JP3467844B2 - Grafting robot - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for manufacturing grafted seedlings in which rootstock seedlings and spikelet seedlings are automatically supplied to a joint and are automatically grafted with clips. It relates to a grafting robot. 2. Description of the Related Art The inventor of the present invention has applied for a series of patents by improving the conventional grafting robot and inventing a grafting robot which can be easily used (Japanese Patent Application No. 4-161).
No. 515, Japanese Patent Application No. 5-122549, etc.). The grafting robot described in each of the publications developed by the present inventors,
Each of the rootstock seedlings and the earlings is transported to a certain area of each cutting device by a transport device, and the rootstock seedlings and the earwood seedlings are respectively cut by a cutting device having a cutting blade at the tip that rotates. Further, each of the seedlings is transported to the joining portion by the transport device, and the rootstock seedling and the scion seedling are automatically joined at the joining portion using a clip. [0003] The above grafting robot
A cleaning tank for cleaning the cutting blade is located below the cutting device.
However, the cotyledons of the cut rootstock seedlings fall into the washing tank.
If lowered, the cutter could not be washed.
When cleaning the cutting blade in the cleaning tank, stop the cutting blade below.
Move the cleaning tank upward, and the cutting blade
Perform as if to Cutting rootstock seedlings with a cutting device
The cotyledons that have been cut off sometimes go to the cutter arm of the cutting device
Being skipped, covering the entire opening of the grafting robot
Between the safety cover and the cutting device.
Was. Then open the safety cover and cut this cotyledon
The hand may be cut with a cutting blade during cleaning, etc.
Was. In addition, the safety cover is safer as the shielding area is larger.
However, when the shielding area is increased, the rootstock
Rootstock seedling cotyledons are covered by this large safety cover during transportation.
May be touched and grasped by the grasping hand of the transfer device.
The orientation of the rootstock seedlings may change,
It was not stable. [0004] In addition, the above grafting robot may leave uncut seedlings when cutting seedlings such as watermelon having a hard epidermis. In addition, the cutting surfaces of both hypocotyls and rootstocks of hypocotyls may be generated. Has a concave cross section, air enters the adhesive surface,
There were cases where it was difficult to survive. Further, in the conventional grafting robot described above, the operation of the robot is started at the same time as the seedling detection sensor detects a seedling. At this time, the transfer device of the grafting robot that starts to move when the hand of the worker remains inside the grafting robot. There was a danger that the hand would touch the hand for grasping the seedling provided at the tip of the plant. Accordingly, an object of the present invention is to improve the disadvantages of the above grafting robot of the prior art. In particular, an object of the present invention is to prevent cotyledons and the like of rootstock seedlings cut off by a cutting device from falling into a washing tank. [0005] The above object of the present invention is achieved by the following constitution. That is, the rootstock seedling transfer device and the ear
It was transported to a predetermined position by the seedling transport device and each transport device.
Cutting equipment to cut rootstock seedlings and scionlings
Grafting robot equipped with a device to join the rootstock and scion
The cleaning tank for the cutting blade below the cutting device
The seedling is located above the washing tank and inside the trajectory of the cutting blade.
The angle at which the chips are guided by the dust chute
This is a grafting robot equipped with an inclined guide plate . [0006] Cotyledons and the like cut off by the cutting device are guided by a guide plate.
Can be prevented from being guided and falling into the washing tank
You. Further, the guide plate is manually moved by a cutting device with respect to an operator.
If it is located in front, the operator's hand
And the safety is increased. FIG. 1 is a top view of a grafting robot according to this embodiment.
FIG. 2 is an enlarged view of the part (grafted part), a front view is shown in FIG. 3, and a side view is shown in FIG. The grafting robot is composed of a clip feeder 1 and a graft 2, and the graft 2 is composed of a stock 3, a scion 5, and a joint 6. A clip guide rail 9 is provided from the outer periphery of the clip feeder bowl 7 of the clip feeder section 1, and the graft section 2 is made adjacent to the distal end thereof. Further, as shown in FIG. 3, the respective robot manipulators 10 and 11 and the seedling supply plates 13 and 14 for grasping and transporting the rootstock and the scion are suspended on the top plate 15 of the graft 2. . Since all the movements are assembled on one top plate 15, dimensional accuracy is improved. In addition, the top plate 15 plays a role of a cover and a strength member of the grafting robot.
Prevents scattering of cutting waste from rootstocks and scions. Since the grafted clip is used several times repeatedly, it may be supplied to the bowl 7 of the clip feeder unit 1 with dirt such as dirt adhered thereto. However, the portion 1a (see FIG. 1) from which the misaligned clips are dropped during the aligning operation of the clip feeder unit 1 is meshed, and only the dust is sieved off from the meshed portion to automatically remove the clips. It can be cleaned cleanly. Also, a clip joining device 25 connected to the tip of the clip feeder unit 1
As shown in FIG. 3, rods 135 and 136 which can be adjusted and fixed independently in two directions, a vertical direction and a horizontal direction, respectively.
Respectively, and by finely adjusting the positional relationship between the set of scion, rootstock and the clip at the joining position by the clip, it is possible to graft many items. In addition, a vibrating clip guide rail 9 is provided linearly from the vibrating clip feeder bowl 7, and a clip joining device 25 for joined seedlings fixed to the end thereof is provided. It can be supplied without stopping operation. Further, the clip joining device 25 is connected to the frame 1
31, the clip guide rail 9 is slidably attached to the clip joining device 25.
5 does not pass. And, by securely fixing the clip joining device 25 and the frame 131, the joining rate can be stabilized. FIG. 2 is an enlarged view of the graft portion 2 shown in FIG. 1. The root portion 3 comprises a rootstock seedling supply device 17 and a rootstock transport device 1.
8 and a stock cutting device 19, and the scion part 5 also includes a scion seedling supply device 21, a scion conveying device 22, and a scion cutting device 23. The rootstock seedling supplied manually to the rootstock seedling supply device 17 is transported to the position of the rootstock cutting device 19 (cutting position) by the rootstock transporting device 18 rotating in the direction of the arrow (a) in FIG. Then, the cutting device 19 is rotated (see FIG. 4), and the cutting blade leaves one cotyledon of the rootstock seedling, and the other cotyledons are cut off. The stock cutting device 19 is a rotary cutter having a cutting blade attached to the tip, 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 by the grafting unit 2 to the joining device 25 (see FIGS. 2 and 3).
See) and joined with the scion. Similarly, the scion seedlings supplied to the scion seedling supply device 21 by hand are transferred to the scion conveying device 2.
2, the tissue above the hypocotyl is transported by the scion cutting device 23 which is conveyed in the direction of arrow (d) (see FIG. 1) and rotates in the direction of arrow (f) (see FIGS. 1 and 4) at the cutting position. In part, the hypocotyl and root are partially cut off. The scion having the cotyledon portion is conveyed in the direction of the arrow (e), and is joined to the rootstock and the graft 2 by the clip supplied from the clip feeder unit 1, the grafting operation is completed, and the lower part of the graft 2. Dropped and collected. FIG. 5 shows a top plate 15 provided on the graft 2 and a safety cover 16 provided on the front and side surfaces of the graft 2. The top plate 15 and the safety cover 16 are made of a transparent resin plate. The top plate 15 is folded back at the front end thereof, and an operator can put his hand inside. FIG.
As shown in the figure, the seedling detection sensors 55 and 55 'are located near the rootstock seedling supply plate 13 and the scion seedling supply plate 14 of the grafting robot.
And the hand detection sensors 56 and 56 'are provided, and even if the seedlings are supplied to the supply plate 13, if the operator has a hand, the grafting robot stops operating and waits. In the past, the grafting robot was operating at the same time as detecting the seedling, but if the worker's hand remained at that time, the hand at the end of the transfer arm of the grafting robot could touch the hand, which could be dangerous. The double check of the sensor 55 and the hand detection sensor 56 eliminates the risk of the grafting robot touching the hand. In this embodiment, the seedling detection sensors 55 and 55 'use reflection-type optical sensors, and the hand detection sensors 56 and 56' use transmission-type optical sensors. Next, the rootstock seedling supply device 17 and the transport device 1
8 will be described. First, the rootstock seedling supply device 17 will be described with reference to FIGS. The rootstock seedling supply plate 13 is composed of a holding part 13b having a structure for receiving a rootstock at an angle to come into contact with the back surface of both cotyledons opened in a direction facing the receiving groove 13a larger than the rootstock seedling axis diameter. ing. Since the holding portion 13b is provided at an angle to come into contact with the back surface of the cotyledon, the seedling can be placed on the supply plate 13 in substantially the same direction even when the direction of the cotyledon is not accurately set when supplying the rootstock. Can be. Further, as shown in a side view (FIG. 3) of the rootstock seedling supply plate 13, a receiving groove 13 of the rootstock seedling supply plate 13 is provided.
A movable gripping hand 13c for gripping the hypocotyl and an actuator (not shown) for driving the gripping hand 13c are provided below the a (see FIG. 2). Then, the movable gripping hand 13c rotates around the base on the actuator side, and can hold the hypocotyl with the fixed gripping hand 13c 'fixed to one side of the receiving groove 13a. The drive control of this actuator is performed by detecting the insertion of the rootstock seedling into the receiving groove 13a by the actuator 13f of the microswitch 13e. Then, the sequencer (not shown) is operated by the input of the microswitch 13e, and the valve (not shown) is driven, and the movable gripping hand 13c is driven by the air pressure from the compressor (not shown). Therefore, the actuator 13f is
a and is attached so as to be rotatable about a rotation shaft (not shown) provided on the bottom surface of the microswitch 13e. And the movable gripping hand 13c
After holding the hypocotyl of the rootstock seedling with the fixed gripping hand 13c 'and pulling the rootstock downward by human power, the cotyledon deployment base of the rootstock seedling is caught by the gripping hands 13c and 13c', and at that position the rootstock The seedlings are positioned. The fixed gripping hand 1
Since 3c 'is fixed, the position of the hypocotyl portion of the rootstock seedling abutting on this is constant even if the thickness of the hypocotyl differs. In the cutting position, the hypocotyl portion of the rootstock that contacts the fixed gripping hand 13c 'is on the side that hits the cutting blade (not shown) of the cutter, and the hypocotyl is irrespective of the thickness of the hypocotyl at the cutting position. Always abuts the cutting blade at a specific coordinate point. As shown in FIG. 4, a cleaning tank 19a of a cutting blade 19d is disposed below the stock cutting device 19, and the cleaning tank 1
Above 9a and inside the trajectory of the cutting blade 19d, a guide plate 19b (see FIGS. 2 and 4 and FIG.
The guide plate 19b is not shown in FIG. 3). For this reason, conventionally, the cutting blades 19d may not be able to be washed if cotyledons or the like of rootstock seedlings cut off by the stock cutting device 19 fall into the washing tank 19a, but such a problem is caused by the guide plate 19b. Solved. Further, it is difficult to reach the inside of the rotation locus (solid line (c) in FIG. 4) of the cutting device 19, and the safety is improved. The guide plate 19b may be provided on the scion cutting device 23 side. As shown in FIG. 6, a shielding plate 19c is provided on the vertical surface on the front side of the graft 2 just outside the rotation locus of the stock cutting device 19. It moves only up to the position before the collision with 19c).
The shielding plate 19c prevents the cut cotyledon from being thrown away by the arm of the cutting device 19 and accumulating in the gap with the safety cover 16 when cutting the rootstock. Further, the shielding plate 19c also prevents an accident that the hand is cut by the cutting device 19 during maintenance of the inside of the graft 2 by opening the safety cover 16.
Further, as shown in FIG. 7, a notch 16a serving as a recess is provided on the transport shaft trace of the stock transport device 18 of the safety cover 16. When there is no notch 16a, the cotyledon touches the safety cover 16 while the rootstock is being transported by the rootstock transport device 18, and
Although the orientation of the rootstock seedlings changed and the bonding with the scion sometimes became unstable, such a defect was eliminated by providing the notch 16a as described above. The rootstock seedlings set on the rootstock supply plate 13 are gripped by the rootstock transport device 18 and are transported sequentially to the cutting position and the joining position. FIG. 8 shows a detailed view of the stock carrier 18. 8A is a top view, and FIG. 8B is a side view (FIG. 8A is a view taken along line AA of FIG. 8B). 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 (see FIG. 8B) is made of a curved plate that grips the cylindrical side surface. A support arm 45 for rotating the cylindrical roller 41 in the vertical direction when joining with the scion, and for lifting the stock of cotyledons, and a rotary actuator for mounting of the stock of cotyledons are mounted on the stock transport arm support 30. 49 are provided. A rootstock hypocotyl hand 37 at the tip of the rootstock transport arm 34 pushed to the rootstock seedling set position on the rootstock seedling supply plate 13.
The air cylinder operates to grip the rootstock seedling. Hand 3
At the same time as the actuation of 7, the rotation actuator 29 for the rootstock transport arm is also operated, and the rootstock seedlings held by the hand 37 are transported to the cutting position. At the time of joining with the scion, as shown in FIG. 9, 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. The shield plate 37a that shields the vicinity of the root of the rootstock hypocotyl hand 37 fails to bond the rootstock seedling to the scion at the bonding position, and fails to bond even if the hand 37 separates the rootstock seedling. The rootstock does not bite into the root of the hypocotyl hand 37, and the rootstock seedlings that have failed to join are smoothly discharged from the rootstock transporter. As shown in FIG. 9, the cotyledons left on the rootstock are lifted by the cylindrical roller 41 when they are joined to the scion, but if the cotyledons left on the rootstock are maintained after the joining, Even if there is a rootstock seedling that has failed to join, it will no longer cut into the root of the rootstock hypocotyl hand 37. This is because after the joining timing, the rootstock transport arm 34 is retracted, and the process moves to the return transport for grasping and transporting the next rootstock seedling, and the cotyledons of the rootstock seedling are pushed out of the hypocotyl hand 37. This is because the rootstock gripper 35 moves in this state, so that rootstock seedlings that have failed to join are easily discharged from the hypocotyl hand 37, and the possibility of carrying around is reduced. Next, the scions will be described in detail. First, the spikelet seedling supply device 21 will be described. As is clearly shown in FIG. 2, the scion seedling supply device 21 is provided with a scion seedling supply plate 14 having a scion receiving groove 14a opened at the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is manually inserted into 14a to support the scion seedling. The scion seedlings supported by the scion supply plate 14 are gripped by the scion transporting device 22 and sequentially transported to the cutting position and the joining position. 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. In the scion transfer arm support 75,
A scribing transfer arm extruding cylinder 77 supported by the support body 75, a scion transfer arm 79 which is extended and contracted by the cylinder 77, and a scion cotyledon support plate 81 at the tip of the transfer arm 79 which constitutes a scion grip portion 80. And a hogi hypocotyl hand 83 are provided. The hand 83 is a scion transfer arm 79
Opening / closing control is performed by an actuator 89 provided at the tip to hold the scion. Hogi Cotyledon Support Plate 81
Has a plate-like portion 81a on which the back surface of the hogi cotyledon is placed. When the scion hypocotyl hand 83 of the scion conveying device 22 comes to pick up a seedling, a plate-like portion 81a on which the back surface of the scion cotyledon of the cotyledon support plate 81 attached to the hand 83 is placed.
11 on the scion supply plate 14 at a position overlapping with FIG.
The cotyledon support plate 14a may be provided on the same plane as that of the scion supply plate 14, as shown in FIG. When the cotyledon support plate 14a is not provided, the cotyledon-mounted plate-shaped portion 81a of the hand 83 may not support the cotyledon well when the cotyledon is drooping or wilted extremely. By providing the cotyledon support plate 14a on the plate 14, the cotyledon support plate 14a can reliably enter the lower side of the cotyledon even if the cotyledon is hanging. The scion transfer arm 79 is pushed out by the transfer arm push-out cylinder 77, and the pushing amount is adjusted by a pushing amount adjusting shim 91. A backing guide 92 is fixed to a lower portion of the 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. This guide piece 9
The cutting by the cutter can be reliably performed by supporting the hypocotyl backing by 2a. The direction of rotation of the scion cutting device 23 is as shown by the arrow (f) in FIGS. The reason is that it is more advantageous to cut one cotyledon from the hypocotyl side to the cotyledon side while cutting one cotyledon in the hypocotyl when cutting the rootstock. Guide piece 92 at the end of contact guide 92
This is because the shape of the acute angle portion at the tip formed by cutting the hypocotyl is not disturbed, and the shape of the hypocotyl is cut. Also, the scion transport arm 79 is at the pushing position while the scion is being transported from the supply position to the cutting position, and at the time of cutting, the arm 79 moves to the retracted position (FIG. 10B). further,
At the time of joining the scion and rootstock, the backing guide 92 is in the way. In this case, the transfer arm 79 is pushed out, and the hypocotyl hand 83 and the like are protruded, so that the backing guide 92 and the hand 8 are moved.
Interference with 3 etc. can be prevented. When the scion grasping portion 80 such as the hypocotyl hand 83 or the like is not stretchable and fixed at the time of joining the scion and rootstock,
A gap must be provided between the rootstock and the scion to prevent interference. However, in order to perform clip joining, a mechanism for separately attracting each seedling is necessary if the gap exists. Also, if the scion gripper 80 is fixed,
Since the seedling supply direction is limited to the tangential direction of the transport circumference, left-handed people have difficulty supplying seedlings during the supply of scions.
However, in the case of the present embodiment, since the scion gripping portion 80 can be extended and contracted, the seedling moving mechanism becomes unnecessary, and at the same time, the workability is improved regardless of the difference of the dominant arm. As described above, the expansion and contraction of the transfer arm 79 enables the movement of the scion holding portion 80, thereby increasing the degree of freedom in the method of receiving scion seedlings from the supply plate 14. Further, as described above, the pushing amount of the scion gripping portion 80 is adjusted by the shim 91 of the transfer arm 79 of the scion seedling. This is because the cutting surface of the stock and the scion must be in the opening at the tip of the clip when joining with the clip. This is because it is necessary to finely adjust the extrusion amount. In the present embodiment, the shim 91 is provided in the scion carrier 22, but the shim 91 may be provided in the stock carrier 18. FIG. 10 (c) shows the backing guide 92 and the guide piece 92a viewed from the scion cutting device 23 side, and the guide piece 92a has a slit-shaped space through which the cutting blade of the scion cutting device 23 passes. The guide piece 92a is formed in a U-shape. In this manner, the hypocotyl on the lower side which is cut off during cutting of the scion can be prevented from being pushed and escaped by the cutting blade, the hypocotyl can be reliably cut, and the hypocotyl remains uncut. Next, the cutting apparatus will be described with reference to FIG. The cutting device is provided in each of the stock 3 and the scion 5, but has a mechanism common to both. FIG. 12 shows a cutting device on the stock 3 side. FIG. 12A is a top view of the grafting robot (the direction as viewed from the upper surface of the grafting robot), and FIG. 12B is an arrow A direction in FIG. FIG. The cutter driving motor 111 is supported by a vertical column 112, and a cutter arm 115 is attached to a rotating shaft 113 of the motor 111. A cutting blade 117 is attached to a cutting blade support piece 116 provided at a tip of the cutter arm 115 in a direction orthogonal to the arm 115. The attachment position of the cutting blade support piece 116 to the cutter arm 115 is
5 with an adjusting tool such as an adjusting screw 119 provided. Adjustment of the mounting height of the cutter driving motor 111 is performed by an adjusting tool such as an adjusting screw 120 provided on the support 112. Further, the cutter arm 115 does not hinder the cutting of the hypocotyl, and a cotyledon lifting guide for lifting 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. 122 are provided. As the cutting device 23 on the scion side, FIG.
As shown in FIG. 3, by providing the rotation center 23a of the scion cutting device 23 in the scion transporting device 22 itself, the cut surface of the scion hypocotyl becomes convex. Since the cutting surface of the rootstock hypocotyl is concave,
The degree of adhesion between the cut surfaces of the scion hypocotyl and the stock hypocotyl is improved, and the survival rate of the graft is increased. That is, when the rotation center 23a of the scion cutting device 23 is provided outside the transfer radius of the scion transfer device 22 like a conventional grafting robot developed by the present inventor, as shown in FIG. Since the cut surface of the wood hypocotyl is concave like the stock hypocotyl, air enters the adhesive surface,
It may be difficult to survive. However, when the scion cutting device 23 shown in FIG. 13 is used, the cutting shapes of the scion hypocotyl and the rootstock hypocotyl match as shown in FIG. 14A, and the survival rate of the graft is increased. Further, as shown in FIG. 15 (b), when the cutting surface of the scion hypocotyl is concave, the angle A between the extension line of the hypocotyl surface and the extension line of the hypocotyl cutting surface is small. Hard watermelons may cause uncut portions. However, FIG.
By making the cut surface of the scion hypocotyl convex as in (a),
The angle A increases, and the uncut portion of the epidermis disappears. The description of the clip supply device and the clip joining device will be omitted (the same as the device described in Japanese Patent Application No. 6-45439). The operation sequence of the grafting robot of this embodiment is as disclosed in FIG. 16, 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. 18 as disclosed. According to the present invention, the cutting device cuts off
Cotyledons, etc., are guided by the induction plate and fall into the washing tank
Can be prevented. Also, because of the guide plate
It is difficult to reach within the rotation path of the cutting device,
Increase.

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 one embodiment of the present invention. FIG. 4 is a side view of a graft portion of the graft robot according to one embodiment of the present invention. FIG. 5 is a view showing a top plate and a safety cover provided on a front surface and a side surface of a graft portion of the graft robot according to one embodiment of the present invention. FIG. 6 is a view showing an arrangement of a guide plate and a shielding plate of the grafting robot according to one embodiment of the present invention. FIG. 7 is a view for explaining that the safety cover of the grafting robot according to the embodiment of the present invention is provided with a notch. FIG. 8 is a diagram showing a rootstock transfer device of the grafting robot according to one embodiment of the present invention. FIG. 9 is a view showing a rootstock transfer device when the graft and the scion of the grafting robot of one embodiment of the present invention are joined. 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 view showing a cotyledon support plate provided on the scion supply plate of the grafting robot according to one embodiment of the present invention. FIG. 12 is a diagram showing a cutting device of the grafting robot according to one embodiment of the present invention. FIG. 13 is a view showing a case where the rotation center of the cutting device on the scion side of the grafting robot according to one embodiment of the present invention is provided within the transfer radius of the scion transfer device. FIG. 14 shows a case where the rotation center of the scion cutting device of the grafting robot according to one embodiment of the present invention is provided within the transfer radius of the scion conveying device and the rotation center of the scion cutting device of the prior art is The figure explaining the state of the cutting surface of the scion hypocotyl and the adhesion surface of the rootstock hypocotyl when provided outside a conveyance radius. FIG. 15 shows a case where the rotation center of the scion cutting device of the grafting robot according to one embodiment of the present invention is provided within the transfer radius of the scion conveyance device, and the rotation center of the scion cutting device of the prior art is the same as that of the scion conveyance device. The figure which shows the cut surface of the scion hypocotyl when providing outside a conveyance radius. FIG. 16 is a diagram showing an operation sequence of the grafting robot according to one embodiment of the present invention. FIG. 17 is a diagram showing a time chart of a stock of a grafting robot according to an embodiment of the present invention. FIG. 18 is a diagram showing a time chart of a scion part of the grafting robot according to one embodiment of the present invention. [Explanation of reference numerals] 1 ... clip feeder section, 2 ... graft section, 3 ... base stock section,
5 ... Hoki part, 6 ... Joint part, 9 ... Clip guide rail,
13 ... rootstock seedling supply board, 14 ... spikelet seedling supply board, 14a ... cotyledon support board, 15 ... top plate, 16 ... safety cover, 16a ... notch, 18 ... rootstock transport device, 19 ... rootstock cutting device , 1
9a: cleaning tank, 19b: guide plate, 19c: shielding plate, 19
d: cutting blade, 22: scion conveying device, 23: scion cutting device, 25: clip joining device

Claims (1)

(57) [Claims] [Claim 1] Rootstock seedling transfer device, scion seedling transfer device, and
The rootstock seedlings and spikelet seedlings that have been transported to the specified positions by
The cutting device that cuts each and the cut rootstock and scion are joined.
In a grafting robot provided with a device for performing the cleaning, a cleaning tank for the cutting blade is disposed below the cutting device, and the cleaning is performed.
Seedlings of seedlings above the tank and inside the trajectory of the cutting blade
Angled so that the dust is guided by the dust chute
A grafting robot characterized in that a guide plate is provided .