JP4857414B2 - Graft seedling production equipment - Google Patents

Description

  The present invention relates to a grafted seedling production apparatus that automatically supplies and bonds rootstock seedlings and hogi seedlings to produce grafted seedlings.

  The conventional grafted seedling production apparatus described in Patent Document 1 includes a rootstock transport mechanism and a scrub transport mechanism that are arranged substantially symmetrically, an adhesion mechanism that is disposed at the grafting position in the center of the machine body, and a seedling delivery mechanism below the mechanism. It is a grafting robot that is constructed to produce grafted seedlings by grafting rootstock and hogi. The rootstock transport mechanism grips the seedling that will become the rootstock from one end of the aircraft and transports it to the grafting position and holds it at a predetermined height position. Grasping from the other end and transporting to the grafting position and holding it at a predetermined height position, the bonding mechanism bonds both the cutting surfaces of the rootstock and the scion cut in the transporting process to the grafting position, and The seedling delivery mechanism fixes the adhered grafted seedling in the pot and sends it out from the grafting process, and the grafting work can be made efficient and highly accurate by a series of these processes.

However, hogi seedlings with soft cotyledons that expand in a bilobal form are difficult to mechanically align the cotyledon deployment axis direction so as not to damage the cotyledons. The laborious work which supplies a hogi seedling to a predetermined position, aligning a cotyledon expansion axis direction was forced.
Japanese Patent No. 3010775

  The problem to be solved is to efficiently graft the seedlings with soft cotyledons that expand in the shape of a double leaf without manually damaging the cotyledons without damaging the cotyledons. An object of the present invention is to provide a grafted seedling production apparatus having a simple configuration.

In order to solve the above problems, the invention includes a scion taking unit for taking process individually which receives the seedling having Futaba-like expanded cotyledons and the scion, the scion according to claim 1 a preprocessing unit for conveying to the grafting bonding position scion seedlings received from the capturing unit be pretreated, bonded separately received stock seedlings scion seedlings received in the grafted adhesive positioned by the pre-processing unit In the graft seedling production apparatus comprising an adhesion processing section for producing grafted seedlings, the above-mentioned harvesting section includes a loading mechanism for loading and transferring a cell tray on which the seedlings are arranged, and a spike on the loading mechanism. A loose fitting gripping mechanism that loosely grips the embryonic axis while cutting the root side of the tree seedling, and a transfer mechanism that supports the advancing and retreating mechanism that supports the loose fitting gripping mechanism so as to be movable back and forth; A delivery holding mechanism that inherits and holds the seedlings transferred by this transfer mechanism is provided. The mechanism includes an alignment member that interferes with both cotyledons of the hogi seedling received at the advanced position by the advance / retreat mechanism when holding the hogi seedling received from the loose-fitting gripping mechanism, and regulates the cotyledon deployment direction Is provided .

Scion taking unit receives the seedling having Futaba-like expanded cotyledons, which was transferred to the delivery position to a predetermined loading process such as cutting into individual as the scion seedling, the seedling delivery retaining mechanism It is aligned retaining means provided by the interference for both cotyledons scion seedling, held while regulating the cotyledon expansion direction. The direction regulated scion seedlings are bonded by a pre-processing unit and a bonding unit and the stock seedling is grafted seedling is produced.

In the invention according to claim 2, the delivery holding mechanism includes a hand mechanism that grips the hypocotyl of the hogi seedling and an entry restriction stopper that regulates excessive entry of the hypocotyl of the hogi seedling. The alignment member is disposed at a position for receiving cotyledons of Hogi seedlings .
When the hypocotyl is cut at a predetermined position and the lengths are aligned, even if the hypocotyl is bent, the entry restriction stopper regulates excessive entry of the hypocotyl and reliably cuts the hypocotyl.

The grafted seedling production apparatus of the present invention has the following effects.
The invention according to claim 1, scion taking unit receives the seedling having Futaba-like expanded cotyledons, transferring this to a delivery position to a predetermined loading process, such as individually cut as a scion seedlings The seedling is held while its cotyledon deployment direction is regulated by the alignment holding means provided at the delivery position, and the seedling whose direction is regulated is adhered to the rootstock seedling by the pretreatment unit and the adhesion treatment unit. A seedling is produced. Thus, the grafted seedling producing device is cotyledons scion seedling is pressed against the alignment member in the immediate vicinity of the transfer position of the bonding unit from the cotyledon sprouting axial line is aligned along the alignment member, after pretreatment The grafting accuracy of the part and the adhesion processing part is ensured, and it is possible to perform the grafting process efficiently by ensuring that the direction of the axis of deployment is aligned with a predetermined direction without damaging the cotyledons without manual work.

According to the invention according to claim 2, in addition to the effect of claim 1, when the hypocotyl is cut at a predetermined position and the length is aligned, even if the hypocotyl is bent, the entry restriction stopper is excessive in the hypocotyl. Can be controlled, and the hypocotyl can be cut reliably. Further, the alignment member can be arranged at a position to receive the cotyledons of the hogi seedling above the delivery holding mechanism.

An embodiment of the present invention will be described with reference to the drawings.
FIG.1 and FIG.2 is the side view and top view which show the principal part of the grafted seedling production apparatus 1. FIG.
Grafted seedling producing device 1, the left rootstock acquisition section not shown (upper side in the figure) around the grafting robot main body 1a for grafting stock seedling and scion seedling (take-in portion), the right (Fig. On the left side of the front surface of the grafting robot main body 1a, the rootstock capturing part 2 or the rootstock capturing part 2 Rootstock pretreatment unit (pretreatment unit) 3 and Hogi pretreatment unit (pretreatment unit) 4 that receive the seedlings respectively as received from the rootstock pretreatment unit 3 or Hogi pretreatment unit 4 in the center adhesion treatment unit 7 for bonding the stock seedling and scion seedling, the right and left by placing grafted seedling delivery unit 8 that delivers the adhered grafted seedling from below configured substantially symmetrically, the scion capturing section 2 An operation panel 1p is provided on the front side.

  As for the hogi intake side, as shown in FIGS. 3 and 4 respectively, a side view and a plan view of an enlarged main part of the graft seedling production apparatus 1 are shown in FIG. 3 and FIG. In addition, the hogi take-in unit 2 includes a carry-in mechanism 11 that sequentially carries in and transports a cell tray in which a large number of hogi seedlings (seedlings) W grown in a seedling pot on the side of the grafting robot main body 1a are arranged in a grid, and this carrying-in mechanism. 11 is a gripping hand 12 that performs gripping operation by cutting the hypocotyl while gripping the seedling W as an individual so as to be capable of advancing and retreating by the advancing / retreating mechanism 12b. It comprises a transfer mechanism 13 that is supported so as to be laterally movable in the left-right direction, a direction correcting member 14 arranged on the transfer stroke, and the like. In addition, the hogi seedling W transferred from the hogi taking-in section 2 is temporarily held at the hogi delivery position (delivery position) R between the hogi taking-in section 2 and the hogi preprocessing section 4. A delivery holding mechanism 15 is provided.

  Specifically, the carry-in mechanism 11 is constituted by a belt conveyor or the like that moves along the side of the grafting robot main body 1a, and sequentially moves the seedlings W at a predetermined position by moving the cell tray at an arrangement pitch. Carry in. The transfer mechanism 13 is configured so that the position of the gripping hand 12 can be controlled to the left and right within the range from the delivery mechanism 11 to the delivery holding mechanism 15 at one side position of the grafted seedling production apparatus 1 so as to interfere with the transfer process. A direction correcting member 14 using a rod-like member or a vertical axis roller with reduced rotation resistance is disposed in a drooping manner. In addition, the delivery holding mechanism 15 is provided with an alignment member 16 that regulates the cotyledon deployment direction when the hogi seedling W received from the gripping hand 12 is held. The delivery holding mechanism 15 and the alignment member 16 form an alignment holding means.

Next, the gripping hand 12 of the hogi taking-in unit 2 will be described in detail.
As shown in FIG. 6, an enlarged side view of the gripping hand 12 opens and closes the upper hand mechanism 21 and the middle hand mechanism 22 that grip the upper and middle stages of the hypocotyl A of the hogi seedling W, and the lower part thereof. The cutter mechanism 23 that cuts the lower part of the hypocotyl A of the hogi seedling W is arranged in a three-tiered manner so as to be able to move forward and backward integrally by the advance / retreat mechanism 12b, and the lifting fork 24 that can move up and down independently on its side. It comprises and comprises. Further, a rod-like stopper 25 for preventing rotation is set up from the cutter mechanism 23 at a position where it can interfere with the cotyledon L in the vicinity of the grasped hypocotyl A.

  As shown in FIG. 7A, which shows a plan view of the gripping state, the upper hand mechanism 21 has a gripping position at the tip of the left and right opening / closing arms 21a, 21a that is larger than the radial dimension of the hypocotyl A hypocotyl A. Is formed so that the hypocotyl A of the seedling can be freely fitted and held, and an adjustment bolt 21b for setting the clearance limit is provided. The middle hand mechanism 22 restrains and holds the hypocotyl A in a non-rotatable manner by the left and right open / close arms 22a and 22a. If necessary, the middle-stage hand mechanism 22 can be configured so that the hypocotyl A of the saf seedling is at the gripping position at the tip of the left and right open / close arms 22a, 22a as shown in FIG. A notch C in the front-rear direction that is larger than the diameter is formed so that the hypocotyl A of the hogi seedling can be held loosely. The both hand mechanisms 21 and 22 hold the hogi seedling so that it can rotate around its embryo axis while ensuring the accuracy of the holding position of the hogi seedling. Further, guide plates 21p and 22p for correcting the fall of the hypocotyl A of the hogi seedling are formed by extending from one side of the open / close arms of both hand mechanisms 21 and 22 to the other side.

The cutter mechanism 23 has an operation state plan view (a) and a BB sectional view (b) thereof, as shown in FIG. 8, at the tip of left and right opening and closing arms 23a, 23a. And the peripheral edge is formed high so as to constrain movement of the hypocotyl A after cutting.
Both the hand mechanisms 21 and 22 and the cutter mechanism 23 form a loose-fitting gripping mechanism that loosely grips the hypocotyl so that it can be rotated while cutting the root side of the saplings as a spikelet.

  As shown in the plan view of FIG. 9 and the side view of FIG. 10, the lifting fork 24 is inclined downward to the root position of the hogi seedling W and reaches from the side of the hogi seedling W to the back. The tip 24t is formed by a bent rod. The ascending motion B of the lifting fork 24 is determined as shown in the front view of the standing motion of FIG. 11 by determining the crossing angle B of the tip 24t and the side 24s that bends and extends to the base thereof in the range of 90 to 180 degrees. It is possible to stand the hypocotyl A that has fallen. The support portion 24b of the lifting fork 24 is configured so that the front-rear position and the height position can be adjusted in accordance with the positional relationship with respect to the hogi seedling.

The harvesting operation of the hogi seedling by the gripping hand 12 having the above-described configuration is performed according to the operation procedure diagram of FIG.
First, as shown in the operation plan view of the prepared state in FIG. 13A, the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are prepared in the open state at the retracted position (S1), and then the grafting is performed. By lateral movement of the transfer mechanism 13 in the outward direction of the seedling production apparatus 1, the tip 24t of the lifting fork 24 is inserted into the back position of the hogi seedling W from the side of the hogi seedling W on the carry-in mechanism 11, The fall of the hogi seedling W is corrected by the ascending operation (S2).

  In this case, as shown in FIG. 14 which is a plan view of another example of the lifting fork, if the intersection angle B between the tip 24t and the side 24s of the lifting fork 24 is in the range of 90 to 180 degrees, the same as above. The fall of Hogi seedling W can be corrected.

  Next, as shown in the operation plan view in the gripping state of FIG. 13B, the hand mechanisms 21 and 22 and the cutter mechanism 23 are advanced (S3), and then both the hand mechanisms 21 and 22 are closed (S4) to guide. While the plates 21p and 22p correct the fall of the hogi seedling W, the hypocotyl A of the hogi seedling W is loosely fitted and held in the notch B at the tip of the upper hand mechanism 21, and is held and restrained by the middle hand mechanism 22. Then, by closing the cutter mechanism 23 (S5), the lower stage portion of the hypocotyl A is cut, and the lower end of the hogi seedling W is supported by the cutter mechanism 23 so as to be rotatable. Here, the hand mechanisms 21 and 22 and the cutter mechanism 23 are moved backward (S6) and the lifting fork 24 is moved down (S7) and then moved laterally (S8) toward the center of the grafted seedling production apparatus 1, thereby bringing in the loading mechanism. 11 can be picked up individually.

  In this case, as shown in the plan view of FIG. 15, a side rod 21 s is attached to the hand mechanism 21 as necessary, and the side rod 21 s is bent outward from the opening / closing arm 21 a inside the hand mechanism 21. The position when the open / close arms 21a and 21a are opened is set to a position between the adjacent hogi seedlings. The hand mechanism 21 configured as described above operates so that both the open / close arms 21a and 21a are closed and the side rod 21s is pushed outwardly when the hogi seedling W is gripped. Therefore, it is possible to prevent the adjacent hogi seedling W from being entangled and securely hold the target hogi seedling W.

  Further, in the transfer process by the transfer mechanism 13, as shown in the plan view of the direction correcting operation in FIG. 16, when the gripping hand 12 that grips the hogi seedling moves laterally from the gripping position B to the delivery position C, the middle stage After loosening the grip of the hand mechanism 22 and passing through the vicinity of the direction correcting member 14 disposed so as to interfere with the transfer process, the cotyledon deployment direction of the hogi seedling W is greatly inclined with respect to the transfer direction. In this case, the cotyledon is rotated so that the cotyledon unfolding direction is substantially aligned with the transfer direction by the cotyledon interfering with the direction correcting member 14. At this time, even if the hogi seedling is rotated excessively, the rotation range is restricted by the stopper 25. Thereafter, by firmly grasping the middle hand mechanism 22, the hogi seedling can be stably transferred.

Next, the alignment holding means by the delivery holding mechanism and the alignment member configured at the delivery position R will be described.
The delivery holding mechanism 15 is arranged to face the gripping hand 12 that moves forward so as to receive the seedlings at the advanced position of the gripping hand 12. As shown in FIG. 17, the plan view of the main part is shown in FIG. 17, and the side view (a) of the main part and the cross-sectional view of the BB line (b) are shown in FIG. A hand mechanism 31 that grips the head part, a hand mechanism 32 that grips the middle part of the hypocotyl A below the hand mechanism 31, and an entry restriction that restricts excessive entry of the hypocotyl A at an intermediate height position between the hand mechanisms 31 and 32. The delivery position R includes a stopper 33 and a lifting mechanism 34 that adjusts the height position of the stopper 33 and the stopper 33. An alignment member 16 is disposed at a position to receive the cotyledons of the hogi seedling above the delivery holding mechanism 15. The alignment member 16 is a flat plate-like member that regulates the direction in which the cotyledonary cotyledons are deployed, and forms a guide portion 35 that is formed by a protrusion extending vertically at the center position. In order to distribute the cotyledons of the received seedlings to the left and right, the guide part 35 has a mountain shape in cross section and forms the surface smoothly and with low friction.

  As shown in FIG. 19, front and rear side views (a) and (b) are used when the hand holding seedling W is transferred to the delivery holding mechanism 15 by the advance operation of the gripping hand 12. The cotyledons L and L of the hogi seedling W are pressed against the alignment member 16, and the cotyledons L and L are distributed to the left and right by the guide portion 35 so that the cotyledon expansion axis is aligned with the alignment member 16.

  The above delivery operation will be described in detail with reference to the operation procedure diagram of FIG. 20. After picking up the hogi seedling from the carry-in mechanism 11 and aligning the gripping hand 12 gripping the hypocotyl with the front of the delivery holding mechanism 15, 21 (a) and 21 (b), the gripping hand 12 including the cutter mechanism 23 is closed, that is, the lower end of the hypocotyl A is the cutter mechanism 23. In the state where the grip of the middle stage hand mechanism 22 is loosened while being received, it is reciprocated a plurality of times (for example, twice) to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b (S11) through the alignment member 16 The cotyledon deployment direction is aligned.

  Next, as shown in the plan views before and after the second alignment operation in FIGS. 22A and 22B, the cutter mechanism 23 is opened (S12), whereby the hand mechanism 21 of the gripping hand 12 receives the cotyledons L and L. Align the height of Hogi seedling W. In this state, the cotyledon deployment direction is aligned via the alignment member 16 by reciprocating a plurality of times (for example, twice) to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b (S13). At this time, since the stopper 25 of the gripping hand 12 operates integrally with the cutter mechanism 23 and moves to the side in synchronization with the opening operation of the cutter mechanism 23, both cotyledons L and L are close to one side of the hypocotyl A. It is possible to avoid a situation in which the deformed hogi seedling is caught between the alignment member 16 and the stopper 25.

After this alignment operation, the grasping hand 12 is advanced to the delivery holding mechanism 15 (S14) and then the cutter mechanism 23 is closed (S15), whereby the hypocotyl A is cut at a predetermined position and the lengths are aligned. At this time, even if the hypocotyl A is bent, the approach restriction stopper 33 at the intermediate height position between the hand mechanisms 31 and 32 regulates the excessive advance of the hypocotyl A, so that the hypocotyl A is reliably cut. can do.

  After cutting the hypocotyl A, the cutter mechanism 23 is opened and both hand mechanisms 31, 32 of the delivery holding mechanism 15 that has received the hogi seedling W are closed (S16), and then the upper and lower hand mechanisms 21, 22 of the gripping hand 12 Is opened and the delivery holding mechanism 15 on the receiving side is lowered to the predetermined holding height (S17), and then the gripping hand 12 is retracted (S18).

  In this case, as another configuration example of the alignment member at the delivery position R, as shown in the plan views before and after the alignment operation in FIGS. 23 (a) and 23 (b), it is aligned with the alignment member 16 at the advanced position of the gripping hand 12. Thus, by arranging the same alignment member 16 in the retracted position, an efficient alignment operation can be performed by the advance / retreat operation. As another configuration example, as shown in the plan views before and after the alignment operation in FIGS. 24A and 24B, the ordinate roller 41 is disposed in the retracted position in the vicinity of the alignment member 16 to thereby deform the deformed cotyledon. As for the hogi seedlings, the hypocotyl can be pressed more reliably before the cotyledon touches, and can be easily aligned by the vertical axis roller 41 that is easy to rotate.

  In this way, after the delivery is completed, the grip hand 12 is returned to the carry-in mechanism 11 side, so that the next hogi seedling can be taken up. By repeating this series of operations, the seedlings can be sequentially taken from the carry-in mechanism 11 and grafted by the grafting robot body 1a.

It is a side view which shows the principal part of a graft seedling production apparatus. It is a top view which shows the principal part of a graft seedling production apparatus. It is a side view by the principal part expansion of the grafting seedling production apparatus. It is a top view by the principal part expansion of the grafting seedling production apparatus. It is A arrow directional view in FIG. It is an enlarged side view of a holding hand. It is a hand mechanism top view (a) (b) of the grasping state of the upper stage and the middle stage. It is the operation state top view (a) of a cutter mechanism, and its BB sectional drawing (b). It is an operation top view of a lifting fork. It is an operation | movement side view of a lifting fork. It is a front view of the raising operation of the lifting fork. It is an operation | movement procedure figure of taking-in operation of a Hogi seedling. It is an operation | movement top view of the preparation state (a) of a holding | grip hand, and a holding state (b). It is a top view of the lifting fork of another example. It is a top view of the hand mechanism which attached the side rod. It is a top view of direction correction operation | movement in a transfer process. It is a principal part top view of an alignment holding means. FIG. 4 is a side view (a) of the main part of the alignment holding means and a sectional view taken along the line BB of FIG. It is a side view (a) and (b) which shows the front and back of the delivery operation | movement of an alignment holding means. It is an operation | movement procedure diagram of the delivery operation | movement of a Hogi seedling. It is a top view (a) (b) before and behind a 1st alignment operation | movement. It is a top view (a) (b) before and behind a 2nd alignment operation | movement. It is a top view (a) (b) before and behind the alignment operation | movement of the other structural example of an alignment member. It is a top view (a) (b) before and behind the alignment operation | movement of another structural example of an alignment member.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Graft seedling production apparatus 1a Grafting robot main body 2 Hogi taking part (getting part)
3 Rootstock preprocessing unit (preprocessing unit)
4 Hogi pretreatment department (pretreatment department)
DESCRIPTION OF SYMBOLS 7 Adhesion processing part 8 Graft seedling sending part 11 Carry-in mechanism 12 Grasp hand 12b Advance / retreat mechanism 13 Transfer mechanism 14 Direction correction member 15 Delivery holding mechanism (alignment holding means)
16 Alignment member (alignment holding means)
21 Hand mechanism 22 Hand mechanism 23 Cutter mechanism 25 Stopper 31 Hand mechanism 32 Hand mechanism 34 Lifting mechanism 35 Guide part A Hypocotyl L Cotyledon R Hogi delivery position (delivery position)
W Hogi seedling

Claims (2)

A scion taking unit for taking process separately this by the scion receives seedlings having Futaba-like expanded cotyledons, the scion seedling received from the scion taking unit pretreated grafted adhesive a preprocessing unit for conveying to the position, this pretreatment grafted seedling producing device and a bonding process unit for manufacturing grafted seedling adhered separately received stock seedlings scion seedlings having received the same grafting bonding position by section In
The above-mentioned hogi take-in part has a carrying-in mechanism for carrying and transferring a cell tray on which hogi seedlings are arranged, and loosening the hypocotyl so that the hypocotyl can be rotated while cutting the root side of the hogi seedlings on this carrying-in mechanism A loose-fitting gripping mechanism for gripping, a transfer mechanism for supporting the loose-fitting gripping mechanism so as to be movable forward and backward, and a transfer holding mechanism for inheriting and holding the seedlings transferred by the transfer mechanism Provided,
The delivery holding mechanism regulates the cotyledon deployment direction by interfering with both cotyledons of the hogi seedling received at the advanced position by the advance / retreat mechanism when holding the hogi seedling received from the loose fitting holding mechanism. An apparatus for producing grafted seedlings, characterized in that an alignment member is provided . The delivery holding mechanism includes a hand mechanism that grips the hypocotyl of the hogi seedling and an entry restriction stopper that regulates excessive entry of the hypocotyl of the hogi seedling, and the cotyledon of the hogi seedling is placed above the delivery holding mechanism. The graft seedling production apparatus according to claim 1 , wherein the alignment member is disposed at a receiving position .

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