provided so that the elastic body 83b first contacts the hypocotyl when the hypocotyl is gripped, and then the hand 83 contacts and grips. By doing so, the elastic body 83b serves as a cushioning material for the gripping impact of the gripping hand 83 when gripping the hypocotyl of the solanaceous plant, and the gripping hand 8 is held without damaging the stem.
3 can be strengthened. Also, the elastic body 83b
By providing, the width of holding the hypocotyl becomes wider, and it is possible to reliably hold the scion of the Solanaceae plant which is heavier than the Cucurbitaceae plant. Notch 8 of this hypocotyl grasping hand 83
3a, the structure in which the elastic body 83b is provided
May be provided on the gripping hand 37 (see FIG. 5 ). As shown in FIG.
Is pushed out by the transfer arm pushing cylinder 77, and the pushing amount is adjusted by the pushing amount adjusting shim 91. A backing guide 92 is fixed to a lower portion of the scaffolding transfer arm pushing cylinder 77, and when the scaffolding transfer arm 79 comes to a retracted position, the guide piece 92a at the tip of the backing guide 92 is moved to the embryo of the scion. The hypocotyl is backed when the shaft is cut. 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.
It is rotated in the opposite direction to the stock cutting device 19. The reason is that it is more advantageous to cut one cotyledon from the hypocotyl side to the cotyledon side while cutting one cotyledon in the hypocotyl when cutting the rootstock. This is for the purpose of effectively holding down the guide piece 92a at the tip of the contact guide 92 and for preventing the shape of the acute angle portion at the tip formed by cutting the hypocotyl. Further, the scion transfer arm 79 is at the pushing position while the scion is transferred from the supply position to the cutting position, and at the time of cutting, the arm 79 moves to the retracted position (see FIG. 10B). Further, when the scion and the stock are joined, the backing guide 92 is in the way, but at this time, the transfer arm 79 is pushed out and the hypocotyl hand 83 or the like is protruded, so that the backing guide 92 and the stock hypocotyl hand 37 (See FIG. 5 ) 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. However, in order to carry out clip joining, a mechanism for separately attracting each seedling when this gap is present is required. However, in the case of the present embodiment, the scion gripper 8
Since 0 can be expanded and contracted, a seedling moving mechanism is not required.
As described above, the pushing amount of the scion gripper 80 is adjusted by the shim 91 of the transfer arm 79 of the scion seedling. this is,
The cutting surface of the stock and scion must be in the opening at the tip of the clip when joining with the clip. This is because fine adjustment is required. 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 devices 19 and 23 will be described with reference to FIG. In addition, although the cutting devices 19 and 23 are provided in the stock 3 and the scion 5, respectively, they have a mechanism common to both. FIG. 13 shows the cutting device 1 on the stock 3 side.
9 is shown. FIG. 13A is a top view of the same (a direction as viewed from the top of the grafting robot), and FIG.
It is the side view seen from arrow A direction (a direction seen from the side wall side of the scion part side of the grafting robot) of (a). 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. This cutter arm 11
A cutting blade 117 is attached to a cutting blade support piece 116 provided at the tip of the arm 5 in a direction perpendicular to the arm 115. The position at which the cutting blade support piece 116 is attached to the cutter arm 115 is determined by adjusting screws 1 provided on the cutter arm 115.
The adjustment is performed with an adjusting tool such as 19. The cutter driving motor 11
Adjustment of the mounting height 1 is performed with an adjusting tool such as an adjusting screw 120 provided on the support 112. Also, the cutter arm 115 lifts the cotyledon (cotyledon to be cut off) of the seedling within the rotation locus of the cutting blade 117 before the cutting blade 117 hits the hypocotyl so as not to hinder the cutting of the hypocotyl. A cotyledon lifting guide roller 122 is provided. Further, the clip feeder unit 1 and the clip joining device 25 adopt the configuration described in the earlier application of the present applicant (Japanese Patent Application No. 5-6753). The operation sequence of the grafting robot of the present embodiment is as disclosed in FIG. 14, and the operation time charts of the respective devices of the stock 3 and the scion 5 of the grafting robot of the present invention are shown in FIGS. 16 as disclosed. The operation time chart of each device of the clip feeder unit 1 is as described in the applicant's earlier application (Japanese Patent Application No. 161512/1992). According to the present invention, by specifying the direction of cotyledon development of the seedling as in the present invention and supplying it to the feeding device for spikelets and rootstock seedlings, the length from the root to the cotyledon of a solanaceous plant or the like is obtained. When cutting short seedlings, spikelets will not damage the cotyledons,
In the case of rootstock seedlings, only one cotyledon can be reliably cut. In this way, it is possible to prevent the bonded seedling from becoming sick due to the invasion of bacteria and the like from the wound of the cotyledon.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a top view of a grafting robot according to one 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 the 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. [5] rootstock transportable grafting robot of an embodiment of the present invention
The figure which shows a sending device. FIG. 6 is a rootstock seedling of the grafting robot according to one embodiment of the present invention.
The figure which shows a supply apparatus. FIG. 7 is a view showing a stock transfer device when the graft and the scion of the grafting robot of one embodiment of the present invention are joined. FIG. 8 is a diagram showing a scion seedling supply device of the grafting robot according to one embodiment of the present invention. FIG. 9 is a diagram showing a scion seedling supply device of the grafting robot according to one embodiment of the present invention. FIG. 10 is a view showing a scion transport device of the grafting robot according to one embodiment of the present invention. FIG. 11 is a diagram showing a gripping hand of the scion seedling supply device of the grafting robot according to one embodiment of the present invention. FIG. 12 is a diagram showing a gripping hand of the scion seedling supply device of the grafting robot according to one embodiment of the present invention. FIG. 13 is a view showing 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. [Description of Signs] 1 ... Clip feeder section, 2 ... Grove section, 3 ... Rootstock section, 5
... Hoki part, 6... Junction, 13... Rootstock seedling supply board, 14... Footboard seedling supply board, 14a. Seedling supply device, 18 ...
Rootstock transfer device, 19: rootstock cutting device, 21: scion seedling supply device, 22: scion conveyance device, 23: scion cutting device, 5
1, 72: Actuator support plate, 53, 76: Actuator, 55: Hoki embryo bearing groove, 59, 70: Horizontal movement adjusting device, 61, 78: Vertical position adjusting device,
63, 77: Hypocotyl detection sensor, 79: Rootstock hypocotyl gripping hand, 83: Hogi hypocotyl gripping hand

Claims (1)

(57) [Claims 1] The rootstock seedlings arranged in the rootstock seedling supplying device 17 and the scionling seedlings arranged in the scionling seedling supplying device 21 are transported by the respective seedling conveying devices 18, At 22 , each cutting device 19, 23
Is transported to the cutting position where is disposed, and the cut rootstock seedling and the cuttings are further joined by the respective transport devices 18 and 22 .
In the grafting robot that transports and joins to the section 6 , the rootstock seedling supply device 17, the scionling seedling supply device 21, and the rootstock cutting
The device 19 and the scion cutting device 23 are respectively attached to the joint 6
To the rootstock transport device 18
A scribing carrier provided in the feeding arm 34 and the scribing carrier 22.
Each of the arms 79 are sequentially rotated by approximately 90 degrees.
From the seedling supply devices 17 and 21 to the cutting devices 19 and 23 and
And a transfer arm to the joint 6
34 seedling transfer locus and seedling transfer arm 79
The traces are arranged symmetrically with respect to the joint 6 , and the seedling supply device 21 is used to insert the seedling hypocotyls.
Seedling supply base with receiving groove notched from the transport direction
A plate 14a is provided, and the plate 14a
When the raising member 14b is provided along the receiving groove to transfer the scion seedlings of the scion seedling supplying device 21 to the scion conveying device 22 , the cotyledon development direction of the scion seedlings is set in the scion conveying device 22.
The scion seedling supply device 21 is configured to be able to supply scion seedlings so as to be in a direction orthogonal to the extension direction of the gripping hand 83 .
And the rootstock seedlings of the rootstock seedling supply device 17 are transferred to the rootstock transport device 1.
8 , the rootstock seedlings can be supplied to the rootstock seedling supply device 17 so that the cotyledon development direction of the rootstock seedlings is in the same direction as the extension direction of the gripping hand 79 of the rootstock transport device 18 . A grafting robot, characterized in that: