JP3557703B2 - Grafting robot - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a grafting robot .
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a grafting robot having a configuration in which a pair of openable and closable scion hypocotyl auxiliary hands for gripping near a hypocotyl cut is provided below a scion hand for receiving and gripping an inserted scion is known. I have.
[0003]
[Problems to be solved by the invention]
In such a conventional technique, seedlings are bent into the back side of the scion auxiliary hand due to occurrence of bending of the seedling or inclination at the time of insertion of the seedling, the auxiliary hand cannot be closed, and cutting is performed without securely holding the scion. For example, it causes cutting failure and interference trouble with the cutter blade.
[0004]
An object of the present invention is to solve such a problem. The following technical measures were taken to achieve this objective.
[0005]
[Means for Solving the Problems]
That is, the technical means according to the present invention is to cut the scion seedlings supplied to the scion seedling supply device 7 by grasping the scion seedlings with the scion hand 25 and the scion hypocotyl auxiliary hand 27 of the scion seedling conveying device 8. Conveyed to the cutting position, the scion cutter 9 rotates at the cutting position to cut the hypocotyl of the scion seedling, and the cut scion seedling is transferred to the scion seedling and the rootstock seedling by the scion seedling transfer device 8. A grafting robot that conveys the scion seedling and the rootstock seedling with the clip supplied from the clip feeder B ,
The scion hypocotyl auxiliary hand 27 is arranged below the scion hand 25 and near the cutting position of the hypocotyl with a pair of gripping claws 26, 26, and opposing surfaces of the gripping claws 26, 26. Hypocotyl engaging recesses 26a, 26a are provided on the inner surface, and embryo bearing stoppers 30 are provided on the inner side of the hypocotyl engaging recesses 26a, 26a in the embryo bearing insertion direction to receive and prevent the inserted hypocotyl. The embryo bearing stopper 30 is provided between the gripping claws 26 in an open state, and the embryo shaft received between the gripping claws 26, 26 is located further back than the embryo shaft engaging recesses 26a, 26a. A grafting robot characterized in that it is configured to prevent intrusion .
[0006]
Actions and effects of the present invention
When the pair of openable and closable gripping claws 26 is opened outward and is in the seedling receiving state, the hypocotyl of the inserted seedling is received by the embryo bearing stopper 30 and held at a predetermined angle. The hypocotyl is held at a predetermined angle and the gripping claws 26 are closed, whereby the hypocotyl is reliably gripped between the hypocotyl engaging recesses 26a .
[0007]
In short, according to the present invention, since the seedling does not enter into the back side of the scion hypocotyl auxiliary hand 27 , the gripping can be surely performed, and the posture of the seedling is maintained at a predetermined angle, so that the cutting performance is improved. That is, the cutting length and the cutting angle can be stabilized. In addition, the stopper effect of the embryo bearing stopper 30 improves the properties of the seedling, for example, adaptability to bending of the seedling, and eliminates interference with the cutter blade. It also has an effect that can be maintained.
[0008]
【Example】
An embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the grafting robot comprises a grafting section A and a clip feeder section B, and the grafting section A comprises a stock 1, a scion 2 and an intermediate joint 3.
[0009]
The stock 1 comprises a stock feeder 4, a stock feeder 5, and a stock cutter 6. Consists of 8 and Hogi Cutter-9. The rootstock seedling artificially supplied to the rootstock seedling supply device 4 is transported to a cutting position of the rootstock cutter 6 by a rootstock seedling transporting device 5 rotating in the direction of the arrow (a) in FIG. The tree cutter is rotated and the other blades are cut off by the cutter blade, leaving the rootstock of the rootstock. The cut stock is transported in the direction of the arrow (b), and is joined to the scion by the joining device 10 at the joining portion 3.
[0010]
Similarly, the scion seedlings artificially supplied to the scion seedling supply device 7 are conveyed in the direction of the arrow (c) by the scion seedling conveying device 8, and the scion that rotates from top to bottom at the cutting position. With the cutter-9, the hypocotyl and the root are partially cut off, leaving the tissue above the hypocotyl. Then, the scion is conveyed in the direction of arrow (d), and the scion and the stock are joined at the joining portion 3 by the clip supplied from the clip feeder B to complete the grafting operation. Become.
[0011]
The seedling supply device 7 will be described. The seedling receiving stand 11 having the seedling supply guide groove 11a, the embryo bearing plate 12, the swingable openable / closable hypocotyl hand 13, and the ear for detecting that the seedling is supplied. A tree sensor (photoelectric tube) 14 and the like are set on a seedling receiving base 15. The seedling receiving base 15 has a pivot angle with respect to a slide base 16 which can be slid in the vertical and horizontal directions through an arc-shaped long hole 17 around a pivot axis Q and a fastener 18. It is configured to be changeable and adjustable. In other words, the seedling supply attitude of the spikelet seedling is, for example, a tilted attitude (see FIG. 2A) inclined about 15 degrees in front view in the case of watermelon, and a case where the seedling quality is soft, such as melon or cucumber. Is adjustable so as to be in a substantially vertical posture (see FIG. 2B).
[0012]
The scion sensor 14 is configured to detect that scion seedlings have been supplied into the guide grooves 11a of the seedling receiving stand 11, and the hypocotyl hand 13 swings in the closing direction according to the detection result of the sensor 14. In this configuration, the scion seedlings supplied to the germ bearing plate 12 are gripped. In the scion seedling conveying device 8, a scion conveying rotary actuator 19 and a scion conveying arm support 20 below the actuator 19 are rotatably supported about an actuator rotating shaft 21. ing. The scion carrier arm support 20 has a scaffold arm extruding cylinder 22 supported by the support 20, a scaffold arm 23 extended and contracted by the cylinder 22, and the scaffold arm. At the front end of 23, a scion hand 25 composed of a pair of openable / closable scion grasping parts 24 and a scion embryo auxiliary shaft 27 composed of a pair of openable / closable grasping claws 26, 26 are provided. The scion grasping portion 24 and the grasping claw 26 are configured such that a pair of them can be opened and closed, and grasp the scion by sandwiching the scion. 29 is controlled to open and close.
[0013]
The scion hypocotyl auxiliary hand 27 is provided at a position below the scion hand 25 for gripping near the cutting of the hypocotyl. When cutting by the scion cutter 6, a pair of gripping claws 26, Reference numeral 26 denotes a configuration for closing and holding the hypocotyl. Hypocotyl engaging recesses 26a, 26a are provided on inner surfaces of the pair of gripping claws 26, 26 facing each other. An embryo bearing stopper 30 for receiving and holding the inserted hypocotyl is provided at the back side of the hypocotyl auxiliary hand 27 in the hypocotyl receiving direction, and is received between the holding claws 26 in the open state. In this configuration, the hypocotyl is prevented from penetrating deeper than the hypocotyl engaging recesses 26a.
[0014]
The scion cutter 9 has a cutter blade 31 at the tip, and is configured to rotate around an axis 32. K indicates the cutting action locus of the cutter. The configuration of the scion hypocotyl auxiliary hand shown in FIGS. 6 to 10 will be described. In the conventional hypocotyl auxiliary hand, as shown in FIGS. 6 and 7, the hypocotyl engaging recess 26a is formed over the entire vertical width of the claw 26. Therefore, for example, when grasping the hypocotyl of an eggplant with a hand, if there are nodes attached to the cotyledons and the true leaves, the hand is not completely closed and is not securely clamped, so that a cutting failure has occurred. Therefore, in the embodiment of the present invention shown in FIGS. 8 to 10, the gripping surface Y for gripping the hypocotyl is configured to be substantially parallel to the cutting action (trajectory) surface K (cut surface of the hypocotyl). . According to this, since only the portion close to the cutting surface of the hypocotyl is gripped, mistakes in closing the gripping hand are reduced, and the cutting performance is improved. Further, since the holding area is small, the influence of the joint is extremely reduced.
[Brief description of the drawings]
FIG. 1 is a plan view of a grafting robot. FIG. 2 is a side view of the same main part. FIG. 3 is a side view of the same main part. FIG. 4 is a side view of the same main part. FIG. 6 is a plan view. FIG. 7 is a side view. FIG. 8 is a side view. FIG. 9 is a plan view. FIG. 10 is a side view.
A grafting part B clip feeder part 1 rootstock part 2 scion part 3 joining part 4 rootstock seedling supply device 5 rootstock seedling transport device 6 rootstock cutter
Reference Signs List 7 seedling seed supply device 8 seedling seedling transfer device 9 seedling cutter 10 joining device 11 seedling rest 12 embryo bearing plate 13 hypocotyl hand 14 scion sensor
DESCRIPTION OF SYMBOLS 15 Seedling receiving base 16 Slide base 17 Arc-shaped long hole 18 Fastening tool 19 Rotary actuator for scion transfer 20 Scion transfer arm support 21 Rotary shaft 22 Extrusion cylinder 23 Scion transfer arm Reference Signs List 24 scion gripping part 25 scion hand 26 grasping claw 27 scion embryo shaft assist hand 28 scion grasping cylinder 29 scion assisting cylinder 30 embryo bearing stopper 31 cutter blade 32 shaft

Claims (1)

The scion seedlings supplied to the scion seedling supply device 7 are gripped by the scion hand 25 and the scion hypocotyl auxiliary hand 27 of the scion seedling transfer device 8 and transported to the cutting position. The cutter 9 rotates to cut the hypocotyl of the scion seedling, and the cut scion seedling is transported to the joint 3 between the scion seedling and the rootstock seedling by the scion seedling transporting device 8. In a grafting robot that joins seedlings and rootstock seedlings with clips supplied from the clip feeder B ,
The scion hypocotyl auxiliary hand 27 is arranged below the scion hand 25 and near the cutting position of the hypocotyl with a pair of gripping claws 26, 26, and opposing surfaces of the gripping claws 26, 26. Hypocotyl engaging recesses 26a, 26a are provided on the inner surface, and embryo bearing stoppers 30 are provided on the inner side of the hypocotyl engaging recesses 26a, 26a in the embryo bearing insertion direction to receive and prevent the inserted hypocotyl. The embryo bearing stopper 30 is provided between the gripping claws 26 in an open state, and the embryo shaft received between the gripping claws 26, 26 is located further back than the embryo shaft engaging recesses 26a, 26a. A grafting robot characterized in that it is configured to prevent intrusion .

Images