JP3516495B2 - Grafting equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafting device, and more particularly to cutting a rootstock seedling and a scion seedling to form a rootstock and a scion, and grafting the rootstock onto this rootstock. The present invention relates to an automated device for continuously producing grafted seedlings.

[0002]

2. Description of the Related Art A conventional grafting device is disclosed, for example, in Japanese Patent Laid-Open No. 6-
There is one described in Japanese Patent No. 38630. This grafting device is for a rootstock tray conveyor that is a stockstock means and a rootstock tray conveyor that is a stockstock means, and for rootstocks that are the rootstock transport means for rootstock shells and spikestocks from both tray conveyors. Root supply means for replacing each separately on the shell conveyor and the scoop shell conveyor serving as the scoop conveying means, or the shell taking-out arm device serving as the scoop supplying means, and the stand taken out on the stock shell conveyor A rootstock cutting device that clamps the lower part of the rootstock seedling of the tree shell to cut the upper part, and the upper part of the rootstock seedling of the earstock shell taken out on the scion shell conveyor is clamped to lower the bottom part. Along with cutting, a scion cutting device that grafts the cutting surface of this scion seedling to the cutting surface of the rootstock, and a clip fitting device that fits a clip to the connection part that connects the rootstock to the rootstock, The above A shell extraction device for extracting grafted seedlings fitted with lips onto a discharge tray conveyor downstream of the rootstock shell conveyor, and a seedling detector for detecting the presence or absence of seedlings in each shell of each shell conveyor Is.

The rootstock shell and the scion shell are respectively conveyed by the stock tray conveyor or the scion tray conveyor. The rootstock shell and the scion shell transported to a predetermined position on each tray conveyor are taken out onto the stockshell conveyor and the scoop shell conveyor by respective shell take-out arm devices,
During each feeding, the upper part of the rootstock seedling is cut by the rootstock cutting device, and the lower part of the rootstock seedling is cut by the earcut cutting device. Then, the scion and the rootstock are connected to form a graft shell. After that, at the terminal end of the rootstock shell conveyor, it operates so that the grafted shells are taken out one by one onto the discharge tray conveyor by the shell take-out device.

[0004]

In such a conventional grafting device, a seedling detector for simply detecting the presence and size of seedlings on the side of the stock conveyor and the scion shell conveyor. Since it does not have a means for adjusting the cutting position of the seedlings, it is necessary to cut at a position below the cotyledon base such as a tomato seedling from the viewpoint of the survival rate and the occurrence of roots. I couldn't deal with this even if it was desirable.

Further, although it is equipped with a cutting device or the like for separately cutting the scion and the rootstock, from the viewpoint of processing time, control such as at what timing each device performs grafting work The means is not disclosed at all, and the relationship between the operation such as clip feeding and the waiting time is not clear.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a grafting device having a high survival rate by reducing the waiting time in the grafting process and shortening the processing time. And

[0007]

In order to achieve the above object, the invention according to claim 1 is to convey the scion seedlings (6) for conveying the scion seedlings stored in rows in the tray (14). )
A rootstock transporting means (7) for transporting rootstock seedlings stored in a row in a tray (14 '), and a head part cut from the rootstock seedling at the grafting processing position. Grafting processing means (20) for connecting to the stand part where the ear part of the tree seedling has been cut and removed,
In the grafting device, the grafting processing means (2
0) is a cutting device (2) for cutting the seedlings for cuttings
1) and a root cutting means (2) for cutting the root seedlings
3), a carrying means (22) for holding the cutting portion cut from the scion seedling and carrying it to the stand portion of the seedling for the rootstock, and the scoop portion.
When connecting to the base, attach a clip (130) to the base.
A clip supply means for supplying (24), wherein the scion cutting unit (21) is cut scion for seedlings, and the grafting processing unit (20) is processed for scion for seedlings While the rootstock cutting means (23) cuts the rootstock seedlings during the operation , the clip supply means (24) causes the rootstock seedlings to cut.
Supplied to the tip of the base with the loupe (130) open
The clip (130) in the open state.
Insert the ears transferred by the transporting means (22) into the ears.
It is characterized in that the part and the pedestal part are joined together.

The invention according to claim 2 is the same as claim 1.
In the mounted grafting device, the lower clamper (27 ') for holding the hypocotyl of the lower cotyledon of the rootstock seedling cut by the rootstock cutting means (23) and the tip of the rootstock seedling are provided. An ear tip clamper (120) to be held, and the root cutting means (2) in a state where the root seedling is held by the lower clamper (27 ′) and the ear tip clamper (120).
In 3), the rootstock seedlings are cut and the cut tip parts are moved from the grafting position to the discharging position and discharged by retreating the tip clamper (120). To do.

The invention according to claim 3 is the connection according to claim 2.
In the wood device, the tip clamper (120) includes first and second linear actuators (1) fixed to one body.
24, 127) so that the tip clamper (120) moves the first actuator (127).
Of the first actuator and the second actuator (12) by moving the second actuator (124) to the cutting position by extending the second actuator (124).
4, 127) contracts to move to the discharge position.

The invention according to claim 4 is the connection according to claim 1.
In the tree device, a plurality of scion auxiliary actuating means (25, 25) for assisting in processing the scion seedlings conveyed by the scoop conveying means (6) by the grafting processing means (20). Two
6, 27, 28) and a plurality of rootstock auxiliary operations for assisting in processing the rootstock seedlings transported by the rootstock transporting means (7) by the grafting processing means (20). Means (2
5 ', 26', 27 ', 28', 120) and comprises,
In addition, the carrying means (22) has an upper clamper (103) for holding the spikes and inserting them into the clip (130), and the spike auxiliary operating means (25, 26, 2).
7, 28) and a spike-side shaft (73) to which a plurality of cams (71) are fixed, and the rootstock auxiliary actuating means (25 ',
26 ', 27', 28 ', 120) are arranged in parallel with the stem side shaft (74) to which a plurality of cams (72) are fixed, and these scion side and root side shafts (73, 74) as well as connected via the power transmission means (75), its connecting the drive motor to one of the shaft (76), further wherein the stock-side shaft (74), operation timing of the grafting processing unit It is characterized in that a timing sensor (77) for controlling is fixed.

[0011]

With the above-mentioned structure, the grafting device of the present invention comprises a scoop conveying means (6) for conveying scion seedlings, a root conveying means (7) for conveying root seedlings, and a graft. The grafting means (20) for connecting the ears cut from the sapling seedlings at the processing position to the pedestal from which the ears of the rootstock seedlings have been cut / removed is also provided. The processing means (20) is a cutting cutting means (21) for cutting the scion seedlings, a root cutting means (23) for cutting the root seedlings, and an ear part cut from the scion seedlings. Means for holding and carrying the seedlings for the rootstock (2
2), and when connecting the ear part to the base part,
Clip feeding means (24) for feeding the lip (130)
And have.

Then, in the grafting work, the scion cutting means (21) cuts the scion seedlings while the scrubbing processing means (20) is processing the scion seedlings. the wood cutting means (23) so as to cut the stock for seedlings, further, the clip supply means (24) is a clip
With (130) open, supply it to the tip of the base.
Insert the spikes into the open clip (130) and
Closing the clip (130) to join the ear and stand
This reduces grafting time.

The reference numerals in the above parentheses are for the purpose of comparing the drawings, and do not limit the structure of the present invention in any way.

[0014]

Embodiments of the present invention will be described below in detail with reference to the drawings when grafting tomato seedlings. In this example, as shown in FIGS. 26 and 27, the seedling pots 13 and 13 ′ in which the seedlings for rootstock and the rootstock were planted were carried to a grafting position, where the seedlings for rootstock and the rootstock were placed. 28, the lower part of the cotyledon position is cut, and as shown in FIG. 28, the ear part of the scion seedling is joined to the rootstock for grafting.

FIG. 1 is a diagram showing an embodiment of a grafting device according to the present invention. In the figure, a grafting device 1 conveys stocked seedlings for scion to a grafting position, and a scoop conveyer 6 as a transporting means for scion, and conveys stocked seedlings for a grafting position. A rootstock transporting conveyor 7 as a rootstock carrying means, and a graft for connecting the ears cut from the sapling seedlings at the grafting processing position to the pedestal cut and removed from the rootstock seedlings. The processing means 20 and the control unit 10 for controlling the entire apparatus are provided.

In the above description, as shown in FIG. 1, the scion stock section 2 and the stock stock section 3 have box-shaped stock section frames 11 and 11 'for scion seedlings and rootstock seedlings. A plurality of rows of trays 14 and 14 '(see FIG. 2) in which the stored seedling pots 13 and 13' are connected in a row are placed and stocked as a seedling raising box. From the stocked nursery boxes, the trays 14 and 14 ′ are carried out row by row by the scion supply conveyor 4 and the stock supply conveyor 5. The trays 14 and 14 ′ that have been carried out are temporarily stopped at the end portions of the scion supply conveyor 4 and the stock supply conveyor 5, and here, the scion transfer means 15 and the stock transfer means 1 are provided.
It is locked by a locking claw 6 (not shown) and is placed on the scion carrying conveyor 6 and the stock supply conveyor 7 along the carrying frame 17.

The empty nursery boxes after all the row-shaped trays 14 and 14 'have been taken out are arranged below the end portions of the scion feeding conveyor 4 and the rootstock feeding conveyor 5. It is dropped and collected in the nursery box storage units 18 and 19.

As shown in FIG. 2, the scion conveying conveyor 6 and the stock conveying conveyor 7 arranged in parallel therewith are intermittently turned by the rotation of the motors 33, 33 'provided at the downstream ends thereof. It is driven and serves to convey the trays 14 and 14 'in which the scion seedlings and the rootstock seedlings are arranged in a row to the grafting processing position.

As shown in FIGS. 3 and 4, these scion conveyer 6 and rootstock conveyer 7 are auxiliary conveyers 36, for conveying the trays 14 and 14 'in a horizontal plane upstream thereof. 36 'is connected, and the inclined plates 31 and 31' are rotatably connected to the downstream side thereof, the elevating plates 30 and 30 'in an intermediate position, and the elevating plate 3
Inclined plate 3 rotatably connected to the downstream side of 0, 30 '
2, 32 ', and supplies trays 14 and 14' storing the seedlings in rows on the auxiliary conveyors 36 and 36 '.
By placing the trays 14 and 14 ', the trays 14 and 14' can be transferred to the elevating plates 30 and 30 '.

The elevating plates 30 and 30 'are mounted on the cam 3 by motors 34 and 34' provided at the lower portions thereof.
5, 35 'can be rotated and driven up and down, and by the rotation of the motors 34, 34', the scion carrying conveyor 6 and the stock carrying conveyor 7 can be moved up and down. In addition, the lifting plate 30 of the hog transport conveyor 6
Are supported by being arranged slightly higher than the lifting plate 30 ′ of the stock transport conveyor 7. This corresponds to the cutting positions of the seedlings for scion and rootstock being different. The motors 33, 33 ', 34, 34' are controlled by the control unit 10 via the operation panel 12 (see FIG. 2).

As shown in FIG. 5, the auxiliary conveyor 3
The air blow nozzle 3 is provided on the downstream side of 6, 36 '.
8, 38 ′ and sensors 140, 140 ′ are attached, and the saplings conveyed by these sensors 140, 140 ′ are detected and the air blow nozzle 3
Air is blown toward the hypocotyls of the seedlings by 8, 38 ', and the culture soil particles attached to the downy hairs near the hypocotyls are removed cleanly.

Next, as shown in FIG. 6, seedling pots containing seedlings for rootstocks and seedlings for rootstocks are provided on the side surface of the middle portion in the transport direction between the above-mentioned rootstock conveyors 6 and rootstock conveyors 7. 1
Photoelectric sensors 39, 39 'for detecting the trays 14, 14' in which 3, 13 'are arranged in a row are arranged, and for detecting the hypocotyls of the scion seedlings and the rootstock seedlings. Photoelectric sensors 40, 40 'are provided.

When the photoelectric sensors 40 and 40 'detect the hypocotyl within a predetermined range after the photoelectric sensors 39 and 39' detect the seedling pots 13 and 13 ', a motor for driving the conveyor is generated by the signal. It is controlled so that 33, 33 'are stopped and the scion transport conveyor 6 or the root transport conveyor 7 is stopped.

Here, FIG. 24 shows a control flowchart of the detecting operation by the photoelectric sensor, and the detecting operation of the hypocotyl will be described below based on this flowchart.

In step 200, the scion conveying conveyor 6 or the rootstock conveying conveyor 7 is activated, and step 20
1 by photoelectric sensor 39, 39 'row seedling tray 14,
When "no" of each of the pots 13 and 13 'in 14' is detected, the counter is reset in step 202. Then, in the next step 203, the seedling pot 13,
When 13 'is detected as "present", the output of the conveyor generator is pulsed in step 204, and the process proceeds to step 205. In step 205, it is determined whether the count pulse number is within a preset range. Here, the count pulse number being within the range of means that the detection point is within a predetermined range from the central position of the hypocotyl. Therefore, if Yes at Step 205, the routine proceeds to Step 206, where it is further judged whether or not the photoelectric sensors 40 and 40 'have detected the hypocotyl. If Yes, the process proceeds to step 207,
Stop conveyors 6 and 7.

On the other hand, if No at step 205, the routine proceeds to step 208, where it is judged if the number of count pulses exceeds the range. Then, if Yes, the process proceeds to step 209, where it is further determined whether or not the count pulse number exceeds the range, and if Yes, the process returns to step 201. If No in step 208, the process returns to step 205.

As described above, when the hypocotyl is detected within a predetermined range from the center position of the hypocotyl, the scion transport conveyor 6 or the root transport conveyor 7 is stopped to prevent erroneous detection.

FIG. 25 is an explanatory diagram of a circuit for pulsing the motor generator output.

As shown in the figure, the motor generator 210
Output of the interface circuit 2 such as photo coupler
11 is converted and amplified by an amplifier 212, and its output is converted by an interface circuit 211 to obtain a sequencer output (214). This eliminates the need for a sensor and provides a pulse synchronized with the motor, which simplifies the calculation.

Next, as shown in FIGS. 2 and 29, the cotyledons of the scion seedlings and the seedlings of the rootstock are provided on the side surface of the middle portion of the scion conveying conveyor 6 and the rootstock conveying conveyor 7 in the conveying direction. Two pairs of laser sensors 41 and 41 'for detecting the position are provided so that the laser beams output from the respective light projecting portions intersect at the lower part of the cotyledon position. As a result, even if the laser light output from one light projecting unit is blocked by the true leaves of the seedlings in the adjacent seedling pots 13 and 13 ', it is detected by the laser light output from the other light projecting unit. In this case, the false detection is prevented because the cotyledon position is detected.

When the position of the cotyledon is detected, the detection signal is sent to the control unit 10, and the control unit 10 controls the operation panel 1
The motors 34, 34 ′ for raising and lowering the conveyor are rotated via 2, and the scion conveyor 6 or the root conveyor 7
The ascending / descending plates 30 and 30 'start descending.

In this embodiment, the row trays 14 and 1 are
Prior to the transportation of 4 ', when raising and lowering plates 30, 30' of the scion transporting conveyor 6 and the root transporting conveyor 7 are raised in advance, the transportation is started in this state, and the cotyledon position of the seedling is detected. The raising and lowering plates 30, 30 'are lowered, but this is for facilitating the detection of the cotyledons by the laser sensors 41, 41', and also for the inclined plate 31 when lowering the raising and lowering plates 30, 30 '. , 31 'to prevent the seedling pot from slipping and moving.

Next, the graft processing means 20 will be described.

As shown in FIG. 2, the graft processing means 20 is
It is arranged at an intermediate portion in the transport direction between the scion transport conveyor 6 and the stock transport conveyor 7, and is composed of the following four constituent parts. (1) Cutting means 21 as an auxiliary actuation means for cutting, which cuts the hypocotyl under the cotyledons in the seedling for cutting. (2) A transporting means 22 that holds the ears cut from the seedlings for scion and conveys them to the pedestals of the seedlings for rootstock. (3) Cutting means 23 as a rootstock auxiliary actuating means for cutting the hypocotyl under the cotyledons in the rootstock seedling. (4) Clip supply means 24 for supplying a clip to the base portion from which the ear portion of the rootstock seedling has been cut and removed.

These will be described below. (1) Cutting means 21 In FIG. 2, the cutting means 21 on the side of cuttings cuts with a front seedling scraping device 25 for scraping up the cuttings for cuttings one before the cuttings for cuttings to be cut. It comprises a cutting seedling scraping device 26 for scraping the scion seedling, a lower clamp device 27, and a scoop cutter 28.

The front seedling scraping device 25 is provided on the upstream side of the grafting processing position and scrapes up the true leaves of the seedling for the scion just before the cut seedling to the upper side to obstruct the detection of the cotyledons of the cut seedling. This is to prevent it from happening.

As shown in FIGS. 7 to 10, the front seedling scraping device 25 comprises an air chuck 56 for controlling the opening and closing of the cotyledon scraping body 51 behind the cotyledon scraping body 51 as a gripping portion. The air cylinder 5 is provided at the rear of the air chuck 56.
2 is attached. A connecting bar 58 and an expansion cam body 57 are provided on the upper part of the cotyledon scraping body 51, and the true leaf scraping body 50 is slidably mounted along the connecting bar 58. Therefore, the cotyledon scraping body 51 and the true leaf scraping body 50 can be moved in the front-back direction by the air cylinder 52, and when the true leaf scraping body 50 is in contact with the cotyledon scraping body 51, The expansion cam body 57 keeps it open.

The cotyledon scraping body 51 and the true leaf scraping body 50 are attached to a linear rail 53 via linear blocks 59 and 46 so as to be vertically movable. In addition, the wire 5 is attached to the true leaf scraping body 50 and the cotyledon scraping body 51.
4, 55 are attached, and the wires 54, 55 are connected to the cams in the cam group 70 described later via the rollers 47, 48.

The cutting seedling scraping device 26 has the same structure as the above-mentioned seedling scraping device 25.

That is, as shown in FIGS. 11 and 12, this cutting seedling scraping device 26 has a scraping body 60 as a gripping portion for scraping up the cotyledons of the cutting seedling, and the rear part of this scraping body 60. An air chuck 49 is attached to the air chuck 49, and an air cylinder 61 is attached to the air chuck 49. The scraping body 60 can be opened and closed by an air chuck 49, and can be moved in the front-rear direction by an air cylinder 61. Further, the air cylinder 61 is loosely fitted in a linear rail 62, and the linear rail 62 is loosely fitted to the linear rail 62. It is possible to move up and down along 62. Then, the scraping body 60 moves forward as shown by a chain line in FIG. 11, then moves up, and moves backward and down. A wire 63 is attached to the scraping body 60, and the wire 63 is connected to a cam in the next cam group 70 via a roller 64.

FIG. 30 is a diagram showing the operations of scraping, clamping and cutting the cutting-treated seedlings.

As shown in the figure, with the hypocotyl pinched by the lower clamp device 27, the scraping body 60 of the cutting seedling scraping device 26 advances to the hypocotyl under the cotyledon and closes its gripping part. To the intermediate position (above the cotyledon position). Then, the upper clamper 10 of the transportation means 22 described later.
3 and the true leaf spreading prevention bar 104 move forward, the upper clamper 103 closes the gripping portion, and then the scraping body 60 is lifted as shown by the chain line in the figure to scrape the cotyledons,
Then, the scoop cutter 28 moves forward to cut the hypocotyl.

Here, a cam group for carrying out the respective operations of the above-mentioned scooping auxiliary operating means and rootstock auxiliary operating means at a predetermined timing will be described.

As shown in FIG. 13, this cam group 70 has
It is provided below the scion transport conveyor 6 and the stock transport conveyor 7 at the grafting processing position.

As shown in FIG. 14, a cam group 71 for activating each device on the scion side and a cam group 72 for activating each device on the rootstock side are attached to the shafts 73, 74, respectively. . These shafts 73 and 74 are connected by a timing belt 75 via gears, and the cam groups 71 and 72 are controlled by the rotation of one motor 76. Further, the shaft 74 of the cam set 72 to operate the respective devices of the stock side, the timing sensor 77 for controlling the operation timing of the grafting process means.

That is, in such a graft processing apparatus, the timing on the rootstock side is particularly important, but in the present embodiment, the timing sensor 77 is provided in a portion that has little influence on the elongation of the belt or the like. A reliable operation becomes possible.

FIG. 15 is a diagram for explaining the operation of one cam in the cam group 70. In the figure,
The rotation of the motor 76 causes the shafts 73 and 74 to rotate,
When the cams 78 and 79 rotate, the cam followers 80 and 81
The arms 82 and 83 rotate about the fulcrum shafts 84 and 85, respectively, and as a result, the wires 86 and 87 connected to one end of the arms 82 and 83 are pulled and the arms 8 and 83 are pulled.
2, 83 move up and down. This wire 86, 87
The movement of the scraping body 50 and the like connected to the wires 86 and 87 is controlled to move up and down.

Next, the lower clamp device 27 will be described.

As shown in FIG. 11, the lower clamp device 27 holds the lower part of the hypocotyl of the scion seedling to be cut, and the chuck claws 90, which face each other in a state of being guided so as to move forward and backward. Has 91. The rear portions of these chuck claws 90, 91 are connected to wires 92, 93, and are also connected to the cams in the cam group 70 via rollers 94, 95. Therefore, the opening and closing of the chuck claws 90 and 91 is controlled in accordance with the operation of this cam.

Next, the cutting cutter 28 will be described.

As shown in FIG. 2, this scion cutter 28 can be moved forward and backward by an air cylinder 29, and its forward movement cuts the hypocotyls of the cotyledon lower part of the scion seedling. The cutting position at this time is approximately 10 mm below the cotyledon position of the scion seedling by adjusting the height of the lifting plate 30 of the scion transport conveyor 6, and the cutting surface cuts the scissors diagonally. It is arranged to be done. This is because when they are joined to the rootstock, the joining area is increased to increase the survival rate. (2) Conveying means 22 As shown in FIG. 16, the conveying means 22 nips and conveys the scion cut by the scion cutter 28 to the root position cut by the scribing cutter 28 'described later. It has a rotation base 101 that rotates about the rotation shaft 100. A slide base 102 is placed on the upper part of the rotating base 101, and the slide base 102 is connected to a cam in the cam group 70 via a pulley 111 and a wire 106, and moves in the horizontal direction by the rotation of the cam. It is controlled. An upper clamper 103 is attached to the slide base 102 via a clamp base 113, and a true leaf spread preventing bar 104 is attached above the upper clamper 103. Then, the upper clamper 103 is
Vertical rotation fulcrum 112 provided on the slide base 102
It is possible to rotate up and down around. Further, two air cylinders 108 and 109 are axially attached to the upper portion of the slide base 102, and the other end of the air cylinder 109 is attached to the clamp base 11 via a bracket 115.
It is attached to 3.

The rotary base 101 is provided with a roller 114 for contacting the clamp base 113 for correcting the locus. This roller 114 is the upper clamper 1
It is used to correct the motion locus of 03 to smoothly insert the scion into the clip.

As shown in FIG. 17, a rotary solenoid 105 is attached to the rear of the upper clamper 103, and the rotary solenoid 105 controls the opening and closing of the grip portion at the tip. Also, the true leaf spread prevention bar 10
An air chuck 107 is attached to the rear portion of the sheet No. 4, and the grip portion of the true leaf spreading prevention bar 104 is controlled to be opened and closed by the air chuck 107.

Next, the operation of the carrying means 22 will be described with reference to FIGS. 31 and 32.

The upper clamper 103 and the true leaf spread prevention bar 104 can be moved back and forth by the movement of the slide base 102, and are advanced when cutting the spikelets to be collected by the true leaf spread prevention bar 104. After the leaf is prevented from spreading and the hypocotyl is grasped by the grasping portion of the upper clamper 103 and the ear portion is cut, the rotation base 101 is rotated to move above the rootstock position while grasping this ear portion. . On the rootstock side, the one air cylinder 108 is connected to the upper clamper 1.
By rotating 03 about the vertical rotation fulcrum 112, the spikes for spikes are inserted into the clip 130.
Further, the other air cylinder 109 further pushes the spikes with a predetermined pressure in order to improve the survival rate of the graft.

FIG. 33 shows the locus of insertion of the spikes into the clip 130 by the upper clamper 103.
In the present embodiment, when the spikes are inserted by the rotation of the upper clamper 103, the slide base 102 comes into contact with the trajectory correction roller 114 provided on one end side of the rotation base 101, so that the slide base 102 moves. The forward movement is blocked, and the clamp base 113 rotates about the vertical rotation fulcrum 112. Therefore, the tip of the bristle portion is smoothly inserted into the clip 130 with a locus that is approximately a straight line, as compared with the case shown in FIG. 34 in which the locus is not corrected. (3) Cutting means 23 As shown in FIG. 2, the cutting means 23 on the rootstock side has a front seedling scraping device 25 'for scraping one rootstock seedling before the rootstock seed to be cut. , A cutting seedling scraping device 26 'for scraping a rootstock seedling to be cut, and a lower clamp device 27'
, Rootstock cutter 28 ', and tip clamp device 120
And a seedling gathering device 121.

However, except for the tip clamping device 120 and the seedling gathering device 121, the construction is the same as that of the cutting device 21 on the side of the above-mentioned cutting, so that the description thereof will be omitted.

The tip clamping device 120 is for grasping and ejecting the tips of the rootstock cut by the rootstock cutter 28 ', and the tip clamping unit 1 as a gripping portion at the tip.
22 and an air chuck 123 at the rear portion thereof, and the tip clamp portion 122 is provided by the air chuck 123.
Is controlled to open and close. Further, two air cylinders 124, 1 integrally fixed to the rear portion of the air chuck 123 are provided.
27, and the tip clamp portion 122 can be moved forward and backward by the air cylinder 124. Then, when cutting the seedlings for the rootstock, the lower clamp device 2
7'advance to clamp the hypocotyl under the cotyledon of the rootstock, and the tip clamp part 122 moves forward to grip the tip of the rootstock and cut the tip with the rootstock cutter 28 '.

In the operation of the tip clamp portion 122 at this time, first, one air cylinder 127 extends and moves to the standby position, and in this state, the other air cylinder 124 extends and moves to the cutting position.

After cutting the tip as described above, the tip cylinders 122 and 127 retract due to the air cylinders 124 and 127 contracting substantially at the same time, and the cut tip moves from the grafting position to the discharging position and is discharged. Note that the cut tips are often not easily dropped even when the tip clamp portion 122 is unclamped, and it is necessary to take them out of the device, but if the stroke is lengthened, the air cylinder will protrude outward. In addition, it takes a long time. Therefore, the two air cylinders 12 are used in this embodiment.
By integrally connecting 4, 127, processing is performed in a short time. This makes it possible to reliably discharge the tips, and does not hinder the subsequent seedling treatment work.

The cutting / discharging work of this rootstock seedling is
This is performed while the transporting means 22 is processing the scion seedlings.

The seedling gathering device 121 is shown in FIGS.
As shown in Fig. 4, the seedling pot 13 'for which the grafting work has been completed is forcibly moved to the advancing direction side of the rootstock conveyor 7 so as not to interfere with the next seedling treatment. , A circular arc-shaped seedling gathering body 126 that is rotatable along the groove 125 (see FIG. 2). Although not shown, the seedling gathering body 126 is connected to the cams in the above-described cam group 70, and its rotation is controlled as the cams rotate. (4) About Clip Supplying Means 24 The clip supplying means 24 supplies the clips 130 to the base portion from which the spikes have been cut and removed. As shown in FIG. 2, the parts feeder 131 and the output of the clips 130. A clip supply path 132 is provided on the side.

20 to 23, a clip opening / closing mechanism 133 for receiving the clip 130 supplied from the clip supplying passage 132 is arranged immediately below the clip supplying passage 132, and the clip opening / closing mechanism 133 is arranged. 1
33 is slidable forward and backward by a linear block 137 and a linear rail 138. The clip opening / closing mechanism 133 is opened / closed by an air cylinder 134.
Further, an air cylinder 135 for transferring the clip opening / closing mechanism 133 and the air cylinder 134 to the grafting processing position is provided. That is, when attaching the clip to the rootstock with the spikes cut, the clip 130 is moved forward by the air cylinder 134 with the tip of the clip 130 open, and the clip 130 is attached to the tip of the rootstock. The ear portion of the spikelet seedling transferred by the transporting means 22 is inserted into the clip 130 with the tip open, and the clip opening / closing mechanism 133 closes the clip 130 to join the rootstock and the spikelet. It is a thing.

FIG. 35 shows the relationship between the cutting position of the clip 130 and the feeding position of the clip 130.
The Suriwari 139 of 0 comes to the side of the cutting slope of the seedling. As a result, a large clamping force of the clip 130 is applied to the cut surfaces of the scion and the rootstock to ensure the joining.

This completes the description of the graft processing means 20.

Next, the processing at the downstream end of the scion transport conveyor 6 and at the end of the stock transport conveyor 7 will be described.

As shown in FIG. 1, a free roller 37 is arranged at the downstream end of the spike-transporting conveyor 6 to cut the spikelets, and the spikes on the spike-transporting conveyor 6 are cut. The row-shaped seedling pots 13 in which seedlings are stored are discharged and dropped by the free rollers 37 from the scion transport conveyor 6 and can be stored in the scion tray storage box 8.

Further, a terminal end conveyor 42 is continuously arranged at the terminal end of the stock transfer conveyor 7, and an empty box stock part 43 is arranged at one side of the terminal box conveyor orthogonal to the terminal end conveyor 42. The stock of empty nursery boxes. Below this empty box stock section 43, one end side of a nursery box conveyor 44 that conveys empty seedling boxes is inserted and arranged.

The grafted seedling pots 13 ′ on the end conveyor 42 are transferred to an empty seedling raising box on the seedling raising conveyor 44 using the grafted seedling transfer frame 45.

The seedling raising box conveyor 44 is arranged so as to cross the lower side of the end conveyor 42 at right angles, and one end side is provided so that empty seedling raising boxes can be taken out one by one from the empty box stock section 43. Is inserted into the empty box stock portion 43, and the other end extends to the grafted seedling stock portion 9 side.

The grafted seedling stock section 9 has the same construction as the scion stock section 2 and the stock stock section 3.

Next, the operation of this embodiment will be described.

From the scion stock section 2 stocking scion seedlings, seedling growing boxes in which a plurality of rows of seedling pots 13 in which the scion seedlings are planted are placed are taken out one by one by the scion supply conveyor 4. From the seedling raising box stopped at the end of the scion feeding conveyor 4, the scion transfer means 15 takes out the row-shaped seedling trays 14 of scion seedlings one by one and places them on the scion conveying conveyor 6.

Similarly, the seedling pot 1 in which the seedlings for rootstock are planted from the rootstock stocking section 3 which stocks seedlings for rootstock.
The seedling raising boxes on which a plurality of rows of 3'are placed are taken out one by one by the rootstock supplying conveyor 5, and the seedling seedlings are stopped by the rootstock transferring means 16 from the seedling growing boxes stopped at the rear end of the rootstock supplying conveyor 5. The row-shaped seedling trays 14 ′ are taken out one by one and placed on the root carrier conveyor 7.

The scion carrying conveyor 6 is intermittently driven to rotate by intermittent rotation of the motor 33, and when the row-shaped seedling tray 14 of scion seedlings is carried to the downstream side of the auxiliary conveyor 36, FIG. As in (a), the air blow nozzle 3
Air is blown onto the stem portion of the scion seedling by 8 to remove the mud attached to the stem portion. Then, lined seedling tray 1
4 transfers from the auxiliary conveyor 36 to the inclined plate 31 on the upstream side. Subsequently, the conveyor raising motor 34 is driven to rotate the cam 35, whereby the lifting plate 30 of the scion conveying conveyor 6 rises, and the row-shaped seedling tray 14 is upstream as shown in FIG. 36 (b). It is conveyed toward the elevating plate 30 while going up the side inclined plate 31. In this way, the row-shaped seedling tray 14 is conveyed to the processing position of the grafting processing means 20 arranged in the middle portion of the scion conveying conveyor 6.

When the row-shaped seedling tray 14 of the seedlings for spikes is conveyed to the grafting processing position in the middle thereof by the scion conveying conveyor 6, as shown in FIG. 37 (a), the seedling pot of the row-shaped seedling tray 14 is shown. The photoelectric sensor 39 for detecting the presence of the seedling 13 detects the stem, and the photoelectric sensor 40 detects the stem portion of the seedling for scion within a predetermined range after detecting the seedling pot 13. 6 is stopped.

Next, as shown in FIG. 37 (b), the stems below the detected cotyledons of the spikelets in the seedling pot 13 are in a semi-clamped state (loosely restrained by the lower clamp device 27 ).
Gently hold the condition . Then, as shown in FIG. 37 (c),
The front seedling raking device 25 and the cutting seedling raking device 26 are advanced to grip the stem below the cotyledons, and further, FIG. 37 (d).
As described above, the scraping devices 25 and 26 are lifted to scrape the pre-cut seedlings and the cotyledons of the cut seedlings upward and stop them at the intermediate position.

Next, as shown in FIG. 38 (a), the motor 3
4 is driven and the cam 35 rotates, so that the elevating plate 30 of the scion conveying conveyor 6 starts to descend. As a result, the stem portion of the cutting scion seedlings has a lower clamp device 27.
The seedling pot 13 descends while sliding in the chuck claw.
Then, when the cotyledon of the cutting scion seedling is detected by the laser sensor 41 arranged on the side of the scion conveying conveyor 6, the lower clamp device 27 is further advanced as shown in FIG. 38 (b). This clamp (hardly restrained) is performed. Next, as shown in FIG. 38 (c), the upper clamper 103 of the carrying means 22 moves forward to surround the periphery of the cotyledon portion, and surrounds the periphery of the true leaf with the true leaf spread preventing bar 104.

Next, as shown in FIG. 38 (d), the grip portion of the upper clamper 103 is closed, and further, as shown in FIG. 38 (e),
The cutting seedling scraping device 26 is raised and then retracted.

Then, as shown in FIG. 38 (f), the scion cutter 28 moves forward to cut about 10 mm below the cotyledon of the scion seedling and move backward (see FIG. 26). After that, FIG.
As shown in 9 (a), the upper clamper 103 moves backward while holding the cut seedlings. Next, as shown in FIG. 39 (b), the upper clamper 103 moves up and rotates toward the root. Then
As shown in FIG. 39 (c), the front seedling scraping device 25 rises and retracts. Further, as shown in FIG. 39 (d), the lower clamp device 27 is retracted, and as shown in FIG. 39 (e), the lifting plate 30 of the scion conveying conveyor 6 is raised.

Further, when the row seedling tray 14 'of rootstock seedlings is transported to the downstream side of the auxiliary conveyor 36' by the rootstock transporting conveyor 7, the rootstock is moved by the air blow nozzle 38 'in the same manner as the spike line. Air is blown onto the stems of the seedlings to remove the mud attached to the stems (Fig. 40).
(A)). Then, the row-shaped seedling tray 14 'transfers from the auxiliary conveyor 36' to the inclined plate 31 'on the upstream side. continue,
The raising / lowering plate 30 ′ of the stock transport conveyor 7 rises, and the row-shaped seedling tray 14 ′ is conveyed toward the raising / lowering plate 30 ′ while going up the upstream side inclined plate 31 ′ (FIG. 40).
(B)). In this way, the row-shaped seedling tray 14 ′ is transported to the processing position of the grafting processing means 20 arranged in the middle of the rootstock transporting conveyor 7.

When the row seedling tray 14 'of the seedlings for rootstock is transported to the grafting processing position in the middle thereof by the rootstock conveyor 7, the presence of the seedling pots 13' in the row seedling tray 14 'is detected. The photoelectric sensor 39 'detects this, and the photoelectric sensor 40' detects the stem portion of the rootstock seedling within a predetermined range after detecting the seedling pot 13 ',
The stock transport conveyor 7 is stopped (FIG. 41 (a)).

Next, the stem below the cotyledon of the seedling for seedling in the detected seedling pot 13 'is lightly gripped by the lower clamp device 27' in a semi-clamped state (FIG. 41 (b)). Next, the front seedling scraping device 25 'and the cutting seedling scraping device 2
6 ′ is advanced to grasp the stem below the cotyledon (FIG. 41).
(C)) Further, the scraping devices 25 'and 26' are further lifted to scrape the pre-cut seedlings and the cotyledons of the cut seedlings upward and stop them at intermediate positions (Fig. 41 (d)).

Next, as shown in FIG. 42 (a), the elevating plate 30 'of the stock transport conveyor 7 starts to descend, and the stem portion of the cutting stock seedling moves in the chuck claws of the lower clamp device 27'. The seedling pot 13 'descends while sliding. Then, the laser sensor 41 ′ arranged on the side of the stock transport conveyor 7
Thus, the cotyledon of the cutting rootstock seedling is detected. Next, as shown in FIG. 42 (b), the seedling gathering device 121 moves forward to move the grafted seedling pot 13 ′ to the downstream side. Next, as shown in FIG. 42 (c), the lower clamp device 27 'is further advanced to perform the main clamp. Next, as shown in FIG. 42 (d), the tip clamp device 120 moves forward to grasp the tip of the rootstock, and subsequently, as shown in FIG. 42 (e), the rootstock cutter 28 'advances. Cut about 5 mm below the cotyledon of the rootstock seedling (see FIG. 27). In addition, since the height of the rootstock conveying conveyor 7 is set to be lower than that of the earstock carrying conveyor 6 by about 5 mm in advance, the amount of lowering the rootstock carrying conveyor 7 is substantially equal to the amount of lowering the earstock carrying conveyor 6. It's done.

Next, as shown in FIG. 43 (a), the cutting seedling scraping device 26 'is raised and then retracted, and further, as shown in FIG. 43 (b), the tip cutting device 120 cuts the table. Retreat while grasping the tip of the tree, and discharge at the specified position. Next, as shown in FIG. 43 (c), the clip opening / closing mechanism 1
32 advances, and a clip 130 is attached to the tip of the cut stock.
Place it in the open state. In addition, this clip 13
Since the length of 0 is about 13 mm (see FIG. 28), the rootstock is inserted up to about half the length.

Next, as shown in FIG. 44 (a), the upper clamper 103 holding the cut ear of the cuttings for cuttings advances, and the upper clamper 103 descends as shown in FIG. 44 (b). The cutting surface of the scion seedling and the cutting surface of the rootstock are brought into contact with each other. Then, the clip 130 is closed (see FIG.
(C)), and the upper clamper 103 is further lowered and further pushed (FIG. 44 (d)). Next, as shown in FIG. 44 (e), the grip portion of the upper clamper 103 is opened, the upper clamper 103 retracts and rotates toward the spike line (FIG. 44 (f)), and the clip opening / closing mechanism 132 moves. fall back.

Next, as shown in FIG. 45 (a), the front seedling scraping device 25 'is raised and retracted. Then, in FIG.
As shown in (b), the seedling gathering device 121 retracts, further, as shown in FIG. 45 (c), the lower clamp device 27 'retracts, and as shown in FIG. The elevating plate 30 'moves up.

In the same manner, at the grafting treatment position, the spikelets and the rootstocks are repeatedly formed from the second and lower seedlings and rootstock seedlings of the row-shaped seedling pot, respectively, and the rootstocks are then spiked. Grafting is performed to form a row of grafted seedling pots.

The row-shaped seedling tray 14 from which the scion portion on the scion conveying conveyor 6 has been cut is conveyed to the terminal end by the scoop conveying conveyor 6 as it is and is eliminated.

On the other hand, the row-shaped grafted seedling trays on the stock transfer conveyor 7 are transferred from the terminal end conveyor 42 to the seedling raising box conveyor 44, and after placing the seedling raising boxes on the grafted stock section 9,
The grafted stock portion 9 is humidified and heated to cure the grafted seedlings.

[0091]

As is apparent from the above description, according to the present invention, while the cutting means for scion cuts the seedlings for scion, and the grafting processing means processes the seedlings for scion. In addition, since the rootstock cutting means cuts the rootstock seedlings, it is possible to improve the survival rate while shortening the waiting time and shortening the grafting processing time.

Further, since the tip clamper for sandwiching the tips of the seedlings for the rootstock is provided, the tips can be reliably discharged, and the next treatment is not hindered, and rapid treatment is possible.

Further, the work of discharging the tips of the seedlings for the rootstock may not be easily dropped even when the grip portion of the tip clamper is opened. Therefore, it is necessary to lengthen the stroke of the actuator and take it out of the apparatus. However, in the present invention, since the tip clamper is moved back and forth by the two actuators, the ejection process can be performed in a short time without increasing the stroke of each actuator.

Furthermore, the scion side shaft having a plurality of cams for operating the scion auxiliary means fixed thereto and the root side shaft having a plurality of cams for operating the scoop auxiliary operating means fixed through the power transmission means. The timing sensor that controls the operation timing of the graft processing means is fixed to the axis of the root side that has little influence on the elongation of the belt etc. It is possible to perform various grafting operations.

[Brief description of drawings]

FIG. 1 is a plan view showing an entire grafting device according to the present invention.

FIG. 2 is a plan view of a graft processing means.

FIG. 3 is a plan view of a graft processing means.

FIG. 4 is a front view of FIG.

FIG. 5 is a diagram showing an air blowing state by air blowing.

FIG. 6 is a side view of FIG.

FIG. 7 is a side view of the front seedling scraping device.

FIG. 8 is a plan view of a grip portion of the front seedling scraping device.

FIG. 9 is a diagram showing an operating state of the front seedling scraping device.

FIG. 10 is a diagram showing an operating state of the front seedling scraping device.

FIG. 11 is a side view of the cutting seedling scraping device.

FIG. 12 is a plan view of a grip portion of the cutting seedling scraping device.

FIG. 13 is a front view of the graft processing means.

FIG. 14 is a diagram showing an arrangement state of cam groups.

FIG. 15 is a diagram showing an operating state of a cam.

FIG. 16 is a diagram showing a configuration of a transportation means.

FIG. 17 is a plan view of an upper clamper.

FIG. 18 is a plan view of a seedling gathering section in the grafting processing means.

FIG. 19 is a front view of FIG. 18.

FIG. 20 is a front view showing a clip delivery state in the clip supply device.

21 is a side view of FIG. 20. FIG.

FIG. 22 is a plan view showing a clip delivery state in the clip supply device.

FIG. 23 is a view on arrow A in FIG. 22.

FIG. 24 is a diagram showing a control flowchart of a detection operation by a photoelectric sensor.

FIG. 25 is an explanatory diagram of a circuit for pulsing a motor generator output.

FIG. 26 is a view showing a scion seedling planted in a seedling pot.

FIG. 27 is a view showing a seedling for rootstock planted in a seedling pot.

FIG. 28 is a diagram showing a seedling pot that has been grafted.

FIG. 29 is a diagram showing a detected state of a cotyledon position.

FIG. 30 is a diagram showing a step of scraping, clamping and cutting treated seedlings.

FIG. 31 is a view showing an operating state of the upper clamper.

FIG. 32 is a view showing an operating state of the upper clamper.

FIG. 33 is a diagram showing a locus of insertion into a clip of a scion according to the present embodiment.

FIG. 34 is a diagram showing a locus of insertion into a clip of a scion according to a conventional example.

FIG. 35 is a diagram showing a mounting position of a clip with respect to a cut end.

FIG. 36A is a diagram showing a mud-removing step by air blowing. (B) is a figure which shows the state where the conveyor has started.

FIG. 37A is a diagram showing a seedling detection state by a photoelectric sensor. (B) is a figure showing a half clamp state by a lower clamp device. (C) is a figure which shows the scraping state of the processing seedling and front seedling by the scraping apparatus. (D)
[Fig. 6] is a diagram showing a scraped state of a treated seedling and a front seedling by a scraping device.

FIG. 38A is a diagram showing a cotyledon detection state by a laser sensor. (B) is a figure showing a main clamp state by a lower clamp device. (C)-(d) is a figure which shows the clamp state of the cotyledon and a true leaf by an upper clamper and a true leaf spread prevention bar. (E) is a figure which shows the scraping work of the treated seedling by the scraping device. (F) is
It is a figure which shows the cutting | disconnection state of a scion with a cutter.

FIG. 39 (a) is a diagram showing a state in which the upper clamper moves backward while holding the spikes. (B) is a figure which shows the state which an upper clamper raises and rotates. (C) is a figure which shows the state which a front seedling scraping apparatus raises and retreats.
(D) is a figure which shows the state which a lower clamp apparatus retreats. (E) is a figure which shows the state which a conveyor raises.

FIG. 40 (a) is a diagram showing a mud-removing step by air blowing. (B) is a figure which shows the state where the conveyor has started.

FIG. 41 (a) is a diagram showing a seedling detection state by a photoelectric sensor. (B) is a figure showing a half clamp state by a lower clamp device. (C) is a figure which shows the scraping state of the processing seedling and front seedling by the scraping apparatus. (D)
[Fig. 6] is a diagram showing a scraped state of a treated seedling and a front seedling by a scraping device.

FIG. 42 (a) is a diagram showing a cotyledon detection state by a laser sensor. (B) is a figure which shows the state which the seedling gathering apparatus has advanced. (C) is a figure which shows the main clamp state by a lower clamp apparatus. (D) is a figure which shows the state which the tip clamp apparatus moved forward and grasped | cutted the ear | edge which was grasped | ascertained. (E) is a figure which shows the cutting | disconnection state of a rootstock by a cutter.

FIG. 43 (a) is a diagram showing a scraping operation of a treated seedling by a scraping device. (B) is a figure which shows the state at the time of retracting the tip clamp device and unclamping. (C) is a figure which shows the state which the clip pressing mechanism has advanced.

FIG. 44 (a) is a diagram showing a state in which the upper clamper has advanced to above the cut stock. (B) is a diagram showing a state in which the upper clamper is lowered to bring the scion and the rootstock into contact with each other at the cut surface. (C) is a figure which shows the state which closed the clip. FIG. 6D is a diagram showing a state in which the upper clamper is lowered and further pushed. (E) is a figure which shows the state which made the upper clamper the unclamping state.
(F) is a diagram showing a state in which the upper clamper and the true leaf spread preventing bar retract and rotate. (G) is a figure which shows the state which a clip presser retreats.

FIG. 45 (a) is a diagram showing a state in which the front seedling scraping device is raised / retracted. (B) is a figure which shows the state which a seedling gathering apparatus retracts. (C) is a figure which shows the state which a lower clamp apparatus retreats. (D) is a figure which shows the state which a conveyor raises.

[Explanation of symbols]

1 grafting device 6 Houki transport conveyor 7 Undercarriage conveyor 10 Control unit 12 Operation panel 13 Seedling pot for scion 13 'Rootstock seedling pot 14 Seedling tray for scion 14 'Seedling tray for rootstock 20 Graft processing means 21 Hoki cutting means 22 means of transportation 23 Root cutting means 24 clip supply means 25 Front seedling scraping device 26 Cutting seedling scraping device 27,27 'Lower clamp device 28 Hooki cutter 28 'rootstock cutter 30,30 'lift plate 31, 31 'inclined plate 32, 32 'inclined plate 33,33 'motor 34,34 'motor 35,35 'cam 38, 38 'air blow nozzle 39, 39 'photoelectric sensor 40,40 'photoelectric sensor 41, 41 'laser sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Osamu Akika 667 Izaiya-cho, Higashi-Izumo-cho, Yatsuka-gun, Shimane Prefecture 1 Mitsubishi Agricultural Machinery Co., Ltd. 667 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Akira Yamagata Azuma Izumo-cho, Yatsuka-gun, Shimane Prefecture Koyacho 667 Address 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Kazuo Oshima Higashi-Izumo-cho, Yatsuka-gun, Shimane Prefecture 667 Ibusuki-cho 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Koichi Yamamoto Higashi-Izumo-cho, Yatsuka-gun, Shimane Prefecture Ojimura-cho 1 Mitsubishi Agricultural Machinery Co., Ltd. 667 Ichiya-cho, Ichimachi-cho 1 Mitsubishi Agricultural Machinery Co., Ltd. (56) References JP-A-6-38630 (JP, A) JP-A-8-23772 (JP, A) (58) Fields investigated (Int.Cl . ^7, B name) A01G 1/06

Claims (4)

(57) [Claims] 1. A scoop conveying means for conveying scion seedlings stored in a row in a tray, a scoop conveying means for conveying rootstock seeds stored in a tray in a row, and a grafting position. In the grafting device, which comprises a grafting means for connecting the cutting part cut from the scion seedling to a stand part for cutting and removing the cutting part of the rootstock seedling, the grafting processing means Is a cutting cutting means for cutting the seedlings for cuttings, and a cutting means for cuttings for cutting the seedlings for rootstocks,
A transporting means for holding the cutting portion cut from the scion seedling and carrying it to the base portion of the rootstock seedling, and connecting the spike portion to the base portion.
Clip supplying means for supplying a clip to the base portion when moving
If it has the scion cutting means to cut the scion for seedlings, and for the stock cutting means rootstock while the grafting processing means is processing for scion for seedlings together formed by cutting the plant, the chestnut
Of the base with the clip feeding means opened.
Feed the tip and place it in the clip in this open position.
Insert the ears transferred by the transporting means and insert them in front of the ears.
A grafting device, which is characterized in that it joins a writing table part . 2. A lower clamper for holding a hypocotyl of a lower cotyledon of a rootstock seedling cut by the rootstock cutting means, and a tip tip clamper for holding a tip end portion of the rootstock seedling. In the state where the rootstock seedlings are sandwiched by the lower clamper and the tip tip clamper, the rootstock seedlings are cut by the rootstock cutting means, and the tip portions cut by the retreat of the tip tip clamper are cut. The grafting device according to claim 1, wherein the grafting device is moved from the grafting processing position to a discharging position and discharged. 3. The tip clamper is reciprocated by first and second linear actuators fixed to one body, and the tip clamper is moved to a standby position by extension of the first actuator. 3. The grafting device according to claim 2 , wherein in this state, the second actuator is extended to move to the cutting position, and then moved to the discharge position by contraction of the first and second actuators. 4. A plurality of scion auxiliary actuating means for assisting in processing the scion seedlings conveyed by the scion conveying means by the grafting processing means, and the rootstock conveying means said stock for seedlings to be transported, and a plurality of stock auxiliary actuating means for assisting in processing by the grafting process means, and said conveying means is to hold the ear portion at A scoop side shaft having an upper clamper to be inserted into the clip and having fixed a plurality of cams for operating the auxiliary operation means for spikes, and a base having a plurality of cams for operating the auxiliary operation means for rootstocks fixed The tree-side shaft is arranged in parallel, and the scion-side and root-side shafts are connected via a power transmission means, and a drive motor is connected to either one of the shafts, and the root-side shaft is further connected. to, to secure the timing sensor for controlling the operation timing of the grafting processing unit The grafting device according to claim 1, comprising: