JP5703635B2 - Graft seedling production equipment - Google Patents

Description

  The present invention belongs to the technical field of a grafted seedling production apparatus for producing a grafted seedling by fixing a rootstock seedling and a hotwood seedling with a clip.

  The rootstock seedling held by the delivery holding mechanism on the rootstock side is transported to the rootstock cutting position by the rootstock transport arm, and the seedling cut by the rootstock cutting device at the rootstock cutting position is joined by the rootstock transport arm. The sapling pre-processing unit transported to the transporter and the safflower seedling held in the handbag holding mechanism are transported to the head cutting position by the head transporting arm, and cut by the head cutting device at the head cutting position. A pretreatment section for transporting the seedlings to the joining position by a hand transporting arm, and an adhesion processing section for bonding the root seedlings and the seedlings transported to the joining position. A clip supply device that supplies one clip at a time when the grafting seedling is joined to the joining position in a state where the gripping part is opened, and clamps and fixes the rootstock seedling and the seedling seedling together by closing the gripping part. There is a grafted seedling production apparatus provided (see Patent Document 1).

  Furthermore, there is a grafted seedling production apparatus provided with a gripping hand that advances by advancing and retracting mechanism while holding a seedling and supplies the seedling to the delivery holding mechanism (see Patent Document 2).

JP 2006-280326 A JP 2006-238805 A

  Since the clip is supplied to the joining position with the gripping part opened against the urging force of the spring that closes the gripping part, there is a risk that the clip will be transported and the posture and position of the supplied clip will be incorrect. In particular, since the clip supplied to the joining position is supported in a cantilever state in which the gripping part protrudes from the clip supply device, the clip easily tilts back and forth, and the seedling interferes with the supplied clip. It is conceivable that the clip posture and position are incorrect.

  An object of the present invention is to prevent deterioration in joining accuracy of seedlings due to inappropriate posture and position of seedlings or clips, and to obtain good grafted seedlings.

In order to solve the above problems, the following technical measures were taken.
That is, the invention according to claim 1 includes a rootstock pre-processing unit (3) for transporting rootstock seedlings from one side to the joining position (63) and a joining position (63) And a bonding processing unit (7) for bonding the rootstock seedling and the seedling transferred to the joining position (63), the bonding processing unit (7) The clip (101) for joining the grafted seedlings is transferred to the joining position (63) one by one with the gripping part (102) being opened and fed one by one, and the gripping part (102) is closed. A clip supply device that holds and fixes the rootstock seedling and the hogi seedling together, and further transfers the clip (101) fixing the rootstock seedling and the hogi seedling in the front-rear direction to release the rootstock seedling and the hogi seedling together. In the graft seedling production apparatus provided with (74), the clip (101 supplied to the joining position (63) Supporting members (121, 122) are provided from the lower side, and the supporting members (121, 122) are more than the part (121) on the side of the rootstock pre-processing section on the left and right sides from the joining position (63). In addition, the graft seedling production apparatus is configured such that the portion (122) of the pretreatment part of the hogi that is on the other side from the joining position (63) protrudes in the release direction of the clip (101).

  Moreover, the invention which concerns on Claim 2 is clipped rather than the hypocotyl of the seedling which the part (121) by the side of the rootstock pretreatment part of a support member (121,122) joins in the joining position (63) in the front-back direction. The portion (122) on the pretreatment part side of the support member (121, 122) located on the upper transfer side of (101) is clipped more than the hypocotyl of the seedling joined at the joining position (63) (101 ) To the lower transfer side in the front-rear direction, and the support member (121, 122) is connected to the hypocotyl of the seedling joined at the joining position (63) on the upper transfer side of the clip (101). The graft seedling production apparatus according to claim 1, comprising an end surface (121 a) and an end surface (122 a) on the hogi pretreatment unit side that contacts the hypocotyl on the hogi pretreatment unit side.

  Further, the invention according to claim 3 is configured such that the position of the end face (121a) on the upper transfer side or the end face (122a) on the pretreatment section side can be changed, or the end face (121a) on the upper transfer side or 121 The grafted seedling production apparatus according to claim 2, wherein the apparatus can be switched to a state in which the end surface (122 a) on the side of the pretreatment section is not provided.

Moreover, as for the invention which concerns on Claim 4, rootstock pre-processing part (3) and hogi pre-processing part (4) join the seedling hold | maintained to the delivery holding | maintenance mechanism (15) corresponding to each (63) A gripping hand (12) is provided that feeds the seedling to the delivery holding mechanism (15) by advancing / retreating mechanism (12b) in a state where the seedling is gripped. At least one delivery holding mechanism (15) is provided with a hand mechanism (31, 32) for gripping a hypocotyl of a seedling, and seedling detection for detecting the seedling supplied to the gripping position of the hand mechanism (31, 32) A sensor (124) and a gripping hand detection sensor (125) for detecting the gripping hand (12) retracted from the position where the seedling is supplied to the delivery holding mechanism (15) are provided. The gripping hand detection sensor (125) Detecting the gripped hand (12) It is provided so that it can be switched to a hand detection state for detecting the hand of the worker around the delivery holding mechanism (15) by changing the direction from the delivery state, and is delivered and held using the gripping hand (12). At the time of fully automatic operation for automatically supplying seedlings to the mechanism (15), at the time of semi-automatic operation for switching the gripping hand detection sensor (125) to the state for hand detection and manually supplying the seedlings to the delivery holding mechanism (15) Is configured to switch the gripping hand detection sensor (125) to a state for hand detection, the seedling detection sensor (124) detects the seedling, and the gripping hand detection sensor (125) detects the gripping hand (12). On the condition that the rootstock pre-processing unit (3) or the hogi pre-processing unit (4) starts conveying seedlings, the seedling detection sensor (124) detects the seedlings and holds the hand detection sensor. (125) detected nothing Any one of Claim 1 to Claim 3 which provided the control apparatus which switches to a semi-automatic state in which rootstock pre-processing part (3) or hogi pre-processing part (4) starts conveyance of a seedling on condition that there is not. It was set as the grafting seedling production apparatus of description.

  Further, in the invention according to claim 5, the rootstock pretreatment unit (3) and the hogi pretreatment unit (4) each transfer seedlings in the delivery holding mechanism (15) to the cutting positions (62, 69). The seedlings cut by the cutting devices (64, 70) at the cutting positions (62, 69) are transported to the joining position (63), and the cutting positions (62, 69) The removal part (65, 71) which removes the excision part of the seedling which should have been cut off at the cutting position (62, 69) is provided on the transport route of the seedling from the joint position (63). The graft seedling production apparatus according to any one of claims 1 to 4.

  Moreover, as for the invention which concerns on Claim 6, rootstock pre-processing part (3) and hogi pre-processing part (4) join the seedling hold | maintained to the delivery holding mechanism (15) corresponding to each, joining position (63) The delivery holding mechanism (15) is provided with a hand mechanism (31, 32) for gripping the embryonic axis of the seedling, and the seedling supplied to the gripping position of the hand mechanism (31, 32) is detected. A seedling detection sensor (124) is provided, a grip release operation tool (127) for releasing the seedling gripping by the hand mechanisms (31, 32) on the rootstock side and the scion side is provided, and the seedling detection sensor (124) is provided. The notification device (126) informs that the hand mechanism (31, 32) has grasped the seedling hypocotyl while the hand mechanism (31, 32) grips the seedling hypocotyl due to the detection of the seedling. ) Is provided, and the control device is connected to the rootstock side. Due to the gripping of both hand mechanisms (31, 32) on the Bihogi side or the operation of the notification device (126), the delivery holding mechanism is carried out by the rootstock pre-processing unit (3) and the Hogi pre-processing unit (4). When the seedling is transported from (15) and the holding release operation tool (127) on the rootstock side or the hogi side is operated, the holding of the hand mechanism (31, 32) on the operated side is released and the rootstock pretreatment is performed. The graft seedling production apparatus according to any one of claims 1 to 5, wherein the transportation of seedlings by the section (3) and the pre-treatment section (4) is stopped.

  According to the first aspect of the present invention, the clip (101) supplied to the joining position (63) is a support member (121, 122) in which the portion on the side of the pre-treatment part protrudes in the release direction of the clip (101). Therefore, since the posture and position are appropriately maintained, the joining accuracy of the seedling can be improved, and a good grafted seedling can be obtained. Further, the support member (121, 122) is located in front of Hogi, which is located on the other side from the joining position (63) to the left side of the root pretreatment section, which is located on the left and right side from the joining position (63). Since the part (122) on the processing unit side protrudes in the release direction of the clip (101), it becomes an obstacle to the transport of rootstock seedlings supplied to the lower side of the clip (101) by the rootstock preprocessing unit (3). In addition, the clip (101) can be stably supported by the portion (122) on the hogi pretreatment unit side.

  According to the invention according to claim 2, in addition to the effect of the invention according to claim 1, the portion (122) on the pre-treatment part side of the hogi projects in the release direction from the hypocotyl of the seedling at the joining position. 101) can be supported stably. Moreover, the end surface (121a) of the upper transfer side that comes into contact with the hypocotyl of the seedling to be joined at the joining position (63) on the upper transfer side of the clip (101), and the hotwood that comes into contact with the hypocotyl on the pretreatment part side By the end surface (122a) on the pretreatment unit side, the hypocotyl of the seedling can be guided to a desired position at the joining position (63), the joining accuracy of the seedling can be improved, and a good grafted seedling can be obtained.

  According to the invention according to claim 3, in addition to the effect of the invention according to claim 2, is it possible to change the position of the end face (121a) on the transfer upper side or the end face (122a) on the pretreatment part side? Or, it can be switched to the state without the end face (121a) on the upper transfer side or the end face (122a) on the pretreatment part side, so it corresponds to the difference in the diameter and cross-sectional shape of the hypocotyl depending on the kind of seedling and the growth situation Then, the position of the end face (121a) on the upper transfer side or the end face (122a) on the pre-treatment part side can be changed to guide the embryonic axis of the seedling to a desired position. In addition, when the end surface (121a) on the upper transfer side or the end surface (122a) on the pre-treatment part side contacts the hypocotyl of the seedling, the position of the hypocotyl of the seedling tends to be inappropriate. The position of the hypocotyl of the seedling can be optimized by switching to a state where the end face (121a) on the upper transfer side or the end face (122a) on the pretreatment part side is not provided.

According to the invention according to claim 4, in addition to the effect of the invention according to any one of claims 1 to 3, as a fully automatic supply of seedlings to the delivery holding mechanism (15) by the gripping hand (12) when the grafting operation, grasping the hand detecting sensor (125) in a state for detecting the hand, said grasping hand detecting grasping hand by the sensor (125) (12) delivery retaining mechanism (15) and rootstock preprocessing unit ( 3) Or, based on the detection that it is surely retracted from the seedling conveyance path of the hogi pretreatment section (4), the rootstock pretreatment section (3) or the hogi pretreatment section (4) transfers the seedling. Can start, prevent interference between the seedling transport mechanism of the rootstock pre-processing unit (3) or the hogi pre-processing unit (4) and the gripping hand (12), and prevent damage to the seedling transporting mechanism or the gripping hand (12) it can. Also, when a graft working as a semi-automatic supplying seedlings to delivery retaining mechanism (15) by hand is gripping hand detecting sensor (125) in a state for hand detection, delivery held by the grasping hand detecting sensor (125) Based on the fact that the operator's hand is not detected around the mechanism (15), the rootstock pre-processing unit (3) or the hogi pre-processing unit (4) can start conveying seedlings, and the operator's hand operates. Interference with the seedling transport mechanism of the rootstock pretreatment unit (3) or the hogi pretreatment unit (4) can be prevented, and safety can be improved.

  According to the invention according to claim 5, in addition to the effect of the invention according to any one of claims 1 to 4, the excised part of the seedling that should have been cut off by the removing part (65, 71) is removed. Therefore, it can prevent that the said cut part intervenes in the joint surface of a seedling, and the joining precision of a seedling falls, and the improvement of the joining precision of a seedling can be aimed at.

  According to the invention according to claim 6, in addition to the effect of the invention according to any one of claims 1 to 5, the delivery holding mechanism (15) is inappropriate due to the operation of the grip release operation tool (127). When the seedlings are being supplied in a proper position or posture, the grafting operation can be stopped to prevent the grafting from becoming inappropriate, and the waste of the seedlings can be prevented.

Side view showing the main parts of grafting seedling production equipment Plan view showing the main part of the grafted seedling production device Plan view showing rootstock pretreatment unit, hogi pretreatment unit and adhesion treatment unit Plan view showing the regulating member Front view showing restriction member Side view showing rootstock cutting device Side view showing Hogi cutting device It is a top view which shows the taking-in part which a part was abbreviate | omitted. It is a top view by the principal part expansion of the grafting seedling production apparatus. It is a side view by the principal part expansion of the grafting seedling production apparatus. 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 the cutter mechanism, and its B-1B sectional view (b). It is an operation | movement top view of a 1st lifting tool. It is an operation | movement side view of a 1st lifting tool. It is a front view of standing operation of the 1st lifting tool. It is a top view which shows the 1st and 2nd lifting tool. It is a top view which shows a different 2nd lifting tool. It is a top view which shows the hand front-end | tip part of a middle stage hand mechanism. 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) and holding state (b) of a holding | grip hand. It is a top view of the hand mechanism which shows a seedling separator. 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. It is the principal part side view (a) of the alignment holding | maintenance means, and its B 1B sectional view (b). 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 main alignment member and a subalignment member. It is a figure which shows an operation panel. It is a side view which shows a different subalignment member. It is a top view which shows a different subalignment member. It is a top view which shows a different subalignment member. It is a top view which shows the hand front-end | tip part of a different hand mechanism. It is a top view which shows a fixed support plate and a movable support plate. It is a top view which shows a brush. It is a side view which shows a brush. It is a front view which shows a grafting robot main body and a delivery holding mechanism.

One embodiment of the present invention will be described below.
The graft seedling production apparatus 1 is centered on a grafting robot main body la for grafting a rootstock and a hogi, and a rootstock taking part (uptake part) (not shown) on the left side (upper side in FIG. 1) and the right side (FIG. 1). On the left side of the front surface of the grafting robot main body la from the rootstock taking-in part or the Hogi taking-in part 2 to the rootstock, hogi 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 A bonding processing unit 7 for bonding the rootstock and the hogi, and a grafting seedling sending unit 8 for sending the bonded grafted seedling from below are arranged so as to be substantially symmetrical, and the front side of the hogi taking-in unit 2 Is provided with an operation panel lp.

  The rootstock preprocessing unit 3 includes a rootstock transport arm 61 that is rotated by driving a root actuator 60 that is pneumatically operated, and the rootstock seedling from the rootstock take-in section is driven by the rootstock transport arm 61. The rootstock transport arm 61 rotates 90 degrees to transport the rootstock seedling to the cutting position 62, and then the rootstock transport arm 61 further rotates 90 degrees to transport the rootstock seedling to the joining position 63. The rootstock seedling is cut by the rootstock cutting device 64 at the cutting position, and one leaf of the dicotyledon is cut off. The excision portion that should be cut off by the cutting device 64 may adhere to the seedling to be transported, but the excision portion is removed on the transport path from the cutting position 62 to the joining position 63. A resin brush 65 serving as a removing portion is provided, and an air nozzle 66 for blowing air is provided on the rootstock transfer arm 61 so that the excised portion is reliably dropped so that the grafted seedlings can be joined appropriately. The contact surface of the resin brush 65 is slanted along the cutting surface of the seedling.

  The hotwood pre-processing unit 4 includes a hotwood transfer arm 68 that is rotated by driving the rotary actuator 67 of the hotwood side that is operated by air pressure. Grasping the seedlings, the spike transfer arm 68 is rotated 90 degrees to transfer the spike seedlings to the cutting position 69, and then the spike transfer arm 68 is further rotated 90 degrees to transfer the spike seedlings to the joining position 63. . At the cutting position 69, the hogi seedling is cut by the hogi cutting device 70, and the lower part of the hypocotyl is cut off. The excision part that should be cut off by the cutting device 70 may adhere to the seedling to be transported, but the excision part is removed on the transport path from the cutting position 69 to the joining position 63. A resin brush 71 serving as a removal portion and an air nozzle 72 that blows air are provided so that the cut portion is reliably dropped so that the grafted seedlings can be joined appropriately. The contact surface of the resin brush 71 is slanted along the cutting surface of the seedling.

  The adhesion processing section 7 feeds the clip feeder 73 for feeding the grafted seedlings one by one, and the clip 101 fed by the clip feeder 73 in a state where the rootstock seedling and the seedling seedling reach the joining position 63. A clip supply device 74 is provided for supplying the seedling seedlings and the hogi seedlings one by one. Note that when the rootstock transport arm 61 and the hotwood transport arm 68 reach the joining position 63, the cutting surfaces of the rootstock seedling and the hogi seedling are matched to join the seedling.

  The clip 101 includes a pair of left and right grip portions 102 and a pair of left and right opening / closing portions 103, and the grip portion 102 and the opening / closing portion 103 constitute a left and right clip piece, and the left and right clip pieces. The gripping part 102 and the opening / closing part 103 are in contact with each other to form a pivot point, and when the left and right opening / closing parts 103 are closed, the left and right gripping parts 102 are opened. The left and right grips 102 are biased toward the closing side by a spring 104, and are configured to close when there is no external force.

  The clip supply device 74 is provided with a guide rail 105 serving as a transfer path for the clip 101, and the grip portion 102 is continuously moved in the posture toward the upper transfer side in the guide rail 105 by the feeding action of the clip 101 by the clip feeder 73. The clip 101 is transferred. The end of the guide rail 105 has a narrow left and right width. When the clip 101 is transferred to the end of the guide rail 105, the clip 101 closes the left and right open / close sections and opens the left and right grips 102. The left and right opening / closing operation members 107 of the clip opening / closing device 106 that inherits the clip 101 from the end of the guide rail 105 are opened to open the left and right opening / closing portions 103 and close the left and right holding portions 102. Further, the clip 101 is sequentially supplied to the joining position 63 by the clip pusher 108 provided at the terminal end of the guide rail 105.

  A restriction member 109 is disposed at a position on the extension of the guide rail 105. The restricting member 109 is formed of a transparent resin-made plate extending in the vertical direction, and is disposed at a position where the front end of the clip 101 that opens and closes by the clip opening and closing device 106 at the joining position 63 (the front end of the grip portion 102) contacts. Yes. Therefore, the clip 101 transferred to the joining position 63 is regulated so that the front end contacts the regulating member 109 with the left and right grips 102 opened and is not further conveyed. The restricting member 109 is fixed to the distal end portion of the moving arm 111 that rotates back and forth by the restricting member moving device 110 that is a rotary actuator, and from below the restricting position that contacts the clip 101 at the joining position 63. Thus, it is configured to move to the retreat position where it moves to the front side and retreats from the restriction position.

  Therefore, first, the restriction member 109 in the retracted position is moved from the front side to the restriction position by the restriction member moving device 110. By the extension of the rootstock transfer arm 61 and the spikelet transfer arm 68, the rootstock seedling and the spikelet seedling are supplied from the left and right to the joining position 63 to bring the seedling into a joined state. At this time, the seedling is guided to an appropriate position of the joining position 63 by the regulating member 109. The left and right end portions of the restricting member 109 are configured in an arc shape or a taper shape, and can be smoothly guided without being caught. Then, the clip 101 is supplied to the joining position 63 by the clip pusher 108 with the left and right grips 102 opened, but the clip 101 comes into contact with the regulating member 109 and is positioned at an appropriate position. The space between the left and right gripping portions 102 where the clip 101 is opened is a gripping area. In this gripping area, rootstock seedlings and spikelet seedlings transported by the rootstock transport arm 61 and the spikelet transport arm 68 are provided. The hypocotyl junction is located. That is, the joint part of the hypocotyl of the rootstock seedling and the hogi seedling is located in a space surrounded by the left and right grips 102 and the regulating member 109. After that, the left and right opening / closing operation members 107 of the clip opening / closing device 106 are opened to open the left and right opening / closing parts 103 to close the left and right gripping parts 102, and the rootstock seedlings and the hogi seedlings are sandwiched and fixed by the clips 101. Also at this time, since the restricting member 109 is at the restricting position and the pop-out of the clip 101 is restricted, the posture and the position of the clip 101 are prevented from being inappropriate by the operation of closing the left and right gripping portions. In addition, the seedling can be held at a desired position in the grip portion 102. After closing the left and right grips 102, the regulating member 109 is moved to the retracted position by the regulating member moving device 110. Thereafter, the clip 101 is pushed out by the clip extrusion device 108, and the grafted seedling is released together with the clip 101 to the grafted seedling sending unit 8. The grafted seedling sending unit 8 transports the grafted seedling to the container. Since the regulating member 109 is transparent, the operator can easily see the joining condition of the seedlings without getting in the way, and the occurrence of a large number of defective grafted seedlings caused by improper adjustment of each part or the like is prevented. To do. As a result, the adjustment work of each part of the rootstock pretreatment unit 3, the hogi pretreatment unit 4 and the adhesion treatment unit 7 can be easily performed, and the adjustment work time can be shortened.

  Below the left and right opening / closing operation members 107 of the clip opening / closing device 106, a fixed support plate 121 and a movable support plate 122 are provided as support members for supporting the clip 101 supplied to the joining position 63 from below. The fixed support plate 121 is disposed on the extension of the guide rail 105 and is provided from the position of the embryonic axis of the seedling at the joining position 63 to the left side. Configure. The movable support plate 122 is provided on the front side of the fixed support plate 121 (the release side of the clip 101) from the position of the hypocotyl of the seedling at the joining position 63 to the right side, and the pre-treatment of the spikelets on the other side from the joining position 63 to the left and right sides The part is composed. The front end surface 121 a of the fixed support plate 121 is disposed at a position in contact with the hypocotyl of the rootstock seedling at the joining position 63. Therefore, the fixed support plate 121 is located on the upper transfer side (rear side) of the clip 101 with respect to the hypocotyl of the seedling joined at the joining position 63 in the front-rear direction, and the front end surface 121a of the fixed support plate 121 is located at the joining position. It becomes an end surface on the upper transfer side that contacts the hypocotyl of the seedling joined at 63 on the upper transfer side of the clip 101. Further, the left end surface 122 a of the movable support plate 122 is disposed at a position in contact with the hypocotyl of the rootstock seedling at the joining position 63. Therefore, the movable support plate 122 reaches the lower transfer side (front side) of the clip 101 in the front-rear direction of the clip 101 from the hypocotyl of the seedling joined at the joining position 63, and the left end surface 122 a of the movable support plate 122 is joined to the joining position 63. It becomes the end surface on the side of the pretreatment part of the hogi that comes into contact with the hypocotyl of the seedling to be joined on the side of the pretreatment part. Note that the movable support plate 122 protrudes from the front end surface 121a of the fixed support plate 121 to the front side (the release side of the clip 101) about the axis diameter (3 to 4 mm) of the hypocotyl of the rootstock seedling. Furthermore, the movable support plate 122 is attached to the fixed support plate 121 through the long hole 122b so that the left and right positions can be adjusted, and can be removed by removing the fastening bolt 123 to be inserted into the long hole 122b. Accordingly, the left and right positions of the left end surface 122a of the movable support plate 122 can be changed by changing the left and right positions of the movable support plate 122, and the movable support plate 122 can be switched to a state without the left end surface 122a by removing the movable support plate 122.

  The transporting operation of the rootstock seedling to the cutting position 62 by the rootstock transport arm 61 and the transporting operation to the cutting position 69 of the seedling by the stock transporting arm 68 are performed by the rootstock transporting arm 61 and the transporting arm 68 respectively. The operation starts synchronously with the holding of the seedlings together, but the speed adjustment device (flow rate control valve) on the ear is operated to reduce the air flow to the rotary actuator 67 on the ear and reduce the ear. The operation speed of the tree transport arm 68 is slightly slower than the operation speed of the root transport arm 61, and the timing at which the stock transport arm 68 reaches the cutting position 69 is the timing at which the root transport arm 61 reaches the cutting position 62. Than later. Then, when it is detected by the rotation position detection sensor (reed switch) on the hogi side that the hogi transport arm 68 has reached the cutting position 69, the root cutting machine 64 and the hogi are detected. The cutting device 70 starts a cutting operation. Accordingly, the cutting devices 64 and 70 can be operated in a state where the rootstock transport arm 61 and the hotwood transport arm 68 have surely reached the cutting positions 62 and 69, respectively. In addition, the rotational position detection sensor (reed switch) for detecting the cutting position on the rootstock side can be omitted, and the cost can be reduced. In addition, by slowly transporting the seedlings that are lighter than the rootstock seedlings, the balance of the seedlings is lost and the posture of the seedlings deteriorates. It is possible to prevent a problem that the bonding state is deteriorated. Conventionally, the rootstock transport arm and the hogi transport arm were operated at the same operating speed, so depending on the length of the air hose on the rootstock side and the hogi side, the degree of bending, the degree of damage, etc. When the operating speed of one of the arm and hogi transport arm slows down, when it is detected that the cutting speed reaches the cutting position on the fast operating speed side, the cutting is performed before the slow operating speed reaches the cutting position. There is a risk that the device will operate and cutting of the seedlings will be inappropriate.

  Similarly, the transport operation of the rootstock seeds to the joining position 62 by the rootstock transport arm 61 and the transporting operation of the seedling seedlings to the joint position 69 by the stock transporting arm 68 are carried out by the rootstock cutting device 64 and the stock cutting device 70. The operation is started in synchronization with the completion of the cutting operation of the timber. However, the speed adjustment device (flow rate control valve) on the rootstock side is activated to reduce the air flow rate to the rotary actuator 60 on the rootstock side, and the rootstock The operation speed of the transfer arm 61 is slightly slower than the operation speed of the hotwood transfer arm 68, and the timing at which the rootstock transfer arm 61 reaches the joining position 62 is determined from the timing at which the transfer wood transfer arm 68 reaches the cutting position 69. Also delay. Then, when it is detected by the rotation side detection sensor (reed switch) on the rootstock side that the rootstock transport arm 61 has reached the cutting position 62, the clip supply device 74 performs the clip supply operation. To start. As a result, the clip can be supplied in a state where the rootstock seedling and the seedling seedling have reached the joining position 63, and the rootstock seedling and the seedling seedling can be properly fixed. The rate can be improved, and the rotational position detection sensor (reed switch) for detecting the joining position on the hogi side can be omitted, thereby reducing the cost. In addition, by slowly transporting the rootstock seedling in a state where one leaf has been cut, the balance of the rootstock seedling is lost, the posture of the seedling is deteriorated, and a problem that the joined state of the grafted seedling is deteriorated can be prevented.

  The rootstock cutting device 64 includes a cutting blade 75, a petiole supporter 76 that supports the petiole on the cutting side, and a cotyledon presser 77 that presses the remaining cotyledon from above. The cutting blade 75 and the petiole support 76 are moved by a forward / backward movement cylinder 78 operated by air pressure, approach the rootstock seedling at the cutting position 62, and the petiole support 76 contacts and holds the petiole (FIG. 6). (See (2)). The forward / backward movement cylinder 78 is inclined so that the rootstock seedling side is at a high position, and the cutting blade 75 and the petiole support 76 are configured to approach the rootstock seedling from the lower side and do not interfere with the cotyledon of the seedling. doing. Thereafter, the cotyledon pressing tool 77 is rotated downward by the cotyledon pressing rotary actuator 79 that is operated by air pressure, and the cotyledon is pressed from above by the cotyledon pressing roller 80 provided at the tip of the cotyledon pressing tool 77 (FIG. 6 (3 )reference). In this state, the cutting blade 75 is moved along a linear movement locus obliquely upward by the cutting cylinder 81 that is operated by air pressure, and the embryonic axis and one leaf of the seedling are cut and cut off (see FIG. 6 (4)). When the seedling is cut, the cutting blade 75 and the petiole support 76 are retracted from the rootstock seedling by the back-and-forth moving cylinder 78 (see FIG. 6 (5)), and then the cotyledon presser 77 is rotated upward to return to the original position. At the same time, the cutting blade 75 is moved obliquely downward by the cutting cylinder 81 and returned to the original position (see FIG. 6A).

  Therefore, since the seedlings are cut along a linear movement trajectory, the cutting surface becomes flat, the jointing rate of the grafted seedlings can be improved, and the root of the remaining cotyledon can be cut off as much as possible, and the growth of the grafted seedlings is good Can be maintained. Conventionally, the cutting blade is moved along a rotational movement trajectory to cut the seedling, so that the cutting surface becomes curved and hinders the improvement of the jointing rate of the grafted seedling and cuts so that the root of the remaining cotyledon is scooped up. May hinder the growth of grafted seedlings. Further, the seedling can be cut at an appropriate position by the petiole support 76 and the cotyledon presser 77, and further, by adjusting the mounting angle of the cutting cylinder 81, the seedling is cut by a rotational movement trajectory. Thus, the cutting angle can be easily adjusted.

  The hogi cutting device 70 includes a cutting blade 82 and a hypocotyl support 83 that supports the hypocotyl (lower side) hypocotyl. The cutting blade 82 and the hypocotyl support 83 are moved by the forward / backward movement cylinder 84 that is operated by air pressure, approach the seedlings at the cutting position 69, and the hypocotyl support 83 is held in contact with the hypocotyl. (See FIG. 7 (2)). Note that the forward / backward movement cylinder 84 is inclined so that the hogi seedling side becomes higher, so that the cutting blade 82 and the hypocotyl support 83 approach the hogi seedling from the lower position and do not interfere with the cotyledons of the seedling. It is composed. In addition, the cutting blade 82 is located in the back side (lower side) of a cotyledon in the state which approached the hogi seedling. Then, the cutting blade 82 is moved in a diagonally downward trajectory by the cutting cylinder 85 operated by air pressure, and the lower part of the embryonic axis of the seedling is cut and cut off (see FIG. 7 (3)). When the seedling is cut, the cutting blade 82 and the hypocotyl support 83 are retracted from the hogi seedling by the forward / backward moving cylinder 84 (see FIG. 7 (4)), and the cutting blade 82 is moved obliquely upward by the cutting cylinder 85. To return to the original position (see FIG. 7A).

  Therefore, since the seedling is cut along a linear movement trajectory, the cutting surface becomes flat and the jointing ratio of the grafted seedling can be improved, and the cutting blade 82 is on the back side (lower side) of the cotyledon while approaching the seedling. Therefore, the cotyledons can be prevented from being removed, and the growth of grafted seedlings can be maintained well. Conventionally, the cutting blade is moved along a rotational movement trajectory to cut the seedling. Therefore, the cutting surface becomes a curved surface and hinders the improvement of the jointing rate of the grafted seedling, and in the seedling where the cotyledon is large and hangs down, the cutting blade is the cotyledon. There is a risk that the cotyledon may be excised or damaged, and the growth of the grafted seedling may be hindered. Further, the seedling can be cut at an appropriate position by the hypocotyl support 83, and further, by adjusting the mounting angle of the cutting cylinder 85, the cutting angle is compared with the configuration in which the seedling is cut by a rotational movement locus. Can be adjusted easily. In addition, since the cutting blade 82 cuts the seedling at an intermediate position between the scrub carrier hand 68 and the hypocotyl support 83, the cutting position of the seedling is stabilized.

  Note that the cutting blade 75 of the rootstock cutting device 64 and the cutting blade 82 of the hogi cutting device 70 are arranged obliquely so as to be separated from the seedlings toward the joint position 63 side in a plan view, and have a forward angle with respect to the seedling to be cut. Move and cut the seedlings. Thus, cutting of the seedlings can be performed smoothly while suppressing cutting resistance of the seedlings, and each seedling is cut from the tip side (the front side at the joining position (cutting position side)) of the clip holding portion for fixing the grafted seedlings. Therefore, the cutting end where the cutting position of the seedling is likely to be displaced at the time of cutting is the back side (the rear side at the joining position 63 (the side opposite to the cutting positions 62 and 69)) of the clip. Since the holding accuracy of the seedlings is increased on the back side in the part, the joining rate of the grafted seedlings can be improved.

In addition, since the said rootstock taking-in part and the hogi taking-in part are bilaterally symmetrical and are the same structures, the following is demonstrated about the hogi taking-in part 2. FIG.
As for the hogi take-in side, the hogi take-in part 2 is a carry-in mechanism for sequentially carrying in and transferring 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 body la are arranged in a grid. 11 and a gripping hand 12 that performs a gripping operation by cutting the hypocotyl while individually gripping the seedling W as a spikelet so that it can be advanced and retracted by the advance / retreat mechanism 12b with respect to the seedling W on the carry-in mechanism 11. The gripping hand 12 is composed of a transfer mechanism 13 that supports the gripping hand 12 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 configured by a belt conveyor or the like that moves along the side of the graft robot body la, and each time the seedlings in a horizontal row are taken out, the transfer mechanism 11 sequentially moves at the cell tray arrangement pitch. The Hogi seedling W is carried into a predetermined position. The transfer mechanism 13 is configured so that the position of the gripping hand 12 can be controlled from side to side in the range from the carrying mechanism 11 to the delivery holding mechanism 15 at one side of the graft seedling production apparatus 1, and delivered in a row of seedlings on the cell tray. In order to take out the seedling from the holding mechanism 15 side, the gripping hand 12 supplies the seedling to the delivery holding mechanism 15 and then sequentially moves left and right to the left and right positions of the seedling to be taken out (cell with the seedling). In order to interfere with the transfer process by the transfer mechanism 13, a rod-shaped member or a direction correcting member 14 using a vertical axis roller with reduced rotation resistance is disposed in a drooping manner. The direction correcting member 14 is disposed slightly closer to the carry-in mechanism 11 than the position facing the delivery holding mechanism 15 at a position immediately before the end of the left-right transfer path of the transfer mechanism 13. 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. 11, 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 hand mechanism 22. The cutter mechanism 23 for cutting the lower part of the hypocotyl A of the hogi seedling W is arranged in a three-tiered manner so that it can be moved forward and backward integrally by the advance / retreat mechanism 12b, and the lifting tool 24 can be moved 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. The upper and lower three-stage hands composed of the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are provided so that the vertical distance can be adjusted, and the vertical distance between the hands can be adjusted according to the length of the hypocotyl of the seedling. It changes and it is set as the structure which can hold a seedling appropriately according to the cultivar seedling and the kind of seedling.

  The upper hand mechanism 21, as shown in FIG. 12 (a) showing a plan view of the gripping state, is larger in the left-right direction than the diameter dimension of the fertilizer shaft A of the safling seedling at the gripping position at the tips of the left and right opening / closing arms 21a, 21a. 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. As shown in FIG. 12B, which shows a plan view of the gripping state of the middle stage, the middle hand mechanism 22 is larger than the diameter dimension of the safing seedling fertilizer axis A at the gripping positions at the tips of the left and right opening / closing arms 22a, 22a. A notch C in the front-rear direction 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.

  The cutter mechanism 23 has an operation state plan view (a) and a BB sectional view (b) thereof as shown in FIG. And the peripheral edge is formed high so as to constrain movement of the hypocotyl A after cutting. The blade 23b is attached to the open / close arm 23a opposite to the graft robot body la in the left-right direction among the left and right open / close arms 23a, 23a. The opening / closing arm 23a on the side of the grafting robot main body la is provided with a restriction guide 114 for restricting the hypocotyl A from entering the proximal end side of the opening / closing arms 23a, 23a. The regulation guide 114 regulates the hypocotyl A so that the misalignment of the hypocotyl A can be prevented and the blade 23b can be cut smoothly. The regulation guide 114 is arranged above the left and right opening / closing arms 23a, 23a and the blade 23b, and the proximal side of the opening / closing arms 23a, 23a is closer to the blade 23b so that the hypocotyl A is guided to the blade 23b side. It is the composition which is located.

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.
The lifting tool 24 includes a first lifting tool 41 and a second lifting tool 42. The first lifting tool 41 is inclined forward and downward to the root position of the hogi seedling W, and the same hogi on the delivery holding mechanism 15 side, that is, the side on which the gripping hand 12 moves left and right to take out the seedling. It is formed by a rod having a tip 41t bent so as to reach the back from the side of the seedling W. By setting the distal end portion 41t and the side portion 41s that bends and extends to the base portion thereof at a substantially right angle, the hypocotyl A that has fallen due to the ascending motion of the lifting tool 41 is raised as shown in the front view of the standing motion of FIG. can do. The support part 41b of the lifting tool 41 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.

  Further, a second lifting tool 42 is provided on the opposite side to the first lifting tool 41 with respect to the seedling W. This second lifting tool 42 is formed by a rod bent so as to be positioned on the side of the seedling on the side opposite to the delivery holding mechanism 15 so as to take out the seedling on the side where the gripping hand 12 moves left and right. The cylinder 43 is provided so as to be able to advance and retract. The tip 42a of the second lifting tool 42 located on the side of the seedling is horizontal, like the tip 41t of the first lifting tool 41, and slightly higher than the tip 41t of the first lifting tool 41. And it is provided so that it may cross | intersect by planar view in the state protruded by the back-and-forth movement cylinder 43. Accordingly, the ascending movement of the first lifting tool 41 causes the second lifting tool 42 to move upward, so that the seedling can be lifted upright from both the left and right sides and the rear side of the seedling. The seedling can be properly gripped. In particular, in a cell tray with a narrow cell pitch, it is possible to prevent the seedling hand 12 from being gripped and transferred to the adjacent seedling side on the side where the gripping hand 12 has moved left and right by the second lifting tool 42 while being transferred. Further, it is possible to prevent the seedling from being transferred by the gripping hand 12 while being entangled with the adjacent seedling and the gripping posture of the seedling becoming inappropriate. Further, since the other lifting tool 42 is also moved up and down by the vertical movement mechanism of one lifting tool 41, the vertical movement mechanism can be simplified. In addition, since the second lifting tool 42 is bent so that the midway part protrudes toward the gripping hand 12 (side away from the adjacent seedling) in plan view, it does not interfere with the second lifting tool 42. In addition, the opening / closing amount of the gripping hand 12 can be maintained at a predetermined level, and the second lifting tool 42 is less likely to interfere with adjacent seedlings, thereby facilitating seedling removal. The second lifting tool 42 may be configured by providing an oblique portion in plan view as shown in FIG.

  Since the lifting tool 24 is configured to lift the seedling from three directions, the seedling that falls to the other side (the gripping hand 12 side) cannot be erected. Therefore, on the cell tray of the carry-in mechanism 11, a tilt restricting tool 44 is provided over the left and right width of the cell tray. The fall restricting tool 44 is composed of a rotatable roller so as not to roughen the culture medium in the cell or become a resistance to transporting the cell tray by the carry-in mechanism 11, and is appropriate on the grasping hand 12 side of the seedling to be taken out by the grasping hand 12. It is located above the cell to act on.

  Further, in each of the hand mechanisms 21 and 22 of the gripping hand 12, one of the pair of left and right opening and closing arms 21a and 22a has one opening and closing arm 21a and 22a positioned on the delivery holding mechanism 15 side (right side). 15 and a seedling separating tool 45 extending to the left and right opposite side (left side, the other opening / closing arm 21a, 22a side). This seedling separating tool 45 is composed of a bar, and includes a base portion 45a extending in the left-right direction (left side) and a distal end portion 45b extending bent from the base portion 45a to the front side, and is disposed slightly above the open / close arms 21a, 22a. Has been. The tip 45b of the seedling separating tool 45 is located above the other opening / closing arm 21a, 22a in a state where the pair of opening / closing arms 21a, 22a are open, and extends slightly inward in the gripping direction in a substantially front-rear straight direction. The angle is toward the inside in the gripping direction with respect to the angle of the left and right opening / closing arms 21a, 22a. On the other hand, when the pair of opening / closing arms 21a, 22a is closed, the opening angle is located on the outer side (left side) of the other opening / closing arms 21a, 22a, and the outward angle becomes the outer side of the holding direction toward the tip. Accordingly, when the grasping hand 12 moves forward by the advance / retreat mechanism 12b to grasp the seedlings on the cell tray, the pair of opening / closing arms 21a and 22a are opened so that the tip 45b of the seedling separating tool 45 does not interfere with the seedling to be grasped. Is inserted between the seedling and the adjacent seedling. When the pair of open / close arms 21a and 22a are closed, the tip 45b of the seedling separating tool 45 rotates and moves to the adjacent seedling side (left side), and the seedling to be gripped is separated from the adjacent seedling to entangle the seedling. It comes to solve.

The operation for taking up the saplings 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. 21A, the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are prepared in a closed state at the retracted position (S1). By the lateral movement of the transfer mechanism 13 in the outward direction of the seedling production apparatus 1, the tip 41 t of the first lifting tool 41 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. After that, the front and rear moving cylinder 43 is extended to project the second lifting tool 42 to the front side so that the front end portion is located on the side of the seedling in plan view and intersects the front end portion 41t of the first lifting tool 41, The fall of the hogi seedling W is corrected by the ascending operation (S2) of the first lifting tool 41 and the second lifting tool 42. Therefore, since the upper hand mechanism 21, the middle hand mechanism 22 and the cutter mechanism 23 are laterally moved, the gripping hand 12 is unlikely to interfere with the seedlings of the cell tray during the lateral movement, and the seedling taken out by the lateral movement. It is possible to prevent the seedlings from being stored in the pocket and prevent the seedling from being taken out poorly. The upper hand mechanism 21 and the middle hand mechanism 22 are formed with a curved surface on the upper side of the lateral movement so that they do not easily interfere with the seedling and do not damage the seedling. The lifting tool 24 is positioned at substantially the same height as the cutter mechanism 23 before the ascending operation (S2). As a result, the cutter mechanism 23 can be brought close to the upper surface of the cell, the cutter mechanism 23 can cut the root of the seedling, and even with a seedling with a short hypocotyl that is nurtured in winter, the hand mechanisms 21 and 22 can properly Can be taken out.

  Next, as shown in the operation plan view in the gripping state of FIG. 21B, the hand mechanisms 21 and 22 and the cutter mechanism 23 are opened and advanced (S3), and then both the hand mechanisms 21 and 22 are closed (S4). Thus, the hypocotyl A of the hogi seedling W is loosely fitted and held in the notches B and C at the tips of the hand mechanisms 21 and 22, and then the cutter mechanism 23 is closed (S5), whereby the lower stage of the hypocotyl A is cut. The lower end of the 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 retracted (S6) and then laterally moved (S7) in the center direction of the grafted seedling production apparatus 1, thereby individually picking up the seedlings from the carry-in mechanism 11. be able to. Note that the retreat distance of the hand mechanisms 21, 22 and the cutter mechanism 23 in S6, that is, the advance / retreat operation stroke by the advance / retreat mechanism 12b, is set to such a length that the seedling to be taken out from the cell tray does not completely interfere with the adjacent seedling in the process of S6. ing.

  A seedling guide 112 is provided between the upper hand mechanism 21 and the middle hand mechanism 22 and between the middle hand mechanism 22 and the cutter mechanism 23, respectively. The seedling guide 112 is advanced by the seedling guide cylinder 113 prior to the advancement of the hand mechanisms 21 and 22 and the cutter mechanism 23 so that the hogi seedling W to be taken out is in an upright posture and the seedling is removed. This is to prevent defects. The seedling guide 112 retreats simultaneously with the retreat of the hand mechanisms 21 and 22 and the cutter mechanism 23.

  Further, in the transfer process by the transfer mechanism 13, as shown in the plan view of the direction correcting operation in FIG. 23, when the gripping hand 12 that grips the hogi seedling moves laterally from the gripping position B to the delivery position C, The cotyledon interferes with the direction correcting member 14 when passing through the vicinity of the direction correcting member 14 disposed so as to interfere with the transfer process and the cotyledon deployment direction of the hogi seedling W is greatly inclined with respect to the transfer direction. Thus, the hogi seedling is rotated so that the cotyledon unfolding direction is substantially aligned with the transfer direction. At this time, even if the hogi seedling is excessively rotated, the cotyledon of the seedling hits the sub-alignment member 46 that is an angled plate-shaped alignment member provided at a position facing the delivery holding mechanism 15 and The rotation range is restricted. The sub-alignment member 46 is provided so that its vertical position can be adjusted, so that the posture of the seedling or the cotyledon deployment direction does not become incorrect due to direct contact with the hypocotyl A or the cotyledon of the seedling transferred by the transfer mechanism 13. The position can be adjusted according to the size and type of the seedling.

  The transfer mechanism 13 is configured such that the gripping hand 12 is laterally moved by an air cylinder that slides by air pressure from a compressor, and the gripping hand 12 is moved into a loading mechanism 11 and a cell tray on the loading mechanism 11 by a stroke sensor provided in the cylinder. If it is detected that the position has reached the position immediately before the direction correcting member 14 from above, the flow rate of air supplied to the cylinder is controlled to be reduced, the transfer speed is reduced, and the transfer speed at the transfer end portion is reduced. It has become. The position where the transfer speed is decelerated is set to the same position regardless of the transfer start end position which is the left and right position of the seedling to be taken out (cell where the seedling is located). In the return stroke in which the gripping hand 12 moves from the delivery position of the delivery holding mechanism 15 to the cell tray side on the carry-in mechanism 11 to grip the next seedling, the gripping hand 12 moves laterally at a normal fast transfer speed. The lifting tool 24 remains in the lifted state until the transfer speed of the transfer mechanism 13 is decelerated at the transfer end portion, and the posture of the seedling is increased by interfering with other seedlings by transferring the seedlings. It prevents things from getting worse. At the same time as the transfer speed of the transfer mechanism 13 is reduced, the transfer mechanism 13 is lowered below the cutter mechanism 23 so as not to interfere with the seedling delivery process.

  When the gripping hand 12 is in a stopped state such as an abnormal stop or an interruption operation by the operator after the seedling is taken out and raised, when the reset operation is performed, the gripping hand 12 is transferred by the transfer mechanism 13 to the original origin position. Although it tries to return to the position R, it will interfere with the delivery holding mechanism 15 because the gripping hand 12 is in a raised state. Therefore, a sensor for detecting that the gripping hand 12 is in the lowered position is provided, and when the reset operation is performed, the gripping hand 12 is gripped by the transfer mechanism 13 only when the gripping hand 12 is detected in the lowered position. The hand 12 is laterally moved to the delivery position R.

Next, the alignment holding means using the delivery holding mechanism 15 configured at the delivery position R and the alignment member 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. 24, the main part plan view is shown in FIG. 24, and the main part side view (a) and the B-B cross-sectional view (b) thereof are shown in FIG. An upper hand mechanism 31 that grips the head part, a middle hand mechanism 32 that grips the middle stage part of the hypocotyl A below, and an excessive height of the hypocotyl A at the intermediate height position between the hand mechanisms 31 and 32 are regulated. 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.

  The middle hand mechanism 32 is configured to move downward while gripping the seedling by a downward movement cylinder (downward movement mechanism). As a result, the hypocotyl A of the grasped seedling is lowered downward until the cotyledon deployment base at the top of the seedling comes into contact with the upper surface of the upper stage hand mechanism 31, so that the vertical position of the seedling becomes a predetermined position. Note that the gripping force of the upper hand mechanism 31 is set to be smaller than the gripping force of the middle hand mechanism 32. When the embryonic axis A of the seedling is pulled down by the middle hand mechanism 32, the hypocotyl A slides in the upper hand mechanism 31. Be lowered. Further, in the downward movement of the middle stage hand mechanism 32 to the lower end of the middle hand mechanism 32 after the cotyledon unfolding base of the seedling abuts against the upper stage hand mechanism 31 and is supported at a predetermined position while the middle stage hand mechanism 32 is moving downward, the seedling is predetermined. The hypocotyl A of the seedling slides in the middle stage hand mechanism 32 while being held in position. The grip surface of the middle stage hand mechanism 32 is configured by fixing two front and rear elastic bodies (sponges) 47 to each of the pair of hands 32a, and the elastic body (sponge) 47 is used to center the position of the embryonic axis A of the seedling. It is the structure which presses and holds the embryonic axis A of the seedling from four directions. With this elastic body (sponge) 47, the gripping force of the middle stage hand mechanism 32 can be set large, and the area of the gripping surface is large for the thick hypocotyl A and the area of the gripping surface is small for the thin hypocotyl A. The gripping force of the middle stage hand mechanism 32 is set according to the size (thickness of the hypocotyl A), and the seedling can be appropriately pulled down by the middle stage hand mechanism 32.

  A main alignment member 16 serving as an alignment member is disposed at a position where the cotyledon of the hogi seedling is received above the delivery holding mechanism 15. The main alignment member 16 is a flat plate-like member that regulates the expansion direction of the cotyledonous cotyledons, and forms a guide portion 35 with a ridge 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.

  In the delivery operation of the alignment holding means having the above-described configuration, the cotyledons L and L of the hotwood seedling W are pressed against the main alignment member 16 when the hotwood seedling W is delivered to the delivery holding mechanism 15 by the advance operation of the gripping hand 12. The cotyledons L and L are distributed to the left and right by the guide portion 35 so that the cotyledon deployment axis is aligned along the main alignment member 16.

  The above delivery operation will be described in detail with reference to the operation procedure diagram of FIG. 27. After picking up the saplings from the carry-in mechanism 11 and aligning the gripping hand 12 gripping the hypocotyl with the front of the delivery holding mechanism 15, 28 (a) and 28 (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. The cotyledon deployment direction is aligned via the main alignment member 16 by reciprocating to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b with the grip of the middle stage hand mechanism 22 loosened while being received (S11). The

  Next, as shown in the plan views before and after the second alignment operation in FIGS. 29 (a) and 29 (b), by opening the cutter mechanism 23 (S12), the hand mechanism 21 of the gripping hand 12 receives the cotyledons L and L. Adjust the height of the seedling W. By reciprocating to the position of the delivery holding mechanism 15 by the advance / retreat operation of the advance / retreat mechanism 12b in this state (S13), the cotyledon strikes the main alignment member 16 and the cotyledon deployment direction is aligned.

  When the gripping hand 12 is reciprocated by the advance / retreat operation of the advance / retreat mechanism 12b as described above, as shown in the plan view before and after the alignment operation in FIG. Since the similar sub-alignment member 46 is also disposed opposite to the retracted position on the gripping hand 12 side, the cotyledon of the seedling comes into contact with the alignment member twice for each reciprocation of the gripping hand 12. An efficient alignment operation is possible. The advancing / retreating mechanism 12b includes an advancing / retreating cylinder, an extension position sensor for detecting that the advancing / retreating cylinder is extended to a position where the seedling grasped by the grasping hand 12 hits the main alignment member 16, and a grasping hand 12. A contraction position sensor for detecting that the advance / retreat cylinder contracts to a normal position such as when the gripped seedling hits the sub-alignment member 46, that is, when the seedling is transferred by the transfer mechanism 13. Therefore, the gripping hand 12 is reciprocated by repeating the expansion and contraction operation of the advancing / retreating cylinder so that the extension position sensor and the contraction position sensor are alternately detected.

  In the drawing, the sub-alignment member 46 is shown in the same direction as the desired cotyledon alignment direction. However, the sub-alignment member 46 is slightly inclined toward the cotyledon direction before correction by the direction correction member 14 with respect to the alignment direction. May be. This allows the sub-alignment member 46 to gradually approach the desired cotyledon direction before applying the cotyledons to the main alignment member 16 and aligning the cotyledons, forcibly damages the seedling. Thus, the orientation of the cotyledons can be corrected smoothly and stably. Further, the guide portion 35 of the sub-alignment member 46 may be eliminated. Accordingly, it is possible to prevent the seedling from being laterally moved and hitting the guide portion 35, and to prevent the seedling from being damaged, and to smoothly correct the orientation of the cotyledon according to the flat sub-alignment member 46 by the lateral movement of the seedling. Can do.

  After the 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 stopper 33 at the intermediate height position between the hand mechanisms 31 and 32 restricts excessive entry of the hypocotyl A, so that the hypocotyl A can be cut reliably. 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 seedling is lowered by the downward movement of the middle hand mechanism 32 of the delivery holding mechanism 15 on the receiving side to the predetermined holding height (S17), and then the gripping hand 12 is retracted (S18).

  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. In the seedling delivery process, the lifting tool 24 is lowered below the cutter mechanism 23 so as not to obstruct the seedling delivery.

When the direction of the cotyledons of the hogi, such as cucumbers and melons, is directed to the advancing / retreating direction of the advance / retreat mechanism 12b (when the orientation of the cotyledons is 90 degrees different from that described above), the main alignment member 16 is rotated 90 degrees to move. At this time, if the main alignment member 16 is positioned outside (right side) of the seedling holding position of the delivery holding mechanism 15, the main alignment member 16 is obstructive when the operator manually supplies the seedling to the delivery holding mechanism 15. It becomes difficult to visually recognize the seedlings, and it is difficult to confirm whether or not the orientation of the cotyledons of the hogi is appropriate. Therefore, the main alignment member 16 can be configured to be transparent or translucent so that the seedling can be visually recognized. Alternatively, the main alignment member 16 may be positioned on the inner side (left side) of the seedling holding position of the delivery holding mechanism 15 so that the seedling can be visually recognized. As a result, the visibility of seedlings is easy to, the confirmation of the direction of the cotyledons of the scion is facilitated, thereby improving the work efficiency.

  The delivery holding mechanism 15 includes a seedling detection sensor 124 that detects the seedling supplied to the gripping positions of the hand mechanisms 31 and 32, and the gripping hand 12 that is in a normal position retracted from the position where the seedling is supplied to the delivery holding mechanism 15. A gripping hand detection sensor 125 for detection is provided. The seedling detection sensor 124 is a photoelectric sensor that is disposed between the upper hand mechanism 31 and the middle hand mechanism 32 and detects the hypocotyl of the seedling supplied from the side to the gripping position. The gripping hand detection sensor 125 is a photoelectric sensor that detects the gripping hand 12 from above.

  Further, immediately above the delivery holding mechanism 15, a grasping completion lamp 126 serving as a notification device that lights up in conjunction with the hand mechanisms 31 and 32 grasping the embryonic axis of the seedling, and seedling of the seedling by the hand mechanisms 31 and 32 A grip release switch 127 serving as a grip release operation tool for releasing grip is provided.

When the fully automatic grafting operation for automatically supplying seedlings to the delivery holding mechanism 15 using the rootstock taking part or the hogi taking part is performed, both the root side and the hogi side are controlled by the control device. If the seedling detection sensor 124 detects the seedling and the gripping hand detection sensor 125 detects the gripping hand 12 and the gripping completion lamp 126 is turned on and the grip release switch 127 is not operated, the rootstock preprocessing unit 3 or Hogi pretreatment unit 4 starts transporting seedlings and performs grafting work. Further, when a semi-automatic grafting operation for manually supplying seedlings to the delivery holding mechanism 15 without using the rootstock taking section or the hogi taking section, a gripping hand detection sensor for detecting the periphery of the delivery holding mechanism 15 The direction of 125 is changed and adjusted, and the control device detects the seedling detection sensor 124 on both the rootstock side and the scion side, and the grasping hand detection sensor 125 detects nothing (the operator's hand). If the grip release switch 127 is not operated while the grip completion lamp 126 is lit, the rootstock pre-processing unit 3 or the pre-hog pre-processing unit 4 starts transporting seedlings and performs grafting work. Switching between the fully automatic grafting work and the semi-automatic grafting work is switched in conjunction with the operation of the mode switch 49. When fully automatic grafting work is performed, the detection performance of the gripping hand detection sensor 125 is switched to a state of detecting with high resolution and high accuracy to accurately detect the gripping hand 12 at a fixed position. The detection performance of the hand detection sensor 125 is switched to a state in which detection is performed over a wide range with low resolution, and it is determined that there is no operator's hand in the vicinity. The detection performance of the gripping hand detection sensor 125 is switched by an amplification device provided in the control device.

  When the grip release switch 127 is operated while the grip completion lamp 126 is lit, the gripping of the operated hand mechanisms 31 and 32 is released and the rootstock preprocessing unit 3 and the hogi preprocessing unit 4 are operated. The transportation of the seedling by is stopped.

  By the way, the operation panel 1p for controlling the operation of the seedling taking-in unit 2 is carried in by the power switch 48 for turning on / off the power of the seedling taking-in unit 2, the mode switch 49 for setting the operation mode, and the carrying-in mechanism 11 A tray selection switch 50 for setting the type of the cell tray to be operated, a start switch 51 for starting the operation, a stop switch 52 for stopping the operation, a reset switch 53 for returning each operation unit to the initial state, and a seedling position on the cell tray A setting changing unit 54 that can arbitrarily set the number of seedling rows in the cell tray is provided. The mode switch 49 is an operation region selection means for selecting an operation region in the operation of the start switch 51, and is automatically operated so as to continuously supply seedlings to the pretreatment unit 3 successively until the stop switch 52 is operated. Position, which is operated until one seedling is supplied to the pretreatment unit 3 or a manual position where only the grafting robot main body la is operated, and step positions which are operated for each of the operation steps S1 to S7 and S11 to S18. Switching operation can be performed. The tray selection switch 50 is a setting switching means for switching and setting the horizontal position where the gripping hand 12 takes out the seedling and the transport pitch of the carry-in mechanism 11, and the 72-hole position for the 72-hole cell tray and the 128-hole cell tray The 128 hole position and a manual setting position (MS) arbitrarily set by the setting changing unit 54 can be switched. The 72-hole cell tray is a cell tray in which cells are provided in 12 rows and 6 rows, and the 128-hole cell tray is a cell tray in which cells are provided 16 rows and 8 rows. Therefore, since the cell arrangement pitch varies depending on the type of the cell tray, the tray selection switch 50 is used to switch the cell tray according to each cell tray. The gripping hand 12 sequentially takes out the seedlings in the horizontal row of the cell tray from the delivery holding mechanism 15 side. The number of seedlings is counted by the control device in the operation panel 1p, and the number of horizontal seedlings based on the setting of the tray selection switch 50 is obtained. Then, the cell tray is transported by the carry-in mechanism 11. Accordingly, in order to determine that all the seedlings in the horizontal row have been taken out, in order to check the left and right positions of the seedlings taken out by the gripping hand 12, a confirmation command for the left and right positions from the control device (PLC) to the air cylinder of the transfer mechanism 13 The speed of control is improved and the working efficiency can be improved as compared with the case where the determination is made based on the input from the air cylinder.

  Further, the grafting robot main body la is provided with a control panel 55 including a control device that collectively controls the grafting seedling manufacturing apparatus 1 including the grafting robot main body la, the rootstock capturing unit, and the hogi capturing unit 2. ing. The control panel 55 is provided with operation switching means such as a change-over switch that can turn on / off the operations of the grafting robot main body la, the rootstock taking section, and the hogi taking section 2. By this operation switching means, it is possible to operate all or part of the grafting robot main body la, rootstock capturing part and hogi capturing part 2, and manufacture grafted seedlings in various work forms. Work can be done. For example, when it is desired to supply a rootstock that requires accuracy of the cutting position for seedling joining to the rootstock pretreatment unit 3 with high accuracy when the hypocotyl length is short, the grafting robot main body la and the hogi capturing unit 2 are The operation of the rootstock take-in section can be stopped by operating. Alternatively, when the seedling is not grown in the cell tray, the seedling capturing unit 2 is stopped and the seedling is manually supplied, or when it is desired to join the seedling manually, the capturing unit 2 is operated to graft the robot. The operation of the main body la can be stopped. When both rootstock and hogi are supplied manually, only the grafting robot main body la needs to be operated.

  In the grafted seedling production apparatus 1, the take-up unit 2 serving as a seedling supply device that supplies each seedling one by one can loosely hold the seedling embryo axis while cutting the root side of the received seedling. A loose-fitting holding mechanism by the gripping hand 12, a transfer mechanism 13 that supports the loose-fitting holding mechanism and moves in the lateral direction, and a cotyledon deployment by interfering with the cotyledons of the seedlings at the transfer end portion in the transfer mechanism 13 A direction correction member 14 and a sub-alignment member 46 for adjusting the direction to the transfer direction are provided, and the transfer mechanism 13 causes seedling cotyledons to interfere with the direction correction member 14 so that the transfer speed at the transfer end portion becomes low. Immediately before the transfer, the transfer speed is reduced.

  Therefore, when the loose-fitting gripping mechanism receives a seedling having a bicotyledonous cotyledon, this loosely grips the hypocotyl while turning the root side of the seedling as a hogi or rootstock, It is transferred by the transfer mechanism 13 that supports the loose-fitting gripping mechanism. This transfer speed is decelerated immediately before the cotyledon of the seedling interferes with the direction correcting member 14 and becomes low at the end of the transfer process, and the end of the transfer process. When the direction correcting member 14 and the sub-alignment member 46 interfere with the cotyledons of the seedlings, the cotyledon unfolding direction is aligned with the transfer direction. Is bonded to rootstock or hogi to produce grafted seedlings.

  As shown in FIGS. 32 to 34, the sub-alignment member 46 may be formed of a planar plate material that faces the transfer direction (left-right direction) of the transfer mechanism 13. At this time, the distance l from the hypocotyl of the seedling transferred to the transfer terminal portion of the transfer mechanism 13 is shorter than the cotyledon length a of the seedling and equal to or longer than one half of the cotyledon width b. When the position of the sub-alignment member 46 is set, only the cotyledon facing in the front-rear direction hits the sub-alignment member 46 so that the orientation of the cotyledon can be corrected to the desired left-right direction. As shown in FIG. 34, when the flat plate material of the sub-alignment member 46 is arranged slightly obliquely so that it is on the side farther from the seedling (rear side) toward the upper transfer side (left side) of the transfer mechanism 13, It is possible to prevent the seedling transferred by the mechanism 13 from being caught on the end of the sub-alignment member 46, and the seedling can be transferred smoothly.

  In the above description, in order to align the cotyledon unfolding direction of the seedling with high accuracy, the direction correcting member 14 composed of a roller and the sub-alignment member 46 composed of a plate material are provided together, but only one of them is provided. It is good also as a structure which changes the cotyledon deployment direction of a seedling. When only the sub-alignment member 46 is provided, the sub-alignment member 46 interferes with the cotyledon of the seedling and becomes a direction correcting member that matches the cotyledon deployment direction with the transfer direction.

  In the above description, a plurality of main alignment members 16 and sub-alignment members 46 are provided to face each other. However, for example, only one main alignment member 16 may be provided. At this time, since the cotyledon of the seedling contacts with the alignment member 16 only once for one reciprocation of the gripping hand 12, the gripping hand 12 is operated twice as much as four reciprocations so that the cotyledon of the seedling contacts the alignment member 16 four times. What is necessary is just to make it the structure made to contact. In this way, when the gripping hand 12 is reciprocated a plurality of times by the advance / retreat mechanism 12b, the advance / retreat cylinder is extended until the extension position sensor detects it, and the seedling is brought into contact with the alignment member 16, but in the return stroke, the contraction position sensor In order to stop the contraction operation of the advancing / retreating cylinder just before detecting by the timer, the advancing / retreating cylinder is operated and stopped for a predetermined time by a timer, and the advancing / retreating cylinder is extended again to apply the seedling to the alignment member 16 for the second and subsequent times. It can be set as the structure which performs a contact. As a result, in the contracting operation of the advancing / retreating cylinder and the extending operation for extending the advancing / retreating cylinder so that the seedling is again applied to the alignment member 16, these working distances and operating times can be shortened, and the seedling aligning operation a predetermined number of times. On the other hand, the time required for the alignment process can be shortened, and the work efficiency of the seedling supply work and the grafted seedling production work can be improved.

  As shown in FIG. 35, the grip surfaces of only the left and right open / close arms 21a, 22a in the hand mechanisms 21, 22 of the grip hand 12 are inclined in a plan view with the open / close arms 21a, 22a being closed. It may be set. Thereby, when gripping the hypocotyl A having an elliptical cross section, the orientation of the hypocotyl A is corrected so that the major axis of the ellipse is directed in the front-rear direction, and the cotyledon that extends in the minor axis direction of the ellipse Can be directed left and right. Therefore, the gripping hand 12 is a kind of direction correcting member for adjusting the cotyledon unfolding direction of the seedling to the transfer direction. In addition, after closing the pair of left and right open / close arms 21a and 22a, the pair of left and right open / close arms 21a and 22a are slid in the forward and backward directions to promote the rotation of the embryonic axis A of the seedling, It is also conceivable to correct the orientation of the hypocotyl A so that the axis is directed in the front-rear direction. In this case, it is desirable that the gripping surfaces of the pair of left and right opening / closing arms 21a and 22a be flat surfaces facing in the front-rear direction so that the hypocotyl A can rotate smoothly.

  As described above, the grafted seedling production apparatus 1 includes the rootstock pretreatment unit 3 that transports rootstock seedlings from the left and right sides to the joining position 63, and the hogi that transports seedlings seedlings from the left and right other sides to the joining position 63. A pretreatment unit 4 and an adhesion processing unit 7 for bonding the rootstock seedling and the safflower seedling conveyed to the joining position 63 are provided. The adhesion processing unit 7 holds a clip 101 for joining the grafted seedling. In the state where the part 102 is open, it is transferred in the front-rear direction and supplied to the joining position 63 one by one. By closing the gripping part 102, the rootstock seedling and the seedling are held together and fixed. A clip supply device 74 that further transfers the clip 101 to which the tree seedling is fixed in the front-rear direction and discharges the rootstock seedling and the panicle seedling together is provided, and a support member 121 that supports the clip 101 supplied to the joining position 63 from below. , 122, and the support members 121, 122 are A portion 122 of the hogi pretreatment portion on the left and right other side from the joining position 63 protrudes in the discharge direction of the clip 101 rather than a portion 121 on the root pretreatment portion side on the left and right side from the joint position 63. .

  Accordingly, the clip 101 supplied to the joining position 63 is supported from the lower side by the support members 121 and 122 protruding in the discharge direction of the clip 101, so that the posture and position of the clip 101 are appropriately adjusted. Since it is maintained, the joining accuracy of the seedling can be improved, and a good grafted seedling can be obtained. In addition, the support members 121 and 122 are configured such that the portion 122 of the hogi pre-processing part on the left and right side from the joining position 63 is the clip 101 than the part 121 on the left and right side of the rooting pre-treatment part from the joining position 63. Projecting in the direction of release of the base plate, it does not hinder the transport of rootstock seedlings supplied to the lower side of the clip 101 by the rootstock pretreatment section 3, and the clip 101 is stably stabilized by the portion 122 of the pretreatment section Can be supported. In particular, since the clip push-out device 108 is configured to push the clip 101 by acting from the upper side, the grip portion 102 of the clip 101 tends to be pushed downward, but the clip is supported by the support members 121 and 122. It is possible to accurately prevent the 101 from tilting.

  Further, the root member pretreatment part 121 of the support members 121 and 122 is positioned on the upper transfer side of the clip 101 with respect to the hypocotyl of the seedling joined at the joining position 63 in the front-rear direction. The portion 122 on the side of the pre-treatment part of the wood reaches the lower transfer side in the front-rear direction of the clip 101 with respect to the hypocotyl of the seedling joined at the joining position 63, and the support members 121, 122 are joined at the joining position 63. An end surface 121a on the transfer upper side that contacts the hypocotyl of the seedling to be joined on the upper transfer side of the clip 101, and an end surface 122a on the pre-treatment part side that contacts the hypocotyl on the pretreatment part side.

  Therefore, the portion 122 of the pre-treatment part of the hogi projects in the release direction from the hypocotyl of the seedling at the joining position, so that the clip 101 can be supported stably. In addition, an end surface 121a on the transfer upper side that contacts the hypocotyl of the seedling to be bonded at the bonding position 63 on the upper transfer side of the clip 101, and an end surface on the hogi pretreatment unit side that contacts the hypocotyl on the pretreatment unit side By 122a, the hypocotyl of the seedling can be guided to a desired position at the joining position 63, the joining accuracy of the seedling can be improved, and a good grafted seedling can be obtained.

  Further, the position of the end surface 121a on the upper transfer side or the end surface 122a on the pretreatment unit side can be changed, or the end surface 121a on the transfer upper side or the end surface 122a on the hogi pretreatment unit side is not provided. It can be switched.

  Therefore, it is set as the structure which can change the position of the end surface 121a by the side of transfer upper side or the end surface 122a by the side of pretreatment part of a transfer, or the state which does not have the end surface 122a by the side of transfer upper side 121a or the pretreatment part by the side of hogi Since it can be switched, the position of the end surface 121a on the upper transfer side or the end surface 122a on the pre-treatment part side is changed corresponding to the difference in the diameter and cross-sectional shape of the hypocotyl due to the growth situation etc. caused by the seedling type and season Thus, the hypocotyl of the seedling can be guided to a desired position. In addition, when the end surface 121a on the transfer upper side or the end surface 122a on the pretreatment part side of the hogi is in contact with the hypocotyl of the seedling, the position of the hypocotyl of the seedling tends to be inappropriate. It is possible to optimize the position of the hypocotyl of the seedling by switching to a state in which the end surface 121a or the end surface 122a on the side of the pretreatment unit is not provided.

  In addition, the rootstock preprocessing unit 3 and the hogi preprocessing unit 4 are configured to transport the seedlings held in the delivery holding mechanisms 15 corresponding to the basement pretreatment units 15 to the joining position 63, and the advancement / retraction mechanism 12b holds the seedlings while holding the seedlings. A gripping hand 12 is provided for feeding the seedlings to the delivery holding mechanism 15, and the hand mechanisms 31, 32 for gripping the hypocotyls of the seedlings are provided on the delivery holding mechanism 15 on at least one of the rootstock side and the scion side. A seedling detection sensor 124 for detecting the seedling supplied to the gripping position of the hand mechanisms 31 and 32, and a gripping hand detection sensor 125 for detecting the gripping hand 12 retracted from the position for supplying the seedling to the delivery holding mechanism 15. And the rootstock preprocessing unit 3 or the hotwood preprocessing unit 4 starts conveying seedlings on condition that the seedling detection sensor 124 detects the seedling and the gripping hand detection sensor 125 detects the gripping hand 12. full automatic And a semi-automatic state in which the rootstock pretreatment unit 3 or the hogi pretreatment unit 4 starts conveying seedlings on the condition that the seedling detection sensor 124 detects the seedling and the grasping hand detection sensor 125 detects nothing A control device for switching to is provided.

  Therefore, when performing grafting work as fully automatic supplying seedlings to the delivery holding mechanism 15 by the gripping hand 12, the gripping hand 12 by the gripping hand detection sensor 125 is transferred to the delivery holding mechanism 15 and the rootstock pre-processing unit 3 or the pre-hogi. Based on the detection that the processing unit 4 is surely retracted from the seedling transport path, the rootstock preprocessing unit 3 or the hogi preprocessing unit 4 can start transporting the seedling, and the rootstock preprocessing unit 3 or the hogi Interference between the seedling transport mechanism of the pretreatment unit 4 and the gripping hand 12 can be prevented, and damage to the seedling transport mechanism or the gripping hand 12 can be prevented. Further, when grafting is performed as a fully automatic method for supplying seedlings to the delivery holding mechanism 15 by hand, it is based on the fact that the operator's hand is not detected around the delivery holding mechanism 15 by the gripping hand detection sensor 125. The treatment unit 3 or the hogi pretreatment unit 4 can start conveying seedlings, and can prevent interference with the seedling conveyance mechanism of the rootstock pretreatment unit 3 or the hogi pretreatment unit 4 in which the operator's hand operates, Safety can be improved.

  Further, the rootstock pretreatment unit 3 and the hogi pretreatment unit 4 respectively transport the seedlings in the delivery holding mechanism 15 to the cutting positions 62 and 69, and the cutting devices 64 and 70 at the cutting positions 62 and 69, respectively. The seedlings cut by the above are transported to the joining position 63, and on the seedling transport path from the cutting positions 62 and 69 to the joining position 63 of the rootstock seedlings or the spikelet seedlings, the seedlings should be cut off at the cutting positions 62 and 69. The removal parts 65 and 71 which remove the excision part of the seedling which were were provided.

  Therefore, since the removed part of the seedling that should have been cut off by the removing units 65 and 71 is removed, it can be prevented that the excised part is interposed in the joining surface of the seedling and the joining accuracy of the seedling is reduced. Can be improved. In particular, when the root leaves of rootstock seeds to be cut off remain, the true leaves can be removed.

  In addition, the rootstock pretreatment unit 3 and the hogi pretreatment unit 4 are configured to transport the seedlings held in the delivery holding mechanisms 15 corresponding to each to the joining position 63, and the delivery holding mechanism 15 has a seedling hypocotyl. Are provided, and a seedling detection sensor 124 for detecting a seedling supplied to the gripping position of the hand mechanisms 31 and 32 is provided. Gripping release operating tools 127 for releasing the gripping of the seedlings are provided, and the hand mechanism 31, 32 grips the hypocotyl of the seedling, and the hand mechanism 31, A control device is provided that activates a notification device 126 that notifies that 32 has grasped the hypocotyl of the seedling, and the control device is configured to grasp or notify the hand mechanisms 31 and 32 on both the rootstock side and the scion side. Due to operation When the seedling pre-processing unit 3 and the hogi pre-processing unit 4 transport the seedling from the delivery holding mechanism 15 and operate the grip release operation tool 127 on the root or hogi side, the hand mechanism 31 on the operated side, 32 is released and the transport of seedlings by the rootstock pretreatment unit 3 and the hogi pretreatment unit 4 is stopped.

  Therefore, the operation of the grip release operation tool 127 can prevent the grafting operation from being stopped by stopping the grafting work when the seedling is supplied to the delivery holding mechanism 15 at an inappropriate position or posture, and thus the seedling. Can be wasted. In particular, it is possible to prevent the hand mechanisms 31 and 32 from holding the seedlings while the height of the seedlings is adjusted by the delivery holding mechanism 15 by hand, so that the seedlings are conveyed and grafted at an inappropriate height as they are.

  In addition, although embodiment of this invention demonstrated the structure which can be switched to the state which can change the position of the end surface 122a by the side of the pre-treatment part side, and the end surface 122a by the side of the pre-treatment part side, it is the upper transfer side The position of only the end face 121a can be changed, or the structure can be switched to a state in which only the end face 121a on the upper transfer side is not provided, or the end face 121a on the upper transfer side and the end face 122a on the hogi pretreatment unit side It is good also as a structure which can be changed into the structure which can change a position, or the state which is not equipped with the end surface 121a by the side of a transfer upper side, and the end surface 122a by the side of a pretreatment part.

  Note that one of the rootstock side and the hogi side automatically supplies seedlings to the delivery holding mechanism 15 with the gripping hand 12, and the other detects the gripping hand when supplying seedlings to the delivery holding mechanism 15 manually. A configuration in which the rootstock pre-processing unit 3 or the hogi pre-processing unit 4 starts conveying seedlings on condition that the sensor 125 detects the gripping hand 12 and the gripping hand detection sensor 125 detects nothing on the other hand. do it.

  In addition, a seedling detection sensor for detecting the seedling of the delivery holding mechanism 15 from above is provided instead of the gripping hand detection sensor 125, and the rootstock preprocessing unit 3 is provided on the condition that the seedling detection sensor detects the seedling in the fully automatic grafting operation. Or, the pre-treatment part 4 of the hogi starts transporting the seedlings, and the pre-treatment part 3 or the pre-treatment part 4 of the hogi is prepared on the condition that the seedling detection sensor does not detect the operator's hand in the semi-automatic grafting work. It is good also as a structure which starts conveyance. Also at this time, the detection performance of the seedling detection sensor may be switched.

  In the embodiment of the present invention, the resin brushes 65 and 71 are described as the removing portion, but the removing portion may be made of an elastic resin material such as polyethylene or polypropylene. According to this resin material, washing becomes easier than the brushes 65 and 71, and the occurrence of seedling diseases can be prevented by washing. Moreover, what is necessary is just to set it as the structure which can adjust the position of a removal part (resin brush 65,71) up and down and back and forth according to adjustment of the cutting position of a seedling, the growth condition or kind of seedling, etc.

  1: grafting seedling production device, 3: rootstock pretreatment unit, 4: hogi pretreatment unit, 7: adhesion processing unit, 63: joining position, 74: clip supply device, 101: clip, 102: gripping unit, 121 : Fixed support plate, 122: movable support plate

Claims (6)

  A rootstock pretreatment unit (3) for transporting rootstock seedlings from the left and right sides to the joining position (63), and a hogi pretreatment unit (4) for transporting seedlings seedlings from the left and right other sides to the joining position (63). ), And an adhesion processing part (7) for bonding the rootstock seedling and the safflower seedling conveyed to the joining position (63). The adhesion processing part (7) includes a clip ( 101) is transferred in the front-rear direction with the gripping part (102) open, supplied to the joining position (63) one by one, and the rootstock and pinion seedlings are held together by closing the gripping part (102). Grafting seedling production apparatus provided with a clip supply device (74) for further transporting in the front-rear direction the clip (101) to which the rootstock seedling and the hogi seedling are fixed, and releasing the rootstock seedling and the hogi seedling together , The supporting member (1) for supporting the clip (101) supplied to the joining position (63) from the lower side 1, 122), and the support member (121, 122) is located on the left and right side from the joining position (63) rather than the part (121) on the root pretreatment part side that is on the left and right side from the joining position (63). The grafted seedling production apparatus in which the portion (122) of the pre-treatment part of the hogi on the side protrudes in the release direction of the clip (101).   The part (121) on the rootstock pretreatment part side of the support member (121, 122) is located on the upper transfer side of the clip (101) with respect to the hypocotyl of the seedling joined at the joining position (63) in the front-rear direction. The portion (122) of the support member (121, 122) on the pretreatment part side of the saf is further to the lower transfer side in the front-rear direction of the clip (101) than the hypocotyl of the seedling joined at the joining position (63). Finally, the support member (121, 122) is connected to the embryonic axis of the seedling to be joined at the joining position (63) on the upper side of the transfer side of the clip (101) (121a), and to the embryonic axis. The grafted seedling production apparatus according to claim 1, further comprising an end surface (122a) on the side of the pretreatment part of the hogi that contacts the pretreatment part of the hogi.   The position of the end surface (121a) on the upper transfer side or the end surface (122a) on the hogi pretreatment unit side can be changed, or the end surface (121a) on the upper transfer side or the end surface (122a) on the hogi pretreatment unit side The grafted seedling production apparatus according to claim 2, wherein the apparatus can be switched to a state in which the apparatus is not provided. The rootstock pre-processing unit (3) and the hogi pre-processing unit (4) are configured to convey the seedlings held in the delivery holding mechanisms (15) corresponding to each to the joining position (63) and hold the seedlings A gripping hand (12) that is advanced by the advance / retreat mechanism (12b) in the state and supplies seedlings to the delivery holding mechanism (15) is provided, and a delivery holding mechanism (15) on at least one of the rootstock side and the hogi side Is provided with a hand mechanism (31, 32) for gripping the hypocotyl of the seedling, a seedling detection sensor (124) for detecting the seedling supplied to the gripping position of the hand mechanism (31, 32), and delivery holding of the seedling A gripping hand detection sensor (125) for detecting the gripping hand (12) retracted from the position to be supplied to the mechanism (15) is provided, and the gripping hand detection sensor (125) detects the retracted gripping hand (12). Change the orientation from the detection state It is provided so as to be switchable to a state for detecting the hand of the worker around the delivery holding mechanism (15), and the seedling is automatically sent to the delivery holding mechanism (15) using the gripping hand (12). At the time of fully automatic operation to supply, the gripping hand detection sensor (125) is switched to a state for hand detection, and at the time of semi-automatic operation to manually supply seedlings to the delivery holding mechanism (15), the gripping hand detection sensor (125) is set. A rootstock preprocessing unit is configured on the condition that the seedling detection sensor (124) detects the seedling and the gripping hand detection sensor (125) detects the gripping hand (12) while switching to the hand detection state. (3) or the full-automatic state in which the pre-treatment part (4) starts transporting the seedling, and that the seedling detection sensor (124) detects the seedling and the gripping hand detection sensor (125) detects nothing. Condition Part (3) or scion preprocessing unit (4) is grafted seedling producing device according to any one of claims 1 to 3, a control device is provided to switch to a semi-automatic condition for starting the conveyance of the seedling.   The rootstock pretreatment unit (3) and the hogi pretreatment unit (4) each convey the seedlings in the delivery holding mechanism (15) to the cutting position (62, 69), and the cutting position (62, 69). In this configuration, the seedlings cut by the respective cutting devices (64, 70) are transported to the joining position (63), and the cutting position (62, 69) of the rootstock seedling or the seedling seedling is transferred to the joining position (63). The removal part (65, 71) which removes the excision part of the seedling which should have been cut off at the cutting position (62, 69) is provided on the transport path of the seedling. The grafted seedling production apparatus according to 1.   The rootstock pre-processing unit (3) and the hogi pre-processing unit (4) are configured to convey seedlings held in the corresponding delivery holding mechanisms (15) to the joining position (63). 15) is provided with a hand mechanism (31, 32) for gripping the hypocotyl of the seedling, a seedling detection sensor (124) for detecting the seedling supplied to the gripping position of the hand mechanism (31, 32), and a table Due to the fact that a grasp release operation tool (127) for releasing grasping of the seedling by the hand mechanism (31, 32) on the tree side and the hogi side is provided, and the seedling detection sensor (124) detects the seedling. And a control device for operating a notifying device (126) for informing that the hand mechanism (31, 32) grips the embryonic axis of the seedling while holding the embryonic axis of the seedling by the hand mechanism (31, 32), The control device is a hand mechanism on both the rootstock side and the hogi side. 31 and 32), the rootstock pretreatment unit (3) and the hogi pretreatment unit (4) transport the seedlings from the delivery holding mechanism (15) due to the gripping of 31 or 32) or the operation of the notification device (126). When the grip release operating tool (127) on the tree side or the hogi side is operated, the grip of the operated hand mechanism (31, 32) is released and the rootstock preprocessing unit (3) and the hogi preprocessing unit The grafted seedling production apparatus according to any one of claims 1 to 5, wherein conveyance of the seedling according to (4) is stopped.

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