JP3751066B2 - Automatic grafting equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic grafting apparatus mainly for vegetable seedlings of Cucurbitaceae.
[0002]
[Prior art]
An example of an automatic grafting device is disclosed in Japanese Patent Laid-Open No. 7-135852. In this automatic grafting device, the seedlings for rootstock are taken out from the rootstock tray and the upper part is cut, the seedlings for spikelets are taken out from the hotwood tray, the lower part is cut, and the upper part is cut The lower end of the cut stock is joined to the lower end of the rootstock, and grafted, and the grafted seedlings are transplanted to a temporary planting tray.
[0003]
[Problems to be solved by the invention]
In particular, in the grafting treatment of vegetable seedlings of cucurbitaceae, when cutting the upper part of the seedling for rootstock, not cutting all of a pair of cotyledons, but cutting the upper part leaving one leaf and grafting Process (in order to use the remaining cotyledons of the seedlings for rootstock as a nutrient source for growth after grafting).
In this way, when joining the seedlings for the spikelets to the upper end of the rootstock seedlings where the single leaves were left, the single leaves of the rootstock seedlings were grafted on the upper side after transplanting to the temporary planting tray In order not to shade the cotyledons of the seedlings for hogi, it is necessary to cross (for example, orthogonal state) the direction of one leaf of the seedling for rootstock and the direction of the cotyledons of the seedling for hogi.
In the automatic grafting apparatus as described above, the direction of the single leaves of the rootstock seedling and the direction for the hotwood can be appropriately cut at the time of joining so that the upper portion of the rootstock seedling can be appropriately cut leaving a single leaf. It is intended to configure so that the orientation of the cotyledons of the seedling can be appropriately crossed.
[0004]
[Means for Solving the Problems]
[I]
In the rootstock tray and the hogi tray, when the seedling for the rootstock and the seedling for the hogi are germinated, the orientation of the cotyledon of the seedling for each rootstock and the cotyledon of the seedling for each hogi is not constant, Suitable for various directions.
According to the feature of claim 1, for example, as shown in FIGS. 6, 7, and 8, when rootstock seedling 1 is taken out from rootstock tray 2, in what direction the cotyledons of rootstock seedling 1 are oriented. Even if it is facing, the first seedling alignment mechanism 14 aligns the cotyledons of the seedling 1 for rootstock in a predetermined direction. Thus, when the orientation of the cotyledons of the rootstock seedling 1 taken out from the rootstock tray 2 is aligned in a predetermined direction, the upper portion of the rootstock seedling 1 is left as a single leaf by the first cutting mechanism. This cutting can be performed with high accuracy.
[0005]
When cutting the lower part of the seedling for picking from the hotwood tray, the lower part of the seedling for cuttings is cut diagonally in order to ensure that the subsequent grafting process is performed. There are things to do. Then, when joining the seedlings for hogi to the upper end of the rootstock seedlings where the single leaves are left, the direction of the single leaves of the seedlings for rootstocks and the direction of the cotyledons of the seedlings for roots are crossed Therefore, when the lower part of the seedling for the hogi is cut obliquely, it is necessary to cut it in a predetermined direction with respect to the cotyledons.
According to the feature of claim 1, for example, as shown in FIGS. 6, 7, and 8, when the seedling 4 for the hotwood is taken out from the hotwood tray 5, the cotyledon of the seedling 4 for the hotwood is in which direction Even if it is facing, the cotyledons of the seedling 4 for hogi are aligned in a predetermined direction by the second seedling alignment mechanism 15. When the orientation of the cotyledons of the seedling 4 for the hogi taken out from the hogi tray 5 is aligned in a predetermined direction as described above, the lower portion of the seedling 4 for the hogi is aligned in the predetermined direction by the second cutting mechanism. When cutting obliquely, the cutting can be performed with high accuracy.
[0006]
After cutting the upper part of the rootstock seedling with one leaf left and the cutting of the lower part of the seedling for hogi, the orientation of the single leaf of the rootstock seedling as described above And so that the direction of the cotyledons of the seedlings for hogi intersect.
According to the feature of claim 1, as shown in FIGS. 6, 7, and 8, no matter what direction the cotyledon of the seedling 1 for rootstock and the cotyledon of the seedling 4 for hogi are oriented, the first And the cotyledons of the seedling 1 for rootstock and the cotyledons of the seedling 4 for hogi are aligned in a predetermined direction by the second seedling arranging mechanisms 14 and 15. Thus, for example, as shown in FIG. 10, the lower end of the seedling 4 for cuttings whose lower part is cut is placed in a predetermined posture on the upper end of the rooting seedling 1 whose upper part is cut by the grafting mechanisms 19 and 20. The operation of joining to (the state in which the direction of one leaf of the seedling 1 for rootstock and the direction of the cotyledon of the seedling 4 for hogi intersect) can be performed with high accuracy.
[0007]
[II] Further , in the automatic grafting device, a rootstock tray transport mechanism that transports a rootstock tray that stores seedlings for rootstock, and a hotwood tray transport mechanism that transports a stockboard tray that stores seedlings for spikelets , And a temporary planting tray transport mechanism for transporting a temporary planting tray for temporary planting of the seedlings after grafting, and grafting and transplanting in a flow work while transporting a number of rootstock trays, earwood trays and temporary planting trays Configure to do.
With this configuration, empty rootstock trays and hotwood trays from which all seedlings for seedlings and seedlings for hogi have been extracted will come out. Collect these empty rootstock trays and hotwood trays. Thus, a collection and transport mechanism that transports the sheet is necessary.
[0008]
Therefore, when configured as in the present invention, for example, as shown in FIGS. 1 and 2, the upper side (or lower side) of the temporary planting tray transport mechanism 9 near the terminal ends of the rootstock tray transport mechanism 3 and the hotwood tray transport mechanism 6. In this space, a recovery transport mechanism 23 that recovers and transports empty rootstock trays and hogi trays can be disposed.
Since the rootstock tray transport mechanism 3 and the hotwood tray transport mechanism 6 are arranged in parallel and at the same height, they are connected to the end portions of the rootstock tray transport mechanism 3 and the hotwood tray transport mechanism 6. The collection transport mechanism 23 can also be arranged without any trouble.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows an overall plane of the automatic grafting device, and shows an overall side view of the automatic grafting device of FIG.
As shown in FIGS. 1 and 2, a rootstock stocker 10 for supporting a rootstock tray 2 containing a rootstock seedling 1 in a plurality of stages, and a hotwood tray 5 containing a seedling 4 for hogi are moved up and down. A stocker stocker 11 supported in a plurality of stages and a temporary planting stocker 12 that supports a temporary planting tray 8 for transplanting seedlings 7 after grafting processing are provided in a plurality of upper and lower stages, each being arranged in parallel in the horizontal direction. As shown in FIGS. 12 and 20, the rootstock tray 2, the hogi tray 5, and the temporary planting tray 8 are relatively soft containers made of plastic with storage cells arranged vertically and horizontally. It is inserted and handled in a plastic seedling box 13 to be cultivated.
[0010]
As shown in FIGS. 1 and 2, a rootstock tray transport mechanism 3 for transporting the rootstock tray 2, a hotwood tray transport mechanism 6 for transporting the hotwood tray 5, and a temporary planting tray transport mechanism 9 for transporting the temporary planting tray 8 are provided. Is provided.
The rootstock tray transport mechanism 3 and the hotwood tray transport mechanism 6 are arranged in parallel and at the same height in plan view, and the lower side of the rootstock tray transport mechanism 3 and the hotwood tray transport mechanism 6 ( On the right side of the drawing), first and second take-out mechanisms 21, 22 to be described later, first and second seedling alignment mechanisms 14, 15, first and second cutters 16, 17 (corresponding to first and second cutting mechanisms) (See FIG. 17), a third cutter 18 (see FIG. 19), first and second robot hands 19, 20 (corresponding to a grafting mechanism and a transplanting mechanism), and a clip supply mechanism 30 (see FIG. 18) are arranged. .
[0011]
As shown in FIG. 1 and FIG. 2, at a position lower than the rootstock tray transport mechanism 3 and the hotwood tray transport mechanism 6, rearwardly in parallel with the rootstock tray transport mechanism 3 and the hotwood tray transport mechanism 6. The temporary planting tray transport mechanism 9 is arranged so as to be extended. An empty rootstock tray 2 and a hotwood tray 5 from which all of the seedlings 1 for the rootstock and the seedling 4 for the hogi have been taken out come out from the end of the rootstock tray transport mechanism 3 and the hotwood tray transport mechanism 6. And a roller conveyor type recovery and transport mechanism 23 for recovering and transporting the empty rootstock tray 2 and the hotwood tray 5, and the recovery transport mechanism 23 is located at a position above the temporary planting tray transport mechanism 9. It is arranged so as to intersect with the tray transport mechanism 9.
[0012]
The rootstock tray transport mechanism 3 and the hogi tray transport mechanism 6 include a belt conveyor 24 (first half side) disposed obliquely downward for continuously transporting the rootstock tray 2 and the hogi tray 5, and the rootstock tray 2 and It is comprised by the horizontal belt conveyor 25 (second half side) which conveys the hogi tray 5 intermittently. The temporary planting tray transport mechanism 9 includes a belt conveyor 26 (first half side and second half side) disposed obliquely downward and horizontally for continuously transporting the temporary planting tray 8, and a horizontal belt conveyor 27 for intermittently transporting the temporary planting tray 8. (Middle half side).
[0013]
Next, the 1st and 2nd taking-out mechanisms 21 and 22 and the 1st and 2nd seedling arrangement mechanisms 14 and 15 which are arranged at the end of the rootstock tray transport mechanism 3 and the hogi tray transport mechanism 6 will be described. As shown in FIGS. 3, 13, and 14, in the rootstock tray 2 and the hogi tray 5, a pair of sandwiching arms 28 corresponding to each of the seedling 1 for rootstock and the seedling 4 for hogi in the front row. A pair of cutter arms 29 is provided, and first and second take-out mechanisms 21 and 22 are configured.
[0014]
As shown in FIGS. 3 and 15 (a) and (b), a pair of support plates 31 are arranged so as to face each other at a predetermined narrow interval, and an excitation mechanism (Fig. 1) and 2nd seedling arrangement mechanisms 14 and 15 are provided. The pair of support plates 31 are notched so that the inlet side (left side of the paper) is widened, and a pair of pins 32 are fixed to the terminal side (right side of the paper surface), and the pair of support plates 31 is low so that the terminal side (right side of the paper surface) is lowered. The support plate 31 is inclined.
[0015]
Next, the overall flow of this automatic grafting device will be described.
As shown in FIG. 1 and FIG. 2, from the rootstock stocker 10 and the hogi stocker 11, a rootstock tray 2 containing the seedling 1 for rootstock, and a hogi tray 5 containing the seedling 4 for hogi, One by one is taken out by the worker and placed on the rootstock tray transport mechanism 3 and the hogi tray transport mechanism 6, and the temporary planting tray 8 containing the soil 37 is taken out from the temporary planting stocker 12 one by one. And placed in the temporary planting tray transport mechanism 9.
[0016]
When the rootstock tray 2 and the hogi tray 5 reach the terminal ends of the rootstock tray transport mechanism 3 and the hogi tray transport mechanism 6, the first and second takeout mechanisms 21, as shown in FIGS. 22 holding arms 28 hold the seedling 1 for rootstock and the seedling 4 for hogi, respectively, and at the same time, the cutter arm 29 holds the seedling 1 for rootstock and the seedling 4 for hogi. Cut by pinching the bottom edge.
Next, the first and second take-out mechanisms 21 and 22 are lifted, and the seedling 1 for the rootstock and the seedling 4 for the hogi are extracted from the rootstock tray 2 and the hogi tray 5 in FIG. As shown in FIG. 6, the first and second take-out mechanisms 21 and 22 change the direction about 90 ° rightward on the paper surface and extend rightward on the paper surface as shown in FIG.
[0017]
Thereby, the seedling 1 for rootstock and the seedling 4 for hogi that have been sandwiched between the first and second take-out mechanisms 21 and 22 can be obtained as shown in FIGS. 6 and 15A. The two seedling alignment mechanisms 14 and 15 are inserted between the pair of support plates 31. In this case, as shown in FIG. 14, a horizontally long recess 28a is formed inside the holding arm 28, and the seedling 1 for rootstock and the seedling 4 for hogi are moved by the first and second take-out mechanisms 21 and 22. When inserted between the pair of support plates 31, the seedling 1 for rootstock and the seedling 4 for hogi move to some extent within the recess 28 a and smoothly enter between the pair of support plates 31. I like to go.
After the insertion is completed, the holding arms 28 of the first and second take-out mechanisms 21 and 22 release the seedling 1 for rootstock and the seedling 4 for spikelets, and the first and second take-out mechanisms 21 and 22 move downward. The first seedling alignment mechanism 14 and the second seedling alignment mechanism 15 are separated from each other, contracted leftward as shown in FIG. 7, and changed to about 90 ° as shown in FIG. 11 to return to the initial state.
[0018]
When the seedling 1 for rootstock and the seedling 4 for hogi are inserted between the pair of support plates 31 of the first and second seedling alignment mechanisms 14 and 15 as described above, as shown in FIG. In addition, vibration is applied to the pair of support plates 31 by the vibration mechanism. As a result, the pair of support plates 31 are inclined so that the end side (right side on the paper surface) is lowered, and vibrations to the support plate 31 support the seedling 1 for rootstock and the seedling 4 for hogi. As shown in FIG. 8 and FIG. 15B, the head rootstock seedling 1 and the earwood seedling 4 contact the pair of pins 32 of the support plate 31. The pair of cotyledons is determined in a predetermined direction (direction along the pair of pins 32).
Then, the subsequent seedling 1 for the rootstock and the seedling 4 for the hogi are also pressed against the leading seedling 1 for the rootstock and the seedling 4 for the hogi, and the pair of cotyledons has a predetermined orientation (a pair of seedlings). A pair of cotyledons of all rootstock seedlings 1 and panicle seedlings 4 supported by the pair of support plates 31 as described above are in a predetermined direction. (Direction along the pair of pins 32).
[0019]
Next, as shown in FIG. 9 and FIG. 16, the first robot hand 19 takes out the seedling 1 for rootstock of the first seedling alignment mechanism 14 and carries it to the position of the first cutter 16, as shown in FIG. The first cutter 16 cuts the upper portion of the rootstock seedling 1 diagonally leaving a single leaf. At the same time, the second robot hand 20 takes out the head seedling 4 for the first seedling of the second seedling arranging mechanism 15 and carries it to the position of the second cutter 17, and the second cutter 17 as shown in FIG. The lower part of the tree seedling 4 is cut obliquely.
[0020]
Next, the first and second robot hands 19 and 20 move to the center side, and the upper part is cut by the first and second robot hands 19 and 20 as shown in FIGS. The lower end of the seedling 4 for cutting the lower part is joined to the upper end of the seedling 1 for wood, and the clip 35 is sandwiched between the joined parts by the clip supply device 30 to perform one grafting process. finish. In this case, the seedling 4 for the hogi is joined to the seedling 1 for the rootstock so that one leaf of the seedling 1 for the rootstock and the cotyledon of the seedling 4 for the hogi are substantially orthogonal to each other.
[0021]
When one grafting process is completed, as shown in FIG. 19, the third cutter 18 cuts the position of a predetermined length downward from the upper end of the seedling 7 after the grafting process, so that the height of the seedling 7 after the grafting process is increased. Then, the seedling 7 after grafting is transplanted to the soil 37 of the temporary planting tray 8 as shown in FIGS. 11 and 20 by the first robot hand 19. In this case, a vertical hole 37a is formed in advance in the soil 37 of the temporary planting tray 8, and the seedling 7 after grafting is inserted into the vertical hole 37a to perform transplantation.
[0022]
As described above, the joining and transplanting of one seedling 1 for rootstock and seedling 4 for scion 4 are repeated, and when transplanting to one temporary planting tray 8 is completed, FIG. 1 and FIG. As shown, the temporary planting tray 8 is conveyed to the right side of the paper and is supported by the curing stocker 33 in a plurality of upper and lower stages.
When all the rootstock seedlings 1 and the seedlings 4 for hogi are extracted from the rootstock tray 2 and the hogi tray 5 at the end of the rootstock tray transport mechanism 3 and the hogi tray transport mechanism 6, The rootstock tray 2 and the hogi tray 5 are transported to the lower side of the paper surface of FIG.
[0023]
[Another Embodiment of the Invention]
Instead of using the clip 35 shown in FIG. 18 and FIG. 19, an instantaneous adhesive may be attached to the joining portion of the rootstock seedling 1 and the hogi seedling 4. In the configuration shown in FIG. 1 and FIG. 2, the temporary planting tray transport mechanism 9 is disposed on the upper side by reversing the vertical relationship between the rootstock tray transporting mechanism 3, the hogi tray transporting mechanism 6, and the temporary planting tray transporting mechanism 9. The rootstock tray transport mechanism 3, the hogi tray transport mechanism 6, and the recovery transport mechanism 23 may be disposed on the lower side.
[0024]
In the first and second seedling arranging mechanisms 14 and 15 shown in FIGS. 3 and 15 (a) and (b), the direction is perpendicular to the extending direction of the support plate 31 of the first and second seedling arranging mechanisms 14 and 15. In addition, an injection mechanism for injecting compressed air so as to blow down the seedling 1 for rootstock and the seedling 4 for hogi from diagonally above may be provided.
Thereby, when the seedling 1 for rootstock and the seedling 4 for hogi are supported by the support plates 31 of the first and second seedling arranging mechanisms 14 and 15 (the state shown in FIG. 15A), or after this When vibration is applied to the support plate 31 (the state shown in FIG. 7), when compressed air is sprayed from the spray mechanism, the seedling 1 for rootstock and the seedling 4 for hogi follow the pair of pins 32 by the compressed air. Can be aligned to some extent (combing hair with a comb). Therefore, the first and second seedling arranging mechanisms 14 and 15 can better align the seedling 1 for rootstock and the seedling 4 for hogi.
[0025]
【The invention's effect】
According to the features of claim 1, in the automatic grafting device, the cotyledons of the rootstock seedling and the cotyledon of the seedling for the rootstock taken out from the rootstock tray and the hogi tray are configured to align in a predetermined direction. With this, it is possible to accurately cut the leaves on the upper part of the rootstock seedling, to accurately cut the lower part of the seedling for hogi (especially oblique cutting in a predetermined direction), and for the rootstock. Therefore, it is possible to perform the grafting process with high accuracy by crossing the direction of the single leaves of the seedlings and the direction of the cotyledons of the seedlings for the hogi, and it is possible to increase the survival rate of the grafting process in the automatic grafting apparatus.
[0026]
In addition, in the automatic grafting device, when the rootstock tray transport mechanism, the hogi tray transport mechanism, the recovery transport mechanism, and the temporary planting tray transport mechanism are provided, the recovery transport mechanism is arranged in a vacant space by arranging them in a three-dimensional intersection. As a result, the entire automatic grafting device can be made compact.
[0027]
It should be noted that reference numerals are used in the claims to make the comparison with the drawings convenient, but the present invention is not limited to the configuration of the attached drawings by the entry.
[Brief description of the drawings]
FIG. 1 is an overall plan view of an automatic grafting device. FIG. 2 is an overall side view of the automatic grafting device. FIG. 3 is a diagram before the first and second take-out mechanisms sandwich a seedling for rootstock and a seedling for spikelet. FIG. 4 is a plan view showing a state where the first and second take-out mechanisms sandwich the seedling for rootstock and the seedling for spikelet after the state of FIG. FIG. 6 is a plan view showing a state in which the first and second take-out mechanisms take out seedlings for rootstock and seedlings for spikelets and turn about 90 ° after the state shown in FIG. FIG. 7 is a plan view showing a state in which the first and second take-out mechanisms are extended and the seedlings for rootstock and the seedlings for spikelets are inserted into the first and second seedling arranging mechanisms. Next, the first and second take-out mechanisms are contracted, and vibrations are applied to the first and second seedling arrangement mechanisms, so that the orientation of the pair of cotyledons of the rootstock seedling and the spikelet seedling is aligned. FIG. 8 is a plan view showing a state where the first and second seedling arranging mechanisms are aligned after the state of the pair of cotyledons of the seedling for rootstock and the seedling for spikelet is aligned after the state of FIG. FIG. 9 is a plan view showing a state of reaching roots. FIG. 9 is a state diagram of FIG. 8. Next to the state of FIG. FIG. 10 is a plan view showing a state in which a seedling for use has been taken out and carried to the positions of the first and second cutters. FIG. FIG. 11 is a plan view showing a state in which the lower end of the seedling of the hogi with the side portion cut is joined in a predetermined posture by the first and second robot hands and the grafting process is performed. FIG. 12 is a plan view showing a state in which the seedlings after grafting are transplanted to a temporary planting tray by the first robot hand. FIG. 13 is a perspective view showing a state of the hogi tray. FIG. 13 is a side view showing a state in which the first and second take-out mechanisms pinch and remove the seedling for rootstock and the seedling for hogi. FIG. 15 is a perspective view of the first and second seedling alignment mechanisms. FIG. 16 is a plan view of the first and second robot hands from the end side of the first and second seedling alignment mechanisms. FIG. 17 is a side view showing a state in which a seedling for rootstock and a seedling for spikelet are pinched and taken out. FIG. 17 shows a state in which the upper part of the seedling for rootstock is cut by the first cutter and the ear by the second cutter. FIG. 18 is a side view showing a state in which the lower part of the tree seedling is cut. FIG. Joined in a predetermined posture by the first and second robot hands, and a clip is sandwiched between the joined parts. FIG. 19 is a side view showing a state in which the grafting process is performed. FIG. 19 is a side view showing a state in which the lower part of the seedling after the grafting process is cut by the third cutter. The perspective view which shows the state by which the cut seedling after grafting processing is transplanted to a temporary planting tray by the first robot hand
1 seedling for rootstock 2 rootstock tray 3 rootstock tray transport mechanism 4 seedling for hogi 5 hogi tray 6 hogi tray transport mechanism 7 seedling 8 after grafting processing temporary planting tray 9 temporary planting tray transport mechanism 14 first seedling Alignment mechanism 15 Second seedling alignment mechanism 16 First cutting mechanism 17 Second cutting mechanism 19, 20 Graft mechanism, transplanting mechanism 23 Recovery transport mechanism

Claims (1)

A first seedling arranging mechanism (14) for aligning the cotyledons of the rootstock seedling (1) taken out from the rootstock tray (2) in a predetermined direction, and for the hogi taken out from the hotwood tray (5) A second seedling alignment mechanism (15) for aligning the cotyledons of the seedling (4) in a predetermined direction,
A first cutting mechanism (16) that cuts the upper part of the seedling (1) for rootstock in which cotyledons are aligned in a predetermined direction by the first seedling alignment mechanism (14), leaving one leaf; A second cutting mechanism (17) for cutting the lower part of the seedling (4) for the hogi in which the cotyledons are aligned in a predetermined direction by the two seedling arranging mechanism (15);
A grafting mechanism for grafting by joining the lower end of the seedling for seedlings (4) cut at the lower part to the upper end of the rootstock seedling (1) cut at the upper part in a predetermined posture ( 19), (20), and an automatic grafting device provided with transplanting mechanisms (19), (20) for transplanting the seedling (7) after the grafting treatment to the temporary planting tray (8) ,
A rootstock tray transport mechanism (3) for transporting the rootstock tray (2) containing the seedlings for rootstock (1), and the hotwood tray (5) containing seedlings for hogi (4) A transporting tray tray transport mechanism (6) for transporting, and a temporary planting tray transport mechanism (9) for transporting the temporary planting tray (8) for temporary planting of the seedling (7) after grafting treatment,
The rootstock tray transport mechanism (3) and the hogi tray transport mechanism (6) are arranged in parallel and at the same height in plan view,
At a position lower or higher than the rootstock tray transport mechanism (3) and the hotwood tray transport mechanism (6), the temporary planting tray transport mechanism (9) is replaced by the rootstock tray transport mechanism (3) and the hotwood tray transport mechanism. (6) parallel to (6) and extending rearward than these,
Empty rootstock tray (2) from which the seedlings for rootstock (1) and the seedlings for hogi (4) are all taken out from the end of the rootstock tray transport mechanism (3) and hogi tray transport mechanism (6) ) And the transporting and transporting mechanism (23) for unloading the hogi tray (5) is arranged so as to intersect the temporary planting tray transporting mechanism (9) at an upper position or a lower position of the temporary planting tray transporting mechanism (9). auto grafting device are.

Images