JP3518050B2 - Grafting robot - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafting robot for fruits and vegetables (Cucurbitaceae, Solanaceae). 2. Description of the Related Art Conventionally, a detection sensor for detecting that a transport device has reached a proper joining position is provided on a rootstock seedling transport portion side. [0003] However, since the means for detecting the joining position of the scionling seedling conveying device is not provided on the scionling seedling conveying part side, the scionling seedling conveying device malfunctions. Also,
In addition, it was not known even if it was mechanically locked, and the mating surface between the cutting stock of the rootstock seedling and the cutting face of the hogi seedling was distorted, causing a poor connection. An object of the present invention is to solve such a problem. The following technical measures were taken to achieve this objective. [0005] That is, the technical means according to the present invention is a rootstock seedling supplied to the rootstock seedling supply device 4 and a scion seedling supplied to the scionling seedling supply device 7. Are transported to the cutting positions of the cutters 6 and 9 by the transporting devices 5 and 8 for the seedlings, and the cut rootstock seedlings and spikelets are further transported to the joining positions by the respective transporting devices and joined. A grafting robot, comprising a joining position detecting means for detecting that both the rootstock seedling transporting device and the scionling seedling transporting device have reached a proper joining position, and based on a detection result of the joining position detecting means, It is characterized in that the transfer devices 5 and 8 are operated to join the rootstock seedling and the scion seedling. The rootstock seedling artificially supplied to the rootstock seedling supply device 4 is transported by the rotating rootstock seedling transporting device 5 to the cutting position of the rootstock cutter 6, where the rootstock seedling is fed. As a result, the rootstock cutter 6 rotates upward from below, and the other part of the rootstock is cut off by the cutter blade leaving the rootstock portion of the rootstock seedling. The cut rootstock seedling is transported from the cutting position to the joining position of the joining portion 3. On the other hand, the scion seedlings artificially supplied to the scion seedling supplying device 7 are supplied to the scion cutting device 9 by the scion seedling conveying device 8.
Is transported to the cutting position, where the scion cutter 9 rotates downward from above and leaves the tissue above the hypocotyl portion of the scion seedling by the cutter blade so that a part of the hypocotyl and root are removed. It is cut off. The cut scion seedlings are conveyed from the cutting position to the joint position of the joint 3. [0008] When the rootstock seedling transporting device and the scionling seedling transporting device conveyed as described above reach the proper joining position at the joining portion 3, the joining position detecting sensors SW1 and SW2 detect it. The stock hand and the scion hand of the transfer device advance and move in the opposite direction to each other, and the cut surface of the stock and the cut surface of the scion grasped by these are joined together, and the clip joining device 10 The clips will be joined. When only one of the joining position detecting sensors SW1 and SW2 is detected or both are not detected, both conveying devices are not operated, and it is notified that there is an abnormal state.
As described above, according to the present invention, it is possible to prevent malfunction of the rootstock seedlings and the scionling seedling transport device, so that the rootstocks and scions are joined accurately, eliminating the frequent occurrence of conventional joint failures,
The grafting performance can be further improved. An embodiment of the present invention will be described with reference to the drawings. The grafting robot, as shown in FIG.
And a graft feeder portion B, and a graft portion A is composed of a stock 1, a scion 2 and an intermediate joint 3. The rootstock 1 comprises a rootstock seedling supply device 4, a rootstock seedling transporting device 5 and a rootstock cutter 6, and the scion part 2 similarly includes a splint seedling supply device 7 and a scionlet. It is composed of a seedling conveying device 8 and a scion cutter 9. The rootstock seedlings (eg, solanaceae such as tomatoes and eggplants) artificially supplied to the rootstock seedling supply device 4 are rotated by the rootstock seedling transporting device 5 in the direction of arrow (a) in FIG. It is transported to the cutting position, where the rootstock cutter
6 is rotated upward from below, and other true leaf portions of the rootstock are cut off by the cutter blade, leaving the rootstock portion of the rootstock. When the rootstock is a cucumber family (cucumber, watermelon, melon, etc.), one cotyledon of the rootstock is cut off by a cutter blade, and other cotyledons are cut off. The cut stock is transported in the direction of the arrow (b), and is joined to the scion by the clip joining device 10 at the joining portion 3. Similarly, the spikelet seedling supply device 7
The scion seedlings supplied to the panicle are conveyed in the direction of arrow (c) by the scion seedling conveying device 8, and the tissue above the hypocotyl portion is cut by the scion cutter 9 rotating downward from above at the cutting position. Some of the hypocotyls and roots are cut off, leaving behind. The scion is conveyed in the direction of the arrow (d), and the scion and the stock are joined at the joining portion 3 by a clip supplied from the clip feeder portion B via the joining device 10. The grafting action is completed. The rootstock seedling supply device 4 includes a rootstock supply guide groove 4a.
And a swingable openable / closable rootstock supply hand 4c for holding the rootstock seedlings. The rootstock seedlings supplied and set to the rootstock seedling receiving table 4b are gripped by the rootstock seedling transporting device 5 and transported sequentially to the cutting position and the joining position. In the rootstock seedling transporting apparatus 5, a rootstock transporting rotary actuator 11 and a rootstock transport arm support 12 below the actuator 11 are supported rotatably about an actuator rotating shaft 13. ing. The stock carrier arm support 12 includes the support 12
A transfer arm extruding cylinder 14 supported by the base, a transfer arm 15 extended and contracted by the cylinder 14, and a pair of openable / closable hand 16 at the end of the transfer arm 15.
A pair of openable rootstock auxiliary hands 17 and a pair of openable rootstock root pot hands 18 for holding rootstocks of rootstock seedlings are provided. Rootstock hand 16, rootstock auxiliary hand 17
The rootstock hand 18 is configured so that a pair of gripping claws can be opened and closed, and grips the rootstock and the rootstock by sandwiching them. The rootstock gripping cylinder 19 and the rootstock gripping auxiliary cylinder are provided. The opening / closing control is performed by the cylinder 20 and the root pot holding cylinder 21. The stock cutter 6 will be described. Cutter
A driving motor 22 is supported by a column 23, and a cutter arm 25 is attached to a driving shaft 24 of the motor 22, and a cutter blade 26 is attached to a tip of the cutter arm 25. . The cutter arm 25 is configured to rotate around the axis of the drive shaft 24 integrally therewith.
In addition, about the hogi cutter-9, the rootstock cutter-6
Since the configuration is the same as that described above, detailed description is omitted. The scion seedling supply device 7 includes a scion supply guide groove 7a.
And a swingable openable / closable scion supply hand 7c for holding the scion seedlings. The scion seedlings supplied and set to the scion seedling receiving table 4b are gripped by the scion seedling conveying device 8 and sequentially conveyed to the cutting position and the joining position. In the scion seedling conveying device 8, a scion conveying rotary actuator 27 and a scion conveying arm support 28 below the actuator 27 are rotatably supported around an actuator rotating shaft 29. ing. The scaffolding arm support 28 includes the support 28
A scribing arm extruding cylinder 30 supported by the armature, a scribing arm 31 extended and contracted by the cylinder 30, and a pair of swinging openable and closable hand arms 32 at the end of the scramming arm 31. And a pair of swinging openable and closable auxiliary hand 33 is provided. The scion hand 32 and scion assist hand 3
Numeral 3 designates a pair of gripping claws which are swingably openable and closable, and which grip by holding the hypocotyl of the scion by a clamping cylinder 34 for scion and an auxiliary cylinder 35 for scion. It is configured to be opened and closed. The rootstock seedling transporting device 5 pivots about 90 degrees from the rootstock seedling supply position of the rootstock seedling supply device 4 to the cutting position of the rootstock cutter 6 about the rotation axis 13, and further, this cutting position. From about to the joint position of the joint 3. Also in the scion seedling conveying device 8, similarly to the above, the scionling seedling feeding device 7 rotates about 90 degrees from the scionling seedling supply position of the scionling seedling supply device 7 to the cutting position of the scion cutter 9,
Further, approximately 90 minutes from the cutting position to the joining position of the joining portion 3.
It is a configuration that turns by degrees. When the rootstock seedling transporting device 5 and the scionling seedling transporting device 8 reach the proper joining position at the joining portion 3,
Joint position detecting sensors SW1 and SW2 provided in the rotation actuator 11 for transporting the rootstock and the rotation actuator 27 for transporting the scion, respectively, detect it, and based on the detection results of both sensors, both transports. The stock hand 16 and the scion hand 32 of the device advance and move in the direction facing each other, that is, the direction of the arrow (e), and join the cut surface of the stock and the cut surface of the scion held by them. It has a configuration. Also, the joining position detecting sensors SW1, SW1,
If both SW2 are not detected, or if only one is detected, both transporting devices will not operate thereafter, the abnormal lamp installed on the operation panel will be turned on, and the reset switch will be initialized. . When rootstock seedlings are manually supplied to the rootstock seedling supply device 4, the rootstock supply hand 4c closes and holds the rootstock seedlings based on the detection result of the rootstock detection sensor (not shown). Next, the rootstock hand 16 is opened and enters the rootstock seedling supply device 4 to grip the hypocotyl of the rootstock seedling being supplied. The rootstock seedling grasped by the rootstock hand 16 is transported to the cutting action position of the rootstock cutter-6.
The rootstock seedling at this cutting action position is cut off by the action of the rootstock cutter-6, leaving one cotyledon of the rootstock seedling remaining. (Cucurbitaceae) The cut rootstock is still joined by the root hand 16
The hand 16 is moved to the joining device 1 by the regular joining position detection result by the detection sensor SW1.
The rootstock that has moved forward to the corresponding position of 0 and the scion sent by the advancement movement of the scion hand 32 are joined together. When the scion seedlings are manually supplied to the scion seedling supply device 7, the scion supply hand 7c closes and grips the scion seedlings based on the detection result of the scion detection sensor (not shown).
Next, with the scion hand 32 opened, the scaffold enters the scion seedling supply device 7 to grip the hypocotyl of the scion seedling being supplied. The scion seedlings gripped by the scion hand 32 are scion cutters 9
Are cut to the cutting action position, and a part of the hypocotyl and the root are cut off by the action of the scion cutter 9, leaving the tissue above the hypocotyl of the scion seedling. The cut scion is still conveyed to the joint 3 by the scion hand 33, and the detection sensor SW2
Hand 33
Moves forward to the corresponding position of the joining apparatus 10, and the scion grasped by this and the stock sent by the advance movement of the stock hand 16 are joined. The embodiment shown in FIG. 5 will be described. Rootstock holding plate 3 that receives and holds the hypocotyl of a rootstock seedling above the rootstock auxiliary hand 17
6, a stock support hand 17 and a stock holding plate 36.
The cutter blade 26 of the stock cutter 6 passes through the space between them so as to perform a cutting action. Conventionally, rootstock seedlings were cut in a cantilevered state, so there was a problem that cutting errors and cutting edges of rootstock seedlings became abnormally long, resulting in bonding errors. As described above, the cutting is performed by the two-point support of the rootstock assisting hand 17 and the rootstock holding plate 36, so that the conventional problem can be solved. In the embodiment shown in FIGS. 6 and 7, a scion holding plate 37 for receiving and holding the hypocotyl of a scion seedling is provided below the scion auxiliary hand 33. The cutter blade 26 of the scion cutter 9 passes between the scion assisting hand 33 and the scion holding plate 37 so as to perform a cutting operation. Therefore, even with such a configuration, the scion seedling can be replaced by the scion auxiliary hand 33 and the scion holding plate 3.
Since the cutting is performed by the two-point support with No. 7, it is possible to prevent the cutting error of the scion seedlings and the abnormally long cutting edge.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of a grafting robot. FIG. 2 is a front view of a main part of the same. FIG. 3 is a plan view of a main part of the same. FIG. . 5 is a side view of a main part. FIG. 6 is a side view of a main part. FIG. 7 is a plan view of a main part. [Description of References] A grafting part B clip feeder part 1 rootstock part 2 scion part 3 Joining part 4 Rootstock seedling supply device 5 Rootstock seedling transfer device 6 Rootstock cutter 7 Sponge seedling supply device 8 Sion seedling transfer device 9 Sion cutter 10 Joining device 11 Rootlet transfer rotary actuator 12 Tree transport arm support 13 Rotary shaft 14 Root transport arm extrusion cylinder 15 Root transport arm 16 Root hand 17 Root auxiliary hand 18 Root root hand hand 19 Rootstock grip cylinder 20 Rootstock grip Auxiliary cylinder 21 Root pot holding cylinder 22 Cutter
Driving motor 23 Prop 24 Drive shaft 25 Cutter arm 26 Cutter
Blade 27 Rotary actuator for transport of scionware 28 Rotary arm support for scrubbing arm 29 Rotary axis 30 Cylinder for pushing scribing arm 31 Climbing arm for scribing arm 32 Scion hand 33 Scion assist hand 34 Scion Gripping cylinder 35 Auxiliary cylinder for holding scion SW1 Joining position detection sensor SW2 Joining position detection sensor

Claims (1)

(57) [Claims 1] The rootstock seedlings supplied to the rootstock seedling supplying device 4 and the scionling seedlings supplied to the scionling seedling supply device 7 are transferred to the respective seedling transfer devices 5, 8. A grafting robot for transporting the cutters 6 and 9 to the cutting position by 8 and further transporting the cut rootstock seedlings and the cuttings of the cuttings to the joining position by means of the respective transport devices and joining them. A joining position detecting means for detecting that both the seedling conveying device and the scion seedling conveying device have reached the proper joining position is provided, and based on the detection result of the joining position detecting device, the two conveying devices 5, 8 are operated. A grafting robot for joining rootstock seedlings and spikelets.