JP7239767B1 - Cutting planting system and cutting planting device - Google Patents

Abstract

A cutting planting system capable of appropriately planting cuttings in a medium is provided. Kind Code: A1 A cutting planting system for planting cuttings in a culture medium includes a mounting portion 311 for mounting the cuttings, and a holding portion 317 provided to face the mounting portion 311. and a mounting section driving device 320 that operates the pressing section 317 to contact or separate from the mounting section 311, and the posture of the grasping device 31 is such that the mounting surface 312 is substantially horizontal. and a second position in which the placement surface 312 is substantially vertical, and a control device 40 that controls operations of the holding device 31 and the planting drive device 33 . , the control device 40 sets the gripping device 31 to the first position and causes the gripping device 31 to grip the cutting in a first operation, and sets the gripping device 31 to the second position to plant the cutting gripped by the gripping device 31 in the culture medium. perform a second operation; [Selection drawing] Fig. 1

Description

TECHNICAL FIELD The present invention relates to a cutting planting device and a cutting planting system for planting cuttings in a medium.

Conventionally, there has been disclosed an apparatus for planting plant cuttings in a culture medium. For example, in Patent Document 1, a camera identifies cuttings suitable for pickup from a plurality of cuttings, the identified cuttings are picked up by a pick-up tool, and a planting system picks up the plurality of cuttings. A system for simultaneous planting in the medium is disclosed. In particular, in US Pat. No. 5,200,000, a planting system has a cutting clamp with two opposing members and a holding device with two opposing members, the opposing members of the cutting clamp clamping the top of the cutting. In addition to clamping, the lower part of the cutting is enclosed and held by the opposing member of the holding device. As a result, when inserting the scion into the cavity in the medium, the holding device can guide the scion to the cavity in the medium, and the scion can be appropriately inserted into the cavity in the medium.

Japanese Patent No. 6125435

However, in Patent Document 1, it is necessary to form a depression in the medium in advance. In some cases, the cuttings could not be inserted into the medium, or the cuttings were broken and damaged.

An object of the present invention is to provide a cutting planting system capable of appropriately planting cuttings in a culture medium.

A cutting planting system according to the present invention is a cutting planting system for planting cuttings in a culture medium, comprising: a gripping device comprising: a pressing portion provided; and a placing portion driving device for operating the pressing portion to contact or separate from the placing portion; A planting drive device for switching between a substantially horizontal first position and a substantially vertical second position, and a control device for controlling operations of the holding device and the planting drive device. and the control device performs a first operation in which the gripping device is set to the first position to cause the gripping device to directly grip the cutting, and a cutting gripped by the gripping device by setting the gripping device to the second position , and a second operation of planting in the culture medium while being held .
In the cutting planting system, the gripping device has an elongated guide member that extends outward from the placing portion or the pressing portion, and the guide member moves the gripping device to the second position. When the cuttings are planted in a medium, the cuttings can be supported and the medium can be dug.
The cutting planting system further includes a guide member driving device that advances and retracts the guide member, and the control device controls the guide member when planting the cutting grasped by the grasping device in a culture medium. After the driving device causes the guide member to advance toward the culture medium, and the cuttings are planted in the culture medium, the guide member driving device causes the guide member to retreat in the direction away from the culture medium. The guide member may be pulled out from the culture medium.
In the cutting planting system, when the guide member is pulled out from the culture medium, the control device causes the guide member driving device to retract the guide member while the cutting device is gripping the cutting. can do.
The cutting planting system further includes a gripping device driving unit that moves the gripping device in a horizontal direction, and the control device causes the guide member driving device to retract the guide member in a direction away from the culture medium to cause the guide member to move away from the culture medium. After the guide member is pulled out of the culture medium, the gripping device driving section may horizontally move the gripping device in a direction away from the scab inserted in the culture medium.
In the cutting planting system, the placing portion or the pressing portion has a groove in the placing portion or the pressing portion, and a part of the guide member is embedded in the groove. can do.
In the cutting planting system, the placement section driving device rotates the holding section around the first rotation axis and a first rotation shaft at a joint portion between the placement section and the holding section. and a first driving portion, which rotates the pressing portion about the first rotation shaft to rotate the placing surface of the placing portion and the pressing surface of the pressing portion. can be configured to approach each other while facing each other.
In the cutting planting system, the planting drive device includes a second rotation shaft that serves as a rotation center of the gripping device, and a second driving unit that rotates the gripping device around the second rotation shaft. wherein the second driving unit rotates the gripping device about the second rotation axis to switch the posture of the gripping device between the first position and the second position. can do.
In the cutting planting system, the holding device can hold a plurality of cuttings at the same time and can plant the plurality of cuttings in the culture medium at once, and the mounting surface of the mounting portion is configured to support the plurality of cuttings. It is a single surface on which the cuttings can be placed, and the pressing surfaces of the pressing portion can be configured to be provided in the same number as the number of the cuttings.
In the cutting planting system, a camera that captures the cutting, an image analysis device that analyzes an image of the cutting captured by the camera, and a cutting based on the image analysis result of the captured image. a pick-up robot for picking up the cuttings, wherein the control device places the gripping device at the first position and causes the pick-up robot to place the cuttings on the placing portion.

According to the present invention, cuttings can be appropriately planted in a medium.

It is a perspective view of the cutting planting system which concerns on this embodiment. It is a perspective view at the time of removing the hood|hood of the housing|casing of the cutting planting system which concerns on this embodiment. It is a top view of the cutting planting system which concerns on this embodiment. It is a perspective view of the planting unit which concerns on this embodiment. It is the perspective view which looked at the planting unit which concerns on this embodiment from another direction. It is an expansion perspective view around a guide member. It is the schematic which looked at the periphery of a guide member from the protrusion direction. It is a figure (1) for demonstrating the planting method of a planting unit. It is a figure (2) for demonstrating the planting method of a planting unit.

An embodiment of a cutting planting system according to the present invention will be described with reference to the drawings. The cutting planting system according to the present invention is a system for automatically planting the supplied cuttings in a culture medium by supplying cuttings from an operator. In the present invention, the plant to be used as a "cutting" is not particularly limited. It can also be applied to leaves and the like used in a breeding method in which buds and roots are produced by inserting them into the leaves.

FIG. 1 is a perspective view showing a cutting planting system 1 according to this embodiment. Moreover, FIG. 2 is a perspective view when the cover 12 of the housing 10 of the cutting planting system 1 according to the present embodiment is removed. Furthermore, FIG. 3 is a plan view of the cutting planting system 1 according to this embodiment. As shown in FIGS. 1 to 3, the cutting planting system 1 according to the present embodiment includes a housing 10, a pick-up unit 20, a planting unit 30, a control device 40, and a medium transfer conveyor 50. have In this embodiment, the housing 10, the pick-up unit 20, the planting unit 30, the control device 40, and the culture medium transfer conveyor 50 can be configured independently, or can be configured integrally.

As shown in FIG. 1, the housing 10 includes a frame 11 serving as a frame for fixing the pick-up unit 20, the planting unit 30, the control device 40, and the culture medium transfer conveyor 50, and placed inside the frame 11. It has a pick-up unit 20 to be placed and a cover 12 surrounding the planting unit 30 . Further, as shown in FIG. 1 , an operation unit 61 and a monitor 62 are provided outside the cover 12 for operation by the operator. The operator can output the operator's instructions to the control device 40 by operating the operation unit 61 while watching the display on the monitor 62 . Also, the monitor 62 may be configured to display an image captured by the camera 22 .

As shown in FIGS. 2 and 3, the pickup unit 20 has a workpiece input conveyor 21, a camera 22, and a pickup robot . Cuttings are loaded onto the work loading conveyor 21 by an operator or by a device such as a hopper. The cuttings fed to the work feeding conveyor 21 are conveyed by the work feeding conveyor 21 to the vicinity of the position where the camera 22 and the pick-up robot 23 are installed. On the opposite side of the workpiece input conveyor 21 from the side of inserting the cuttings, a collecting unit for collecting the cuttings that could not be picked up by the pick-up robot 23 may be provided. A conveyor for returning to the position of the operator may be provided below the workpiece introduction conveyor 21 .

The camera 22 images a plurality of cuttings being conveyed on the work feeding conveyor 21 . Then, the camera 22 transmits the captured image of the cutting to the control device 40 . The control device 40 acquires an image of the cutting taken by the camera 22, performs image analysis, and identifies the stem portion of the cutting. Then, the control device 40 controls the operation of the pick-up robot 23 so as to grip the stem of the identified cutting. Note that the control device 40 may perform image analysis for analyzing the stem of the cutting by analyzing the feature amount of the image, or may be configured to perform image analysis by machine learning. Note that the description of the camera 22 is omitted in FIG.

The pick-up robot 23 is a robot that grips the stalk of the cutting and picks up the cutting from the workpiece input conveyor 21 under the control of the control device 40. For example, a SCARA robot can be used. In this embodiment, the pick-up robot 23 has a robot hand having three pick-up tools (cutting pinching parts) for gripping the cuttings, and is capable of picking up three cuttings at the same time. It's becoming The pick-up robot 23 may be configured to pick up the cuttings one by one, or may be configured to pick up four or more cuttings at the same time. The pickup robot 23 transfers the picked cuttings to the planting unit 30 . Specifically, as shown in FIG. 4, the pick-up robot 23 carries the picked cuttings up to the mounting surface 312 of the mounting portion 311 of the planting unit 30, and inserts them on the mounting surface 312. By releasing the ear, the cutting can be placed still on the placement surface 312 .

FIG. 4 is a perspective view of the planting unit 30 according to this embodiment. FIG. 5 is a perspective view of the planting unit 30 according to this embodiment viewed from another direction. The planting unit 30 has a gripping device 31, a second rotating shaft 32, a second driving section 33, a third driving section 34, and a fourth driving section 35, as shown in FIG.

As shown in FIG. 4 , the gripping device 31 has a placement section 311 , a movable plate 317 , a first rotating shaft 319 and a first driving section 320 . Moreover, the mounting part 311 of this embodiment has the mounting surface 312 on which six cuttings are mounted. In addition, the movable plate 317 of this embodiment has three pressing surfaces 318 for pressing the cuttings placed on the placing surface 312 . The movable plate 317 and the pressing surface 318 constitute a pressing portion. Although the gripping device 31 according to the present embodiment can grip six scions, it is not limited to this configuration, and five or less or seven or more scions can be gripped. can also be configured.

In this embodiment, as shown in FIG. 4, a plurality of cuttings are arranged on a single placement surface 312 at regular intervals. On the other hand, the gripping device 31 has two movable plates 317 as shown in FIG. Each of the movable plates 317 has three pressing surfaces 318, and each pressing surface 318 can press one cutting. The gripping device 31 may be configured to have a plurality of mounting portions 311 or may be configured to have one or more than three movable plates 317 . Also, the movable plate 317 can be configured to have two or less or four or more pressing surfaces 318 . Although the material of the mounting surface 312 and the pressing surface 318 is not particularly limited, it is preferable to use a resin material.

The gripping device 31 has a first rotating shaft 319 at a joint portion where the placing portion 311 and the movable plate 317 are joined together, and a first driving portion that rotates the movable plate 317 around the first rotating shaft 319. 320. The first drive unit 320 is, for example, an extendable actuator, and is connected to the side of the movable plate 317 opposite to the pressing surface 318 . By moving and tilting the movable plate 317 toward the mounting portion 311, the holding surface 318 of the movable plate 317 and the mounting surface 312 of the mounting portion 311 can be brought close to each other while facing each other. Thereby, the gripping device 31 can press and grip the cuttings placed on the placement surface 312 with the pressing surface 318 .

Also, the second rotating shaft 32 is connected to the gripping device 31 , and the second driving section 33 can rotate the gripping device 31 around the second rotating shaft 32 . Specifically, the second drive unit 33 rotates the gripping device 31 about the second rotation shaft 32 so that the posture of the gripping device 31 is such that the mounting surface 312 of the mounting unit 311 is substantially horizontal. and a second position in which the mounting surface 312 of the mounting portion 311 is substantially vertical. Note that FIG. 4 illustrates a scene in which the gripping device 31 is at the first position. Furthermore, the third drive unit 34 can move the gripping device 31 in the vertical direction (to the culture medium side) when inserting the cutting into the culture medium, and after inserting the cutting into the culture medium, the gripping device 31 can be moved. It can be moved upwards away from the medium. In the present embodiment, media for inserting cuttings are placed side by side and transported on the media transport conveyor 50 . At the timing when the culture medium is transported to a predetermined insertion position by the culture medium transport conveyor 50, the gripping device 31 is moved in the direction of the culture medium by the operation of the third drive unit 34, thereby inserting the scion into the culture medium. It will happen.

Further, the gripping device 31 has a needle-like guide member 313 extending outward from the mounting portion 311, as shown in FIG. Although the material of the guide member 313 is not particularly limited, it can be made of a relatively hard material such as metal such as iron or alloy, hard resin, or ceramics. In this embodiment, the guide member 313 is made of stainless steel (SUS). The thickness of the guide member 313 is also not particularly limited, but can be, for example, 0.5 to 10 mm, more preferably 0.8 to 5 mm. Here, FIG. 6 is an enlarged perspective view of the periphery of the guide member 313, and illustration of the cuttings placed on the placement portion 311 is omitted. The guide member 313 is a pin or rod-like member for supporting the cutting when inserting the cutting into the medium, making a hole in the medium, and guiding the cutting into the hole in the medium. In this embodiment, the guide member 313 is held by the mounting portion 311 . Specifically, as shown in FIG. 7, a groove 314 is formed in the mounting portion 311 and the guide member 313 is embedded in the groove 314 . More specifically, the upper portion of the guide member 313 is inserted into the through hole 315 of the mounting portion 311 so that the guide member 313 is held by the mounting portion 311, and the central portion is embedded in the groove 314. The lower portion can protrude outward from the end surface 316 of the mounting portion 311 . FIG. 7 is a further enlarged perspective view of the periphery of the guide member 313. As shown in FIG. An end surface 316 of the mounting portion 311 is a surface perpendicular to the mounting surface 312 of the mounting portion 311, and is a surface positioned at the lower end of the mounting portion 311 when the grip portion 31 is at the second position. be.

Moreover, as shown in FIG. 6, in this embodiment, a plurality of guide members 313 are arranged side by side at regular intervals. Specifically, each guide member 313 is provided at a position facing each pressing surface 318 when the gripping portion 31 grips the scion. In this embodiment, the cutting is placed along the guide member 313 at the position of the guide member 313 and is pressed by the pressing surface 318 facing the guide member 313 . The gripping device 31 also has a guide member drive section 321 for advancing and retreating the guide member 313 , and the guide member 313 can be advanced and retreated by the guide member drive section 321 . Specifically, the guide member driving section 321 can cause the guide member 313 to protrude outward from the end surface 316 of the mounting section 311 when the guide member 313 is advanced, and can be retracted when the guide member 313 is retracted. can be accommodated in the groove 314 up to the tip of the guide member 313 . The amount of protrusion of the guide member 313 from the end surface 316 of the mounting portion 311 (the amount of protrusion from the end surface 316) is not particularly limited, but is about the same as the length of the stem of the cutting projecting from the end surface 316 (for example, The length of the stem of the cutting protruding from the end face 316 may be -10 mm to +30 mm). For example, an air cylinder with a guide can be used as the guide member driving section 321 .

Next, the operation of the gripping device 31 will be described with reference to FIGS. 8 and 9. FIG. 8 and 9 are diagrams for explaining a method of planting cuttings by the planting unit 30. FIG. The operation of the planting unit 30 shown in FIGS. 8 and 9 is controlled by a control device 40. FIG.

First, as shown in FIG. 8A, before the pick-up robot 23 places the cuttings on the placement surface 312, the controller 40 adjusts the posture of the gripping device 31 to the placement surface of the placement unit 311. A first position 312 is substantially horizontal. When the pickup robot 23 picks up the cuttings, the control device 40 causes the pickup robot 23 to place the picked cuttings on the mounting surface 312 of the mounting unit 311, as shown in FIG. 8B. Let Specifically, the control device 40 controls the pickup robot 23 to place the cuttings on the placement surface 312 and on the grooves 314 in which the guide members 313 are embedded. Since the guide member 313 is installed at a position facing the pressing surface 318 of the movable plate 317, by placing the cutting on the groove 314 in which the guide member 313 is embedded, the cutting can It is placed at a position where it can be pressed by the pressing surface 318 of the movable plate 317 . Further, in the present embodiment, the control device 40 causes the pickup robot 23 to repeat the operation of picking up the cuttings and placing the picked-up cuttings on the mounting surface 312, as shown in FIG. , a predetermined number of cuttings (six cuttings in this embodiment) are placed on the mounting surface 312 of the mounting portion 311 at regular intervals.

Then, when a plurality of cuttings are placed on the placement surface 312 of the placement portion 311 , the control device 40 rotates the movable plate 317 about the first rotation shaft 319 by the first driving portion 320 . Then, as shown in FIG. 8C, the plurality of cuttings placed on the placement surface 312 of the placement portion 311 is held between the placement surface 312 of the placement portion 311 and the pressing surface 318 of the movable plate 317. pinch and hold.

Next, as shown in FIG. 9(D), the control device 40 rotates the gripping device 31 around the second rotation shaft 32 by the second driving section 33 to change the attitude of the gripping device 31 to the position of the mount. The first position in which the placement surface 312 of the placement portion 311 is substantially horizontal is changed to the second position in which the placement surface 312 is substantially vertical. As a result, the scion sandwiched between the mounting portion 311 and the movable plate 317 becomes perpendicular to the surface of the culture medium, and the cutting becomes ready to be inserted into the culture medium. In this embodiment, as shown in FIG. 9(D), when the posture of the gripping device 31 is changed to the second position, the distance from the scion to the culture medium is 10 to 50 mm, more preferably 20 to 40 mm. The positions in the height direction of the gripping device 31 and the culture medium transfer conveyor 50 are adjusted so that .

Next, the control device 40 operates the third driving section 34 to drive the gripping device 31 in the vertical direction (toward the culture medium). As a result, as shown in FIG. 9(E), the scions are inserted into the culture medium together with the guide member 313 . In particular, in this embodiment, as shown in FIGS. 8 and 9, the guide member 313 extends along the stem of the scion gripped by the gripping device 31, so as shown in FIG. In addition, when the gripping device 31 is moved in the vertical direction (to the culture medium side) by the third driving unit 34, the guide member 313 is inserted into the culture medium together with the cutting, supporting the cutting (horizontal direction of the cutting). (while restricting movement), the medium can be perforated. That is, if there is no guide member 313, the cutting is inserted into the medium as it is, but if the cutting is soft, the stem of the cutting may bend without being able to make a hole in the medium. However, by providing the guide member 313, a hole can be made in the culture medium while the stem of the cutting is supported by the guide member 313, so that the cutting can be properly inserted into the culture medium. In addition, in this embodiment, the third driving section 34 drives the guide member 313 so that the guide member 313 is inserted to a depth of about 10 to 20 mm into the culture medium.

After inserting the cutting into the culture medium, the control device 40 causes the guide member driving section 321 to pull up the guide member 313 as shown in FIG. 9(F). Thereby, the guide member 313 can be pulled out from the culture medium. Then, as shown in FIG. 9G, the control device 40 causes the first drive section 320 to rotate the movable plate 317 upward away from the mounting section 311 . As a result, the gripping of the scion by the gripping device 31 is released. As described above, in the present embodiment, by pulling up the guide member 313 and then releasing the gripping of the cutting by the gripping device 31, the cutting can be maintained in an appropriately inserted state. That is, if the guide member 313 is pulled upward after the gripping of the scion by the gripping device 31 is released, the scion inserted into the culture medium will move upward above the guide member 313 when the scion is in contact with the guide member 313. There is a risk that the cuttings will be pulled out of the medium due to the force associated with the movement of the cuttings. On the other hand, by pulling up the guide member 313 and then releasing the gripping of the scion by the gripping device 31, the guide member 313 can be pulled up while the scion is gripped by the gripping device 31. It is possible to prevent the cuttings from being pulled out of the culture medium due to the force accompanying the upward movement of the guide member 313 .

Further, the control device 40 causes the fourth drive section 35 to slide the guide member 313 in the horizontal direction away from the scabbard, as shown in FIG. 9(H). As a result, it is possible to effectively prevent the guide member 313 and the mounting surface 312 from coming into contact with the cuttings and the cuttings from coming out of the culture medium. In addition, since the guide member 313 is housed in the groove 314 of the mounting portion 311 up to the tip, it is possible to prevent the guide member 313 from coming into contact with the culture medium.

Further, the control device 40 causes the third driving section 34 to move the gripping device 31 upward, and then the second driving section 33 to rotationally drive the gripping device 31 around the second rotation shaft 32 to grip. Device 31 is caused to change from the second position to the first position. Further, the control device 40 causes the fourth drive section 35 to horizontally move the gripping device 31 , and the guide member drive section 321 to advance the guide member 313 to protrude from the end surface 316 of the placement section 311 . Thereby, the gripping device 31 returns to the state shown in FIG.

As described above, the cutting planting system 1 according to the present embodiment includes a mounting portion 311 having a mounting surface 312 on which the cuttings are placed, and a pressing surface for pressing the cuttings placed on the mounting portion 311. and a movable plate 317 having a surface 318, and by bringing the mounting surface 312 of the mounting portion 311 and the pressing surface 318 of the movable plate 317 close to each other in a state of facing each other, the cuttings are placed on the mounting surface 312 and the pressing surface 318. and a control device 40 for switching the posture of the gripping device 31 between a first position in which the mounting surface 312 is substantially horizontal and a second position in which the mounting surface 312 is substantially vertical. The control device 40 sets the gripping device 31 to the first position when gripping the cuttings with the gripping device 31, and moves the gripping device 31 when planting the cuttings gripped by the gripping device 31 in the culture medium. 2nd position. Thus, in the cutting planting system 1 according to the present embodiment, when the pick-up robot 23 delivers the cutting to the gripping device 31, the cutting is placed on the placement surface 312 which is substantially horizontal. The cuttings can be easily handed over from the pick-up robot 23 to the gripping device 31. In addition, only by rotating the movable plate 317 about the first rotating shaft 319 by the first drive unit 320, the movable plate 317 easily and reliably grips the cuttings placed on the mounting surface 312. becomes possible.

In addition, in the cutting planting system 1 according to the present embodiment, as shown in FIG. 8, the gripping device 31 extends vertically when the gripping device 31 is at the second position, and By further having a protruding rod-shaped guide member 313, when the cutting is inserted into the culture medium, the guide member 313 supports the cutting and is inserted into the culture medium together with the cutting. It can be inserted straight into the medium, solving the problem that the cuttings are bent when inserted into the medium. In addition, the guide member 313 can advance and retreat, and when the cuttings gripped by the gripping device 31 are to be planted in the culture medium, the guide member 313 is kept in the advanced state so that the guide member 313 is suitable for the culture medium. In addition, after the cuttings are planted in the culture medium, the guide member 313 can be pulled back appropriately from the culture medium by retracting the guide member 313 .

Although preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the description of the above embodiments. Various modifications and improvements can be added to the above-described embodiment examples, and forms with such modifications and improvements are also included in the technical scope of the present invention.

For example, in the above-described embodiment, after inserting the scion into the culture medium, the guide member 313 is slid upward to pull out the guide member 313 from the culture medium (FIG. 9(F)), and then the movable plate 317 is moved upward. to release the gripping of the cuttings by the gripping device 31 (FIG. 9(G)), and horizontally move the gripping device 31 away from the cuttings planted in the culture medium (FIG. 9(H)). However, it is not limited to this configuration. For example, when the interaction between the cutting and the guide member 313 is small, the state in which the cutting is inserted into the medium and then the guide member 313 is inserted into the medium The movable plate 317 is rotated upward to release the gripping of the scion by the gripping device 31 . can also be configured to be pulled out from the culture medium. In this case, a guide member drive section for advancing and retracting the guide member 313 is not required, so the configuration can be further simplified.

Further, in the above-described embodiment, the pick-up unit 20 may pick up the cuttings without providing the planting unit 30, and the cuttings may be planted as they are. In this case, it is desirable to provide a robot hand of the pick-up robot 23 of the pick-up unit 20 with a guide member 313 so that the scion and the guide member 313 are inserted into the culture medium at the same time.

Furthermore, in the above-described embodiment, the configuration in which the guide member 313 is embedded in the mounting portion 311 is exemplified. .

DESCRIPTION OF SYMBOLS 1... Cutting planting system 10... Case 11... Frame body 12... Cover 20... Pickup unit 21... Work input conveyor 22... Camera 23... Pickup robot 30... Planting unit 31... Gripping device 311... Placement part
312... Placement surface
313... Guide member
314 groove
315 through hole
316... End face 317... Movable plate
318... Pressing surface 319... First rotary shaft 320... First drive unit 321... Guide member drive unit 32... Second rotary shaft 33... Second drive unit 34... Third drive unit 35... Fourth drive unit 40... Control device 50... Conveyor for medium transfer 61... Operation unit 62... Monitor

Claims (10)

A cutting planting system for planting cuttings in a medium, comprising:
A placing portion for placing the cuttings, a pressing portion provided to face the placing portion, and a placing portion driving device for operating the pressing portion to contact or separate from the placing portion. and a gripping device comprising
a planting driving device that switches the posture of the gripping device between a first position in which the placing portion is substantially horizontal and a second position in which the placing portion is substantially vertical;
a control device that controls operations of the holding device and the planting drive device;
The control device performs a first operation in which the gripping device is set to the first position to cause the gripping device to directly grip the cutting, and a cutting gripped by the gripping device is performed by setting the gripping device to the second position. a second operation of planting in the culture medium as it is , and a cutting planting system. The gripping device has an elongated guide member extending outward from the placing portion or the pressing portion,
2. The cutting planting system according to claim 1, wherein the guide member supports the cutting and digs the medium when the cutting is planted in the medium with the gripping device at the second position. further comprising a guide member driving device for advancing and retracting the guide member;
When the cuttings gripped by the gripping device are to be planted in the culture medium, the control device causes the guide member driving device to advance the guide members toward the culture medium so that the cuttings are planted in the culture medium. 3. The cutting planting system according to claim 2, wherein after planting, the guide member driving device retracts the guide member in a direction away from the culture medium to pull out the guide member from the culture medium. 4. The cutting planting according to claim 3, wherein when the guide member is pulled out from the culture medium, the control device causes the guide member drive device to retract the guide member while the cutting device is gripping the cutting. cultivating system. further comprising a gripping device driving unit for moving the gripping device in a horizontal direction;
The control device causes the guide member driving device to retract the guide member in a direction away from the culture medium to pull out the guide member from the culture medium, and then the gripping device is inserted into the culture medium by the gripping device driving unit. 4. The cutting planting system according to claim 3, wherein the cutting is moved horizontally away from the cutting. The mounting portion or the pressing portion has a groove in the mounting portion or the pressing portion,
3. The scion planting system according to claim 2, wherein part of said guide member is embedded in said groove. The placing section driving device includes:
a first rotating shaft at a joint portion between the placing portion and the holding portion;
a first drive unit that rotates the pressing unit about the first rotation shaft;
3. The first drive unit rotates the pressing portion about the first rotation shaft to cause the mounting surface of the mounting portion and the pressing surface of the pressing portion to approach each other while being opposed to each other. 2. The cutting planting system according to 1. The planting drive device includes:
a second rotation shaft serving as a rotation center of the gripping device;
a second drive unit that rotates the gripping device about the second rotation shaft;
2. The second driving unit according to claim 1, wherein the gripping device rotates about the second rotation axis to switch the posture of the gripping device between the first position and the second position. cutting planting system. The gripping device is capable of gripping a plurality of cuttings at the same time and planting the plurality of cuttings in the culture medium at once,
The mounting surface of the mounting portion is a single surface on which the plurality of cuttings can be mounted,
2. The cutting planting system according to claim 1, wherein said holding parts are provided in a number corresponding to said cuttings. a camera for imaging the cuttings;
an image analysis device for image analysis of the captured image of the cuttings captured by the camera;
a pickup robot that picks up cuttings based on image analysis results of the captured image;
2. The scion planting system according to claim 1, wherein the control device causes the pick-up robot to place the cuttings on the placing portion with the gripping device at the first position.

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