JPH01252228A - Automatic grafting unit - Google Patents

Abstract

PURPOSE:To provide the title equipped with respective means for individually holding a stock and a scion, for cutting a site to be grafted, for positioning and for fixing the resultant joint to perform cutting a site to be grafted for stock and scion and positioning the joint in high accuracy. CONSTITUTION:A stock A and a scion B are held by a holding means A, a site to be grafted in cut to a specified shape by a cutting means 7, the position where the both jointing parts are to be mutually grafted is positioned by a positioning means 8 in high accuracy, and the resulting joint is fixed by a fixing means 9. In said positioning, relative positions of the stock and scion are changed to mechanically position the both jointing parts cut. The fixing means is equipped with a fixing device 91 which delivers fixing medium such as band or tape to fix the joint.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a grafting device for grafting a scion onto a rootstock.

[Conventional technology]

Grafting is a method of attaching and fusing a part of a plant to another plant to obtain a plant with desired properties, which can control tree vigor, promote flowering, increase yield, improve quality, etc. Therefore, it has been widely used since ancient times.

Such grafting is usually performed manually. Specifically, the parts corresponding to the joints of the rootstock and scion are
Cut the canted rootstock and scion by hand using a hand mirror that can cant the joint into a predetermined joint shape (for example, a hand mirror that can cut wedge-shaped by moving the blade toward each other diagonally), and then cut the canted rootstock and scion at both joints. After carefully aligning the positions of both joints by hand, the work is done to fix the joints.

[Problem to be solved by the invention]

When such manual grafting is carried out, the rootstock and scion are usually small in size, so it is necessary to cut the joint portion of the rootstock and scion into a predetermined joint shape and to cut the cut rootstock and scion. When aligning the two joints of the tree, it is necessary to pay close attention, which places a mental burden on the worker, and because of the careful attention it takes, it takes a considerable amount of time to complete the task. There is a problem in that it takes a long time (specifically, it takes about 1 minute to graft one graft).

Furthermore, such work reflects individual differences among workers, resulting in a problem that the quality of the resulting grafted material varies.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an automatic grafting device that can solve the above-mentioned problems all at once.

[Means to solve the problem]

The automatic grafting device according to the present invention includes a holding means that holds a rootstock and a scion separately, and a holding means that holds the rootstock and scion while respectively predetermining the joint portions of the rootstock and the scion. a cutting means for cutting into a joint shape; a positioning means for positioning the rootstock and the scion while holding them by the holding means; and fixing the joint of the rootstock and the scion with the positions of both joints aligned. It is characterized in that it is provided with a fixing means for.

[For production]

When grafting is performed using such a device, the rootstock and scion are individually held by a holding means that allows for mechanically highly accurate positioning, so the rootstock and scion can be mechanically positioned with high precision. It can be placed in any position. Then, while the rootstock and scion are held by the holding means, the part corresponding to the joining of the rootstock and scion is cut into a predetermined shape by the cutting means, and the relative positions of the rootstock and scion are By changing the canted joints and mechanically aligning and fixing them, these operations can be performed accurately and quickly.

〔Effect of the invention〕

Therefore, when grafting is performed using such a device, the cutting of the rootstock and the scion at the joint and the positioning of the joint are performed accurately, and the quality of the resulting graft is consistently excellent. It becomes something.

In addition, since each work is done mechanically, grafting can be done quickly, greatly improving efficiency (specifically, one graft can be completed in 15 to 20 seconds). ). In addition, the operator only needs to mechanically manage the device, and is not burdened with the mental burden of the conventional system.

〔Example〕

The present invention will be described below based on drawings showing embodiments thereof.

In FIGS. 1 and 2, (6) is a holding means for holding the rootstock (A) and the scion (B) separately, and specifically, the holding means (6) is a holding means for holding the rootstock (A) and the scion (B) separately. Be careful not to damage the tip side of the rootstock (A) (the tip side of the rootstock (A) is roughly cut as necessary), which is cultivated in A rootstock holding means (61) is elastically held via a spring (61a), and a spring (62a) is used to prevent damage to the scion (B) that has been sown and germinated.
) scion retaining means (62) for elastically clamping through the
It consists of.

The scion holding means (62) approaches and moves away from the mounting table (12) according to the forward and reverse rotation of the screw shaft (14) connected to the output shaft (13a) of the motor (13). A swing motor (82) is placed on a movable table (82) that reciprocates in the direction of
), the robot rotates by 90 degrees to obtain the first attitude (the attitude shown by the solid line in Fig. 1), the second attitude (the attitude shown by the imaginary line in Fig. 1), and the third attitude (the attitude shown by the imaginary line in Fig. 2). The first arm (15a) is provided at the tip of the first arm (15a) that forms a part of the three-way arm (15) that can take a king's posture. To specifically explain the king posture, in the first posture, the first arm (15a) is attached to the rootstock (A).
A third posture is a posture in which the first arm (15a) rotates 180 degrees from the first posture and takes a position closest to the rootstock (A), The second posture is a posture in which the first arm (15a) takes a position intermediate between the two postures. Also, one of the remaining arms of the three-way arm, that is, the second arm (15b
) extends in a direction substantially perpendicular to the first arm (15a) and takes an upward posture in the first posture, and the other of the remaining arms (15a), that is, the third The arm (15c) extends to the opposite side of the first arm (15a), and is positioned closest to the rootstock (A) in the first posture. A proximity sensor (17) is attached to the tip of the third arm (15C), and the tip of the rootstock (A) is sensed by the proximity sensor (17).

In addition, in (7), the rootstock (A) and the scion (B) are held while the rootstock (A) and the scion (B) are held by the holding means (6).
It is a cutting means that cuts each of the joint portions corresponding to B) into a predetermined joint shape, and specifically, the cutting means (7) is supported by a support member (71a) extending from the movable table (82). The cam means (71b) is placed on the mounting table (12) side that supports the flower pot (11) (hereinafter referred to as the rootstock (^) side).
A cam roller-type scion cutter (71) that moves a pair of opposing blades toward each other according to the movement and cuts the joint portion of the scion (B) placed between them into a predetermined joint shape. and rotatably attached to the tip of the second arm (15b) of the three-way arm (15), and pivoting the three-way arm (15) from the first attitude to the second attitude while rotating it. A rotary cutting type rootstock cutter (72) is used to cant the joint portion of the rootstock (A) held by the rootstock holding means (61) into a predetermined joint shape.
). The distance from the center of rotation of the three-way arm (15) to the most advanced position of the cutting part of the scion (B) held and cut by the scion holding means (62) is the distance from the center of rotation to the rootstock cutter ( 72) to the farthest position of the cutting edge by a certain distance α (see FIG. 1).

In addition, (8) means that the rootstock (A) and the scion (B) are held while the rootstock (A) and the scion (B) are held by the holding means (6).
) is a positioning means for aligning the positions of both joints cut into a predetermined joint shape, and specifically, the positioning means (8) is a positioning means (8) for aligning the positions of both the joint parts cut into a predetermined joint shape of the rotary motor (81) and the moving table (
82) as the main elements.

Further, (9) is a fixing means for fixing the joint part of the rootstock (A) and the scion (B) whose joint parts have been aligned by the positioning means (8), and the fixing means (9) ) specifically comprises a fixing device (91) that is placed on the movable table (82), feeds out a fixing medium such as a band or tape, and fixes the joint with the fixing medium.

When grafting a scion (B) onto a rootstock (A) using such a device, first place the flower pot (11) on the mounting table (12).
) is placed, the rootstock (A) is held by the rootstock holding means (61), and the three-way arm (15) is placed in the first posture as shown in FIG. 1, and the first arm (15a> The scion (B) is supplied to the tip of the scion holding means (6).
2).

Next, while keeping the three-way arm (15) in the first position, move the moving table (82) toward the rootstock (A) until the proximity sensor (17) detects the tip of the rootstock (A). Then, use a scion cutter (71) to cut the part of the scion (B) that corresponds to the joint. Then, the moving table (82) is further moved toward the rootstock (A), and when the proximity sensor (17) detects the tip of the rootstock (A>), the movement of the moving table (82) is stopped and the rootstock (A>
72), and while maintaining that state, rotate the three-way arm (15) by 90 degrees to take the second posture, thereby cuffing the joint portion of the rootstock (A>) into a predetermined joint shape.
do.

When the joint portion of the rootstock (A) is canted into a predetermined joint shape, the three-way arm (15) is further rotated by 90 degrees while stopping the rotation of the rootstock cutter (72). At this point, as shown in Fig. 2, the part corresponding to the joint of the rootstock (A) and the part corresponding to the joint of the scion (B) are in a state facing each other with a certain distance α apart. ) to the spiral shaft (
14) is moved by the predetermined distance α toward the rootstock (A), and the position corresponding to the joint of the rootstock (A) and the position corresponding to the joint of the scion (B) are aligned. In addition,
In order to more reliably move the movable table (82) by a certain distance α, a stopper (82a) is attached to a predetermined position of the movable table (82), and the stopper (82a) is attached to a fixed part as appropriate. It is preferable to forcibly fix the position of the movable table (82) by bringing it into contact with the movable table (82).

Next, the joint between the rootstock (A) and the scion (B), which have been aligned as described above, is fixed using a fixing medium fed out from the fixing device (91).

After the joint has been fixed in this way, the scion holding means (6
2) Release the clamp on the scion (B) and move it to the moving table (8).
2) is returned to its original position, and then the three-way arm (15) is rotated 180° in the opposite direction to return to the first posture.

Then, the clamp by the rootstock holding means (61) is released, and the rootstock (A) onto which the scion (B) has been grafted is removed together with the flower pot (11).

[Another example]

(B) In the above embodiment, rootstock (A), scion (B)
) was to be held in one place, but if these were to be held in two places, the rootstock (A) that had grown diagonally
, the scion (B) can be straightened into a straight line, and the above-mentioned joint alignment becomes more reliable.

(b) In the above embodiment, the distance from the center of rotation of the three-way arm (15) to the farthest position of the cutting edge of the rootstock cutter (72) is maintained by the scion holding means (62) from the center of rotation. By matching the distance to the tip of the cutting part of the cut scion (B), the three-way arm (
By turning 15) by 90', the position corresponding to the joint of the rootstock (A>) and the position corresponding to the joint of the scion (B) can be performed.

(C) In the above embodiment, the three-way arm (15) was rotated 180 degrees and then reversed to return to the original first posture. It is also possible to return to the original first position.

(d) As an example different from the above-mentioned example, as shown in FIGS. 3 and 4, a flower pot (1
An embodiment may also be considered in which 1) is moved in parallel by an intermittent feeding method using an automatic conveyance device (2o). In the figure, (S
1) is a mounting position where a flower pot (11) containing a rootstock (A) is carried in and the rootstock (A) is held by a rootstock holding means (61'); This is the rootstock cutting position where the rootstock cutter (72') cuts the joint portion of the rootstock (A) into a predetermined joint shape after the rootstock (A) has been moved in parallel, and (S3) is the rootstock cutting position where the rootstock (A) is cut in a predetermined joint shape by the rootstock cutter (72').
After the scion (B) is further translated in parallel, the scion (B) is transferred to the scion holding means (
This is the scion holding/cutting position where the part corresponding to the joint is cut into a predetermined joint shape using a scion cutter (71°) while holding the part at the position corresponding to the joint (S4). Using the 180° rotating arm (21) to align the scion (B), which has been cut at the location corresponding to the joint, with respect to the rootstock (A), the scion (B) is rotated in parallel, and then simply This is a positioning/fixing position in which a fixing medium is delivered from the fixing device (91') to the joint and the joint is fixed with the medium, and (S5) is the position where the top of the scion (8) is aligned. This is the removal position in which the rootstock (A) fixed in step 1 is removed together with the flower pot (11).

In detail, the rootstock cutter (72'') is placed on the inclined table (18) together with the rotating arm (21) and the scion cutter (71'), and is moved along the inclined surface of the inclined table (18). The rotary blade is moved parallel to the rootstock (A> direction) to cant the joint portion of the rootstock (A), and the information regarding the parallel movement distance of the rotary blade at the time of cutting is based on the position. Alignment/fixed position (S4)
It is used when the scion is aligned with the rootstock (A). In other words, at the alignment/fixing position (S4), the scion cut with the scion cutter (71") is used. The swivel arm (21), which rotates 180° downward while holding the (B)
18) The joints between the rootstock (A) and the scion (B) are aligned by moving in parallel in the direction of the rootstock (A), but the amount of parallel movement is determined by the above information. Set based on.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

1 and 2 show a first embodiment of the automatic grafting device according to the present invention, FIG. 1 is an explanatory diagram showing the three-way arm in the first posture, and FIG. 2 is an explanatory diagram showing the three-way arm in the third posture. It is an explanatory view showing a state in a posture. 3 and 4 show the second embodiment, FIG. 3 is a front view, and FIG. 4 is the I'V of FIG. 3.
It is a view taken along the -rV line. (6)... Holding means, (7)... Cutting means, (8)... Positioning means, (9)...
... Fixing means, (A) ... Rootstock, (B)
...Hoki.

Claims (1)

[Claims] Holding means for separately holding rootstock (A) and scion (B) (
6), while holding the rootstock (A) and the scion (B) in the holding means (6), shape the joint portions of the rootstock (A) and the scion (B) into a predetermined joint shape, respectively. Cutting means (7) to cut into
And, while the rootstock (A) and the scion (B) are held by the holding means (6), the joint portions of the rootstock (A) and the scion (B) are cut into a predetermined joint shape. A positioning means (8) for adjusting the positions, and a rootstock (A) and a scion (B) with both joints aligned.
An automatic grafting device comprising a fixing means (9) for fixing the joint of the.