JP3517955B2 - Grafting robot - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafting robot for grafting a scion seedling and a rootstock seedling, each of which is cut at a predetermined position, at a joining place. 2. Description of the Related Art When the position of a cutting blade is greatly changed, a problem occurs in that required cotyledons are cut, so that a cutting blade is fixed. [0003] However, in the above-mentioned means, a high level of finishing accuracy of a hand for transporting a seedling and a cutter arm for attaching a cutting blade is required. SUMMARY OF THE INVENTION The present invention provides a seedling cutting device in a grafting robot for facilitating the mounting position of a cutting blade, and employs the following technical means. That is, in a grafting robot that conveys a seedling and a rootstock seedling cut by a cutting blade 2 that moves in association with the rotation of a rotating shaft 1 to a joining place and grafts both seedlings, the mounting position of the cutting blade 2 is rotated. Provided so that it can be near and far from the axis of shaft 1, and cut it
Position display means for displaying the position of the blade 2 is provided, and a box housing the elastic body 43 containing water is provided. The box is raised by the vertical cylinder 46 when the cutting blade 2 is at the standby position. The elastic body 43 is configured to be pressed against the cutting blade 2 to clean the cutting blade 2, and the position of the box is provided so as to be adjustable with respect to the movement locus of the cutting blade 2.
This is a grafting robot . [0005] When the cutting blade 2 for scion seedlings cuts the scion seedlings conveyed to a predetermined position and the cutting blade 2 for cutting stocks cuts the rootstock seedlings, the cut both seedlings are It is transported to the joining place and grafted. Then, when the cutting blade 2 is at the standby position, when the box body is lifted by the vertical cylinder 46 and presses the elastic body 43 against the cutting blade 2, the cutting blade 2 is washed. Also, judging from the cutting position of the cutting blade 2, the mounting position of the cutting blade 2 is adjusted with respect to the axis of the rotating shaft 1, but the position of the box is adjusted with respect to the movement locus of the cutting blade 2. I do. Also, look at the position display
Then, the position of the cutting blade 2 can be known. [0006] Since the cutting blade 2 is provided so as to be distant from and close to the axis of the rotary shaft 1, the cutting blade 2 can be fixed at an appropriate position and the grafting performance can be improved. Then, position the cutting blade 2
You can easily judge by looking at the display means
You . Further, the position of the box for cleaning the cutting blade 2 can be adjusted with respect to the movement locus of the cutting blade 2. An embodiment of the present invention will be described below with reference to the drawings. First, the structure of the grafting robot 3 will be described.
And a rootstock seedling supply section 6 is provided on the other side. An operator supplies the scionling seedlings of the scionling seedling supply section 5 to the grafting body 4, and another worker mounts the rootstock seedlings of the rootstock seedling feeding section 5. Is supplied to the grafting body 4, and each seedling is cut at a predetermined position and joined to automatically produce grafted seedlings. In addition, although both seedlings are supplied by the worker, it is also possible to make the seedlings unmanned by an automatic supply device. The grafting body 4 is a clip feeder for aligning and transporting a grafting clip (not shown) at the joining location 7.
8 and a scion seedling receiving device 9 is provided on one side of the tip of the clip feeder 8 and a stocking seedling receiving device 1 on the other side.
0 is provided. A scion seedling conveying device 11 for conveying scion seedlings from the scion seedling receiving device 9 to the joining site 7 is provided between the scion seedling receiving device 9 and the joining place 7.
A rootstock seedling transporting device 12 for transporting rootstock seedlings from the rootstock seedling receiving device 10 to the bonding site 7 is provided between the rootstock seedling receiving device 10 and the bonding site 7. Further, a scion seedling cutting device 13 is provided in the course of the scion seedling conveying device 11 conveying the scion seedlings.
2 is a rootstock seedling cutting device 14 during the process of transporting the rootstock seedlings.
Is provided. The main parts of the scion seedling receiving device 9 and the rootstock seedling receiving device 10 will be described. Numeral 15 is a seedling receiving main body provided in a frame so as to move in the direction of the arrow and to adjust its position (FIG. 8). A seedling receiving table 17 having an inclined cotyledon receiving surface 16 for receiving cotyledons at both left and right positions when viewed from the seedling supply direction is detachably attached to the seedling receiving body 15. The seedling receiving stand 17 has a seedling hand piece 18 detachably attached to a lower surface of a tip portion (a seedling supply side) and a notch groove 19 formed on a surface facing the seedling hand piece 18. A supply hand 21 having a reference numeral 20 is detachably attached. The supply hand 21 is provided so as to be able to communicate with a compressed air source (air compressor) via an air pipe 22.
0 operates. Reference numeral 23 denotes an optical seedling detection sensor, which is detachably attached to an attachment plate 24 detachably attached to the hand 21 with screws 25. The seedling detection sensor 23 may be of a non-contact type such as a capacitance type or a contact type such as a limit switch. The seedling transfer device 11 and the rootstock transfer device 12
The main part of is as follows. That is, it has a main body reciprocating by a motor, a hand arm reciprocating in one direction to the main body, and a hand provided at the tip of the hand arm so as to be openable and closable. In the rootstock seedling cutting device 14, a cutter-rotor bearing 26 is detachably attached to the back surface of a cutter arm base 25, and the screw receiver 2 is attached to one end of the front surface.
7 is provided detachably. On the left and right ends of the other end of the front surface of the cutter arm base 25, a rectangular flat plate and an inner end surface (the surface facing each other) having a slope larger than the back surface at the inner end surface. Guide 2 forming
8 is provided detachably by a mounting screw 29. In addition,
On the surface of the guide 28, an indication mark 30 which can be seen is provided. Numeral 31 denotes a cutter arm formed by forming the left and right end faces of the flat plate on a slope provided substantially parallel to the slope of the guide 28, and slides along both guides 28 (in the direction of the arrow in FIG. 6). (Sliding). And the cutter
A scale 32 (1 mm in the embodiment, but not limited to 0.5 mm or the like) is provided on the surface of the beam 31 so as to match the indication mark 30, and both ends in the sliding direction are bent. The raised solids 33 and 34 are provided. The cutting blade 2 having a blade on the working side of the cutter arm 31 in the rotating direction of the cutter arm 31 is removably and fixed to the raising body 34 via a blade holder 35. Numeral 36 denotes an adjusting shaft having a knob 37 at the distal end thereof. The adjusting shaft 36 has a screw portion 38 provided on the outer peripheral surface thereof.
And the screw portion provided on the raising body 33, and the raising body 33 is moved in the axial direction of the adjusting shaft 36 by rotating the knob 37. The cutter-rotor bearing 26 is removably attached to a rotating shaft 1 provided on a cutter rotating cylinder 39 so as to be capable of normal and reverse rotation, and is fixed at the time of attachment.
The cutter rotating cylinder 39 is provided with air pipes 40 and 4.
1 and the air pipes 40, 4
The other end of 1 is connected to a solenoid valve (not shown) provided to be able to communicate with an air compressor (not shown). Therefore, the supply of air to the air pipe is switched by the operation of the solenoid valve, and the rotation direction of the rotation shaft 1 can be reversed. The cleaning pot 42 is a box having an open upper surface and contains an elastic body 43 (sponge in the embodiment) containing water. A lower end of the peripheral wall of the cleaning pot 42 is provided with a drainer 44 located below the bottom wall. Reference numeral 45 denotes a pot mounting member provided at the center of the back surface of the bottom wall of the cleaning pot 42 and formed with a thread groove (not shown). It is in mesh with the formed screw portion 48. Therefore, the distance of the cleaning pot 42 can be adjusted to the moving locus of the cutting blade 2. 49 is a lock nut. The upper and lower cylinders 46 are detachably mounted on a mounting plate 50 mounted on the frame. The upper and lower cylinders 46 are provided with air pipes 51 and 5.
2 are connected to one end of the air pipes 51, 52.
Is connected to a solenoid valve (not shown) provided so as to be able to communicate with an air compressor (not shown). An operation panel 53 is provided in the grafted main body 4 at a position accessible from a work position of an operator, and includes various display tools and switches as shown in the figure. 54
Is a reset switch among the switches. FIG.
Is a part of the control circuit, 55 is a relay, 56 is a timer for waiting time until the supply hand closes after detecting the rootstock seedling, 57 is a relay, 58 is a rootstock seedling supply hand relay,
Reference numeral 59 denotes a relay, 60 denotes a timer contact point until the seedling hand bar 20 of the stock supply hand 21 grasps the stock and opens. 55
a is the contact of the relay 55, 56a is the contact of the relay 56, 5
7a is a contact of the relay 57, 59a is a contact of the relay 59,
61 is a contact point. The cutting and cutting apparatus 13 is substantially the same as the cutting and cutting apparatus 14 except for the rotation direction of the cutter arm 31 and the direction of the cutting blade 2. The cutter arm 31 of the rootstock seedling cutting device 14 reciprocates from the lower side to the upper side, whereas the cutter arm 31 of the scion seedling cutting device 13 reciprocates from the upper side to the lower side. Since they move, the directions of the cutting blades 2 are opposite. The operation of the cutting machine 13 is provided in the same manner as the control operation for the rootstock. Next, the operation will be described. First, the operator sets the power switch on the operation panel 53 to “O” before starting the work.
N ”and switch the grafting mode switch to“ Cucurbitaceae ”
(In the case of Solanaceae, "Solanaceae")
Set the operation start time (speed) of "20" to "standard"("slow" when you are not used to the work or when the conditions of the seedlings are not good).
If you are a skilled person or if seedling conditions are good, select "Fast")
Turn on the start switch (start SW). Next, the rootstock seedlings (hogi seedlings) are supplied to the seedling receiving table 17, placed on the cotyledon receiving surface 16, and pulled slightly downward (the same procedure is performed for the hogi seedlings). When the seedling detection sensor 23 detects the hypocotyl of the seedling and turns "ON", the relay 55 is energized. Then, the contact 55a is turned "ON", and the timer 56 is energized in connection with this. When a predetermined time (time when the speed switch is selected as "standard") is reached, the relay 56a is turned "ON" and the relay 57 is energized to turn the contact 57a "ON". Then, the rootstock seedling supply hand relay 58 is turned "ON".
0 is the supply hand 2 from the air source via the air pipe 22
1 moves inward (one side of the seedling hand) by the force of the compressed air sent to 1 and holds the hypocotyl of the rootstock seedling (hogi seedling) with the notch groove 19 and the seedling hand piece 18. Subsequently, the hand arm of the rootstock seedling transport device 12 moves forward, and the hand provided at the tip of the handarm grips the hypocotyl of the rootstock seedling. The hand arm moves forward, and the hand provided at the tip of the hand arm grips the hypocotyl of the scion seedling. Then, the timer-contact 60 is turned "OFF" when a predetermined time has elapsed after energization.
Then, the power supply to the timer 56, the relay 57, and the rootstock seedling supply hand relay 58 is released, and the power is turned off again to return to the circuit before the start of the work. In this connection,
Since the supply of air to the supply hand 21 is stopped, the seedling hand bar 20 moves outward to open and release the grip of the hypocotyl. In this manner, the rootstock seedlings (hogi seedlings) are transferred to the seedling receiving stand 17.
When the seedlings are supplied, the seedlings are detected and the seedling handbar 20 is set before setting the seedlings.
May cause grafting errors due to closing. In this embodiment, in this case, the reset switch 54 is set to “OF”.
F ". Then, the power supply to the relay 59 is released, so that the contact point 59a is turned "OFF", the power supply to the rootstock seedling supply hand relay 58 is released, and the operation (movement to the closing side) of the seedling handbar 20 is forcibly performed. To stop. Therefore, it is possible to prevent a malfunction in grasping without a hypocotyl. Also,
At this time, the indicator "emergency (stock)" is lit if there is an abnormality on the stock, and the indicator "emergency (stock)" is lit if there is an abnormality on the scion. Then, the rootstock seedling transporting device 12 gripping the hypocotyl of the rootstock seedling transports the rootstock seedling cutting device 14 to a predetermined position,
The scionling seedling transporting device 11 holding the hypocotyl of the scionling seedling is transported to a predetermined position of the scionling seedling cutting device 13. Subsequently, when the solenoid valve is operated, the compressed air generated by the air compressor is supplied to the rotary cylinder 39 through the air pipe 41, but the air in the rotary cylinder and the air pipe 40 is exhausted, so that the rotary shaft 1 is fixed. Turn over. Then, cutter
The arm 31 rotates upward (toward the direction of arrow A in FIG. 6) about the axis of the rotary shaft 1. When reaching the upper predetermined position (the rotary shaft 1 may rotate to the predetermined position or supply of air to the air pipe 41 may be performed for a certain period of time), the solenoid valve is switched, and the compressed air passes through the air pipe 40. Since the air is sent to the rotary cylinder 39 and the air in the rotary cylinder and the air pipe 41 is exhausted, the rotary shaft 1 rotates in the reverse direction to return the cutter arm 31 to the original position. When the cutter arm 31 moves upward in the reciprocating movement of the cutter arm 31, the cutting blade 2 cuts a predetermined position of the rootstock. On the other hand, the cutter arm 31 of the cutting device 13 reciprocates from the upper position to the lower predetermined position about the axis of the rotating shaft 1, and the cutting blade 2 cuts the predetermined position of the cutting. I do. When the cutting devices 13 and 14 are at their original positions (standby positions), the compressed air sent to the upper and lower cylinders 46 through the solenoid valve (not shown) and the air pipe 52 moves the upper and lower shafts 47. It rises to a predetermined position. In this connection, since the cutting blade 2 enters the cleaning pot and presses the elastic body 43 containing water, the cutting blade 2 is washed with water, and water is overflowed from the cleaning pot 42. −
Flow. In this case, conventionally, as shown in FIG. 12, the overflow water flows along the wall surface of the cleaning pot 42 and thereafter accumulates on the upper surface of the cylinder 46. As a result, the seal of the upper and lower cylinders 46 is deteriorated, which causes a malfunction. In this embodiment, since the draining portion 44 extending below the bottom wall of the cleaning pot 42 is provided, water does not fall from the lower end of the draining portion and stay on the upper and lower cylinders. When the cleaning is completed, the compressed air is supplied to the upper and lower cylinders 4 through the air pipe 51.
6 and the air in the upper and lower cylinders and the air pipe 52 is exhausted. When the knob 37 of the adjusting shaft 36 is rotated left and right, the cutter arm 31 slides the upper surface of the cutter arm base 25 along the guide 28 in the direction of the arrow (see FIG. 6). Move. That is, since the magnitude of the turning radius about the axis of the rotating shaft 1 is adjusted, the cutting blade 2 can finely adjust the cutting position of the rootstock seedling and the earling seedling, thereby improving the grafting performance. The adjustment can be easily performed by visually checking the indication mark 30 provided on the guide 28 and the scale 32 of the cutter arm 31. The rootstock seedlings that have been cut by the rootstock seedling transporting device 12 are transported to the joint 7, and the cuttings that have been cut by the earling seedling transporting device 11 are transported to the junction 7, and the cut surfaces of both seedlings To match. The grafting clip (not shown) pushed out to the joint portion 7 by the clip feeder 8 grips the cut surface to complete the grafting operation. After the completion of the work, the transporting devices 11 and 12 rotate and return to the original standby position. As shown in FIGS. 8 and 9, the position of the seedling receiving body 15 can be adjusted by moving it in the direction of the arrow.
The holding position of the hypocotyl of the seedling by the hand provided at the distal end of the hand arm of the two transfer devices 11 and 12 can be adjusted, thereby preventing poor holding.

[Brief description of the drawings] FIG. 1 is a plan view of a grafting robot. FIG. 2 is a plan view of a graft body. FIG. 3 is a front view of an operation panel. FIG. 4 is a front view of the rootstock seedling cutting device. FIG. 5 is a side view of the rootstock seedling cutting device. FIG. 6 is a side view of a main part of the rootstock seedling cutting device. FIG. 7 is a sectional view taken along the line AA of FIG. 6; FIG. 8 is a plan view of a seedling receiving table. FIG. 9 is a side view of the seedling receiving stand. FIG. 10 is a front view of a seedling receiving stand. FIG. 11 is a side view of the partially-cut cutting blade cleaning device. FIG. 12 is a side view of the partially-cut cutting blade cleaning device. FIG. 13 is a control circuit. [Explanation of symbols] 1 Rotary axis 2 Cutting blade

Claims (1)

(57) [Claims 1] A scion seedling and a rootstock seedling cut by a cutting blade 2 moving in association with the rotation of a rotating shaft 1 are transported to a joining place, and both seedlings are grafted. Cutting blade 2 in grafting robot
And a position display means for displaying the position of the cutting blade 2 while providing the mounting position of the rotary shaft 1 so as to be able to move toward and away from the axis of the rotary shaft 1.
A box body is provided which contains an elastic body 43 containing water , and when the cutting blade 2 is in the standby position, the box body is raised by the vertical cylinder 46 and the elastic body 43 is pressed against the cutting blade 2 to cut the cutting blade 2. 2. The grafting robot according to claim 1, wherein the robot is configured to wash the cutting blade 2 and the position of the box body is provided so as to be adjustable in distance with respect to the movement locus of the cutting blade 2.