JPH04131016A - Method and apparatus for automatic grafting - Google Patents

Abstract

PURPOSE:To automatically, surely and efficiently carry out grafting of a scion onto a stock by respectively obliquely cutting the scion and the stock and superposing the cut parts with a heat-shrinkable tube. CONSTITUTION:A piece 23 of a heat-shrinkable tube is fed to a tube holding hole 38 formed in closing openably and closably installed chucks 16 for holding a tube 42 and a hand 30 holding a scion 26 is moved to obliquely cut the stem of the scion with a scion cutter 33. The stem above the cut surface is then inserted into the piece of the heat-shrinkable tube. On the other hand, the stem of a positioned stock 11 is obliquely cut with a stock cutter 17. The stem below the cut surface of the stock is positioned below the tube holding hole, subsequently lifted and inserted into the aforementioned piece of the tube to superpose the cut surface of the scion on that of the stock. Hot air is then fed to shrink the piece of the tube. Cold air is subsequently fed to carry out automatic grafting.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a grafting method and apparatus for automatically grafting a scion onto a rootstock.

[Conventional technology]

Grafting imparts disease resistance to plants, regulates tree vigor, promotes fruit set,
This is a technology that is widely used for the purpose of increasing sales and improving quality.

Traditionally, grafting was done manually, but it required a lot of labor and time, so automation of grafting has been promoted as a means to solve this problem, and has already been published in Japanese Patent Application Laid-Open No. 1-25
Automatic grafting device described in Publication No. 2228, JP-A-2-107
An apparatus for producing grafted seedlings has been proposed as described in Publication No. 125.

[Problem to be solved by the invention]

However, both the automatic grafting device and the grafted seedling manufacturing device described above position the scion and the rootstock separately and overlap their cut surfaces, making it difficult to accurately overlap the grafted parts. This method involves fixing the scion with a fixing medium such as a hand or tape, or a support such as a grafting clip, so even if these fixing means are installed, it is difficult to ensure that the scion and rootstock are in close contact, and it is difficult to maintain the scion. Difficult to fix;
In addition, there were drawbacks such as damaging the stems of the scion and rootstock.

Furthermore, it was necessary to remove the above-mentioned fixing device after the graft was established.

The present invention aims to solve this problem, and uses a grafting tool (Japanese Patent Application No. 90671), which falls off naturally as the plant grows, to tightly bond the joint surface between the scion and the rootstock. An automatic grafting method with a high survival rate that allows the joint to be held and fixed, and an automatic method that allows the scion and rootstock to be inserted into the grafting tool automatically and reliably, allowing for efficient and continuous grafting. A grafting device is provided.

[Means to solve the problem]

In order to achieve the above object, the automatic grafting method of the present invention supplies a heat-shrinkable tube piece to a tube holding hole formed when a tube gripping chuck provided in an openable/closable manner is closed, and grips a scion. After cutting the scion stem diagonally with a scion cutter, the stem above the cut surface is inserted into the heat-shrinkable tube piece in the tube holding hole, while the positioned rootstock The stem of the rootstock is cut diagonally with a rootstock cutter, and the lower stem from the cut surface of the rootstock is positioned below the tube holding hole, and then ascended and inserted into the heat-shrinkable tube piece to remove the cut surface of the scion. and the cut surface of the rootstock, and then hot air is supplied to the heat-shrinkable tube piece to cause it to shrink, and then cold air is supplied to the heat-shrinkable tube piece.

In addition, the automatic grafting device that carries out the above method includes a rootstock transfer section that can horizontally transfer the rootstock to the cutting position and the grafting position and that can be raised and lowered, and a rootstock transfer section that is disposed above the rootstock transfer section and that transfers the rootstock to the cutting position and the grafting position. a rootstock transfer guide that guides the movement; a cutter that cuts the stem of the rootstock positioned at the cutting position; a tube holding hole that is openable and closable and located at the grafting position when closed; and a tube holding hole below the tube holding hole. a tube gripping chuck forming a rootstock insertion hole communicating with the rootstock joint;
The heat-shrinkable tube piece was constituted by an air supply unit that supplies hot air and cold air to the heat-shrinkable tube piece that covered the tube holding hole and the cut portions of the scion and rootstock.

The rootstock transfer unit includes a rootstock positioning table having a plurality of holes for positioning the rootstock and a groove communicating between the holes, and a rootstock transfer unit that is provided to be horizontally movable and movable up and down through the grooves. It consists of a board.

The position of the rootstock transfer guide is lower than the cut surface of the stem of the rootstock placed on the rootstock positioning table when the rootstock transfer part is in the lowered position, and when the rootstock transfer part is in the raised position, The position shall be higher than the upper edge of the pot of the rootstock placed on the wood transfer board.

The inner diameter of the tube holding hole is larger than the outer diameter of the heat-shrinkable tube piece, and the inner diameter of the rootstock insertion hole that communicates with the lower part of the tube holding hole is smaller than the inner diameter of the heat-shrinkable tube piece. do.

The automatic grafting device further includes a scion sensor that detects the scion held by the scion hand, and a rootstock sensor that detects the rootstock placed at the grafting position of the rootstock transfer section. is provided, and the control unit instructs the scion hand to re-grip the scion when the scion sensor does not detect the scion, and instructs the scion hand to re-grip the scion when the scion sensor does not detect the scion. A control is provided to instruct the transfer operation of the rootstock transfer unit.

The scion transfer section includes a scion transfer hand that can be opened and closed, and a scion transfer hand that is slidably provided on a shaft protruding from the lower surface of the scion transfer hand and that is biased downward. It has a tube holding plate that presses against the tube gripping chuck.

[Effect]

The automatic watering method using the automatic watering device configured as described above is as follows.

After the tube gripping chuck is closed to form the tube holding hole, a piece of heat-shrinkable tube supplied from the heat-shrinkable tube supply unit is inserted into the tube holding hole.

Next, while the scion hand holding the scion is transporting the scion, the stem of the scion is cut diagonally by the scion cutter, and the cut scion is grasped by the scion transfer hand and inserted into the tube holding hole. When inserted into the heat-shrinkable tube piece in the tube-holding chuck, the tube pressing plate comes into pressure contact with the tube-holding chuck, so that vertical movement of the heat-shrinkable tube piece inside the tube-holding chuck is restrained.

On the other hand, the stem of the rootstock, which has been positioned at the cutting position by the rootstock transfer unit, is cut diagonally by the rootstock cutter, and then transferred and positioned to the grafting position, and the rootstock transfer unit moves up to remove the rootstock from the cutting position. is inserted into the heat-shrinkable tube piece in the tube holding hole, and the cut surface of the scion and the cut surface of the rootstock are overlapped.

Next, hot air is sent to the heat-shrinkable tube piece by the air supply unit, and the heat-shrinkable tube piece contracts to hold and fix the joint surfaces of the scion and the rootstock in a state where they are in close contact with each other.

Next, cold air is supplied by the air supply section to return the heat-shrinkable tube piece to normal temperature.

The rootstock that has been grafted is carried out by the rootstock transport section, and one cycle of automatic grafting is completed.

When the rootstock that has been grafted is carried out by the rootstock conveyance unit, the rootstock at the cutting position is moved to the grafting position and positioned, and the newly brought in rootstock is moved to the cutting position and transferred one after another. Successive grafting is done automatically.

When the scion sensor detects that the scion hand is not gripping the scion, the control section instructs the scion hand to re-grip the scion, thereby preventing empty conveyance of the scion. When the rootstock sensor detects that no rootstock is placed at the grafting position of the rootstock transfer unit, the control unit instructs the rootstock transfer unit to perform a transfer operation, so that the rootstock is missing. This prevents the connection from not working properly.

〔Example〕

Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a front view of the automatic grafting device, FIG. 2 is a side view of the automatic grafting device, and FIG. 3 is an exploded perspective view of the main parts of the automatic grafting device.

As shown in FIG. 1, a rootstock transfer section A is provided approximately at the center of the pedestal 1.

The rootstock transfer part A is a bed 3 fixed to the cross beam 2 of the frame 1.
, a cylinder 4 attached to the end of the bed 3, a movable table 5 connected to a piston rod (not shown) of the cylinder 4 and sliding on the bend 3, and a piston of the cylinder provided inside the movable table 5. a rootstock transfer plate 7 (see Fig. 3), which is fixed to the tip of a rod (not shown) and is movable up and down, and has three pot support parts 63 to 6c formed at equal pitches on the upper surface; It has a rootstock positioning stand 8 disposed above the rootstock transfer plate 7, and the rootstock positioning stand 8 has pot supporting parts 6a to 6C at the same pitch intervals as the pot supporting parts 6a to 6C. Holes 9a to 9d for positioning four insertable pots and porous hole 9
A groove]0 passing through a to 9d is provided (see FIGS. 3 and 4).

The pot positioning hole 9a forms the loading position for the pot 12 of the rootstock 1). When the pot 12 of the rootstock 1) is inserted into the hole 9a at the loading position and the rootstock transfer plate 7 is raised, the rootstock 1 ) Since the pot 12 is lifted, the rootstock transfer plate 7 is moved to the right to move the pot support part 6a above the hole 9b at the cutting position, and then the rootstock transfer plate 7 is lowered. The pot 12 is fitted into the hole 9b at the rootstock cutting position.

Therefore, the rootstock transfer plate 7 is raised, the cloth is moved, and it is lowered.

When the operation of moving to the left is repeated, the pot 12 of the rootstock 1) is moved to the hole 9a at the carry-in position and the hole 9b at the rootstock cutting position.

It is sequentially transferred and positioned to the hole 9c at the grafting position and the hole 9d at the unloading position (see FIGS. 3 and 4).

On both sides of the rootstock positioning table 8 in the width direction, a light emitting/receiving type rootstock sensor 45 is arranged to detect that the pot 12 of the rootstock 1) is placed in the hole 9c at the grafting position.

A rootstock gripping joint part B is provided above the rootstock transfer part A configured as described above.

Two rootstock transfer guides 37 that are parallel to the moving direction of the rootstock transfer plate 7 are arranged at the rootstock grip joint B.

The rootstock transfer guide 37 guides the movement of the rootstock 1), and the entrance on the left side is enlarged in FIG. 3.

The position of the rootstock transfer guide 37 is the rootstock 1) placed on the rootstock positioning base 8 when the rootstock transfer section A is in the lowered position.
The pot 12 of the rootstock 1) placed on the rootstock transfer plate 7 when the rootstock transfer section A is in the raised position is lower than the cut surface of the stem.
It is located at a higher position than the upper edge surface of.

Above the rootstock transfer guide 37, two arms 13 and 14 are provided so as to be able to approach and separate from each other.
A rootstock chuck 15 that opens and closes above the hole 9b at the rootstock cutting position and a tube gripping chuck 16 that opens and closes above the hole 9C at the grafting position are provided at both ends of the rootstock chuck 15. Rootstock cutter 17 that moves while rotating
will be provided.

Then, the rootstock 1 is positioned in the hole 9b at the rootstock cutting position.
) After the rootstock chunk 15 grips the stem of the rootstock II, the cutter 17 moves back and forth on the rootstock chuck 15 to cut the stem of the rootstock II diagonally.

As shown in FIG. 5, when the tube gripping chuck 16 is closed, a tube holding hole 38 is formed in the upper part of the center, and a tapered rootstock inserting hole that expands downward from the bottom of the tube holding hole 38 is formed. A hole 39 is formed.

An intake hole 18 is provided at the right end portions of the two arms 13 and 14, and the intake hole 18 communicates with a blowhole 40 that opens into the tube holding hole 38 of the tube gripper 16.

A heat-shrinkable tube supply section C is provided above the chuck 16.

The heat-shrinkable tube supply unit C includes a tube supply pipe 20 that guides the supply of a long heat-shrinkable tube 19, a pair of feed rollers 21 provided below the tube supply pipe 20, and a pair of feed rollers 21 below the feed rollers 21. and a tube supply pipe 24 that guides the heat-shrinkable tube piece 23 cut into a certain length by the tube cutter 22 downward. It falls into the holding hole 38.

The inner diameter of the tube holding hole 38 is larger than the outer diameter of the heat-shrinkable tube piece 23, and the inner diameter of the upper side of the rootstock insertion hole 39 is smaller than the inner diameter of the heat-shrinkable tube piece 23. is accommodated in the tube holding hole 38 without falling from the rootstock insertion hole 39.

An air supply section having an air supply end 25 connectable to the intake hole 18 and having a built-in heater is provided on the side of the tube gripping chuck 16 .

A scion supply section E is provided at the top of the pedestal 1.

The scion supply unit E includes a mounting table 28 on which root portions 27 of the scions 26 are arranged and placed in large numbers, and claws 2 that grip the stems of the scions 26.
9, a saddle 31 that moves the scion hand 30 up and down, a scion arm 32 that moves the saddle 31 back and forth, left and right, and a scion 26 that is held and moved by the scion hand 30. The root part 2 of the scion 26 is placed near the conveyance path.
A scion sensor 46 that detects 7 and a scion cutter 33 that cuts the stem of the scion 26 diagonally are provided. During the conveyance, the scion sensor 46 detects that the scion hand 30 is conveying the scion 26, and then the scion cassock 33 cuts the stem diagonally and transfers the scion to the next scion transfer section F.
is supplied to

The scion transfer section F includes a scion transfer hand 35 having a claw 34 that opens and closes, a tube holding plate 42 slidable on a shaft 41 protruding from the lower surface of the scion transfer hand 35, and a tube holding plate 42 provided at the lower end of the shaft 41. A nut 43 that is screwed into the male screw, and a claw 34
A spring 44 is provided between the tube presser plate 42 and the tube holding plate 42 (see FIG. 6), and the scion transfer hand 35 can be moved up and down by a cylinder 36 (see FIG. 2).

The operations of each section described above are controlled by a control section (not shown).

Next, the automatic grafting method using an automatic grafting device will be explained.

Before starting automatic operation, the distance between arms 13 and 14 increases,
Rootstock chuck 15 and tube gripping chuck 16 are open.

The pot 1 of the rootstock 1) is placed in the hole 9a at the loading position of the rootstock positioning stand 8.
2 and press the automatic operation start button (not shown) on the control unit, the rootstock 1) with the pot 12 inserted into the hole 9a at the carry-in position of the automatic operation rootstock positioning base 8 will be transferred to the rootstock transfer plate. 7 is lifted by the pot supporting part 6a, and then the rootstock transfer plate 7 moves horizontally by one pitch and then lowers, and the pot 12 of the lifted rootstock 1) is moved to the hole at the rootstock cutting position. 9b.

The rootstock transfer plate 7 further moves laterally in the opposite direction by one pitch and returns to the origin.

The rootstock transfer plate 7 repeats the above operation again, and while the stem of the rootstock 1) is guided by the rootstock transfer guide 37, the pot 12 of the rootstock 1) is sequentially moved from the hole 9a at the carry-in position to the rootstock cutting position. Hole 9
b, transferred to the hole 9c at the irrigation position.

The position of the rootstock transfer guide 37 is lower than the cutting part of the stem of the rootstock 1) when the rootstock 1) is placed on the rootstock positioning table 8, that is, when the rootstock 1) is in a low position. Therefore, the rootstock 1) is always guided in the transfer direction while being prevented from falling by the rootstock transfer guide 37.

Further, the position of the rootstock transfer guide 37 is such that when the rootstock transfer plate 7 is raised, the position of the rootstock transfer guide 37 is such that the pot 12 of the rootstock 1) placed on the rootstock transfer plate 7 is
Since it is located higher than the upper edge surface of the rootstock transfer guide 3,
7 will not collide with the pot 12 of the rootstock 1).

The rootstock transfer plate 7 performs the above operation, and the hole 9a at the loading position is
The pot 12 of the rootstock 1) inserted into the hole 9b is the cutting position.
When the rootstock chuck 15 is moved to , the rootstock chuck 15 closes and grips the stem of the rootstock 1), and then the rootstock cutter 17 cuts the stem diagonally.

On the other hand, the empty hole 9a is filled with pots 12 of the next rootstock 1).

After cutting the rootstock force/7ta 17, the rootstock chuck 15
is opened, the rootstock transfer plate 7 performs the above operation again, and the rootstock 1) whose stem has been cut is transferred to the hole 9C at the grafting position.

When the light emitting/receiving rootstock sensor 45 detects the rootstock 1) in the hole 9C at the grafting position, the tube gripping chuck 16 is closed and a tube holding hole 38 is formed in the tube gripping chuck 16.

Next, the heat-shrinkable tube piece 23 cut into a predetermined length is fed into the tube holding hole 38 from the heat-shrinkable tube supply section C.

On the other hand, the scion hand 30 of the scion supply unit E grasps and transfers the scion 26 on the mounting table 28, and during the transfer, the scion sensor 46
detects the scion 26, and furthermore, the scion cutter 33 detects the scion 26.
The scion hand 30 opens its claws 34 and stops in front of the scion transfer hand 35 which is waiting in the raised position, and the claws 34 of the scion transfer hunt 35 close and cut the scion. The claws 29 of the wood hand 30 are opened and the scion 26 is given and received.

The tube holding plate 42 has four sides 42a formed on its opening/closing surface, and when the opening and closing of the pawl 34 changes from the open state of the seventh gate (a) to the closed state of FIG. 7(b), the closed double concave surfaces 42a
lightly grasp the scion 26.

Therefore, the scion 26 is held by the claws 34 of the scion transfer hand 35 and is also lightly held by the tube holding plate 42, and the scion 26 is supported in three places, so it is held in an almost vertical state without being tilted. .

When the scion transfer hand 35 descends, the tube holding plate 4
2 is in pressure contact with the tube gripping chuck 16 to restrain the vertical movement of the heat-shrinkable tube piece 23, and the scion 26, which is prevented from tilting, is accurately positioned approximately at the center of the heat-shrinkable tube piece 23 within the tube holding hole 38. inserted into.

At this time, the scion transfer hand 35 is stopped at the lowered position while holding the scion 26.

Next, the rootstock transfer plate 7 rises, the stem of the rootstock 1) is inserted into the rootstock insertion hole 39 of the tube gripping chuck 16, and the stem of the rootstock 1) guided into the rootstock insertion hole 39. is inserted into the heat-shrinkable tube piece 23, and the rootstock transfer plate 7 stops in this raised position.

The cut surface of the stem of the rootstock 1) almost contacts the cut surface of the scion 26 held by the tube gripping chuck 16, and the scion 2
Since the cutting angles of the scion 6 and the rootstock 1) are matched, the cut surfaces of the two are naturally aligned, and the inner diameter of the heat-shrinkable tube piece 23 is considerably larger than the diameter of the scion 26 and the stem of the rootstock 1). Therefore, the heat-shrinkable tube piece 23 in the tube gripping chuck 16 can be removed without damaging the scion 26 and the stem of the rootstock 1).
inserted into the .

The upper part of the heat-shrinkable tube piece 23 is attached to the tube pressing plate 42
Since vertical movement is prevented by the heat-shrinkable tube piece 23, even if the rootstock 1) is inserted from below and lightly contacts the heat-shrinkable tube piece 23, the heat-shrinkable tube piece 23 will not be displaced upward.
Grafting is performed approximately in the center of the heat-shrinkable tube piece 23.

Next, the air supply section moves so that the air supply end 25 connects to the intake hole 18, and the air supply end 25 is connected to the intake hole 18, so that the air supply end 25 is connected to the air intake hole 18, and the
Hot air at 0 to 250°C heats the heat-shrinkable tube piece 23 for several seconds, and the shrinking heat-shrinkable tube piece 23 holds the scion 26 and the grafted part of the rootstock 1) with compressive force, and then,
The hot air is switched to cold air, and the heat-shrinkable tube piece 23 is cooled to room temperature dust, and the grafting is completed.

Thereafter, the claw 34 opens and the scion transfer hand 35 rises, the tube gripping chuck 16 opens, and the rootstock transfer plate 7 repeats the above operation, and the pot 12 of the grafted seedling is placed in the hole 9C.
From there, it is transferred to the hole 9d, which is the carry-out position, and then further carried out from the hole 9d.

As described above, automatic grafting is performed one after another,
Grafted seedlings are produced every few to several seconds.

When the rootstock sensor 45 detects that the rootstock 1) is not transferred to the hole 9C at the grafting position, the rootstock transfer plate 7 repeats the above operation, and the scion hand 30 grips the scion 26. When the scion sensor 46 detects that there is no scion, the scion hand 30 performs an operation to re-grip and convey the ti tree 26.

Therefore, grafting will not be performed in a state where the rootstock 1) or the scion 26 is missing.

〔Effect of the invention〕

Since the present invention is configured as described above, it produces the following effects.

(1) Specifically, the time required for grafting one tree is from several seconds to
Since the process can be completed in more than ten seconds, the grafting work time is extremely shortened and the production cost of the grafted water bottle is reduced.

The operator can simply carry in and out the pots of seedlings, and is relieved from excessive labor.

(2) Since the joint between the scion and the rootstock is inserted into a heat-shrinkable tube piece having a large inner diameter, it will not be damaged by hitting the heat-shrinkable tube piece during insertion.

Furthermore, when the heat-shrinkable tube piece contracts, it holds the scion and the rootstock, so that the grafted portion is securely attached.

(3) The heat-shrinkable tube piece is housed in the tube holding hole, centered and positioned, and the upper end is restrained by the tube holding plate, so it can be joined to the scion and rootstock without vertical displacement. is positioned in the center of the heat-shrinkable tubing piece.

Further, since the stem of the rootstock is inserted into the heat-shrinkable tube piece without being guided through the rootstock insertion hole, the scion and rootstock can be inserted into the heat-shrinkable tube piece reliably and easily.

(4) Since the rootstock is transferred laterally while being guided by the rootstock transfer guide, there is no risk of it falling over during transfer.

[Brief explanation of drawings]

Figures 1 to 7 show embodiments of the present invention, with Figure 1 being a front view of the automatic grafting device, Figure 2 being a side view of the automatic grafting device, and Figure 3 being a perspective view of the main parts of the automatic grafting device. , Fig. 4 is a front view of the rootstock transfer section, Fig. 5 is a longitudinal sectional view of the tube gripping chuck, Fig. 6 is a side view of the scion transfer hand, and Figs. 7 (a) to (b) are the tube holder. It is a bottom view for explaining the operation of the plate. A... Rootstock transfer part, B... Rootstock gripping joint part, C...
・Heat-shrinkable tube supply section, D... Air supply section, E
...Scion supply unit, F...Scion transfer unit, 1... Frame, 4... Cylinder, 5... Moving table, 7... Rootstock transfer plate, 9a to 9d...・Hole, 1)... Rootstock, 15...
・Rootstock chuck, 16...Tube gripping chuck, 1
7... Rootstock cutter, 21... Feed roller, 22
... tube cutter, 23 ... heat-shrinkable tube piece, 26 ... scion, 28 ... mounting table, 29 ... claw,
30...Scobbling hand, 32...Scotling arm, 33.
...Scion cutter, 34...Claw, 35...Scion transfer hand, 36...Cylinder, 37...Rootstock transfer guide, 38...Tube holding hole, 42...Tube holder Board, 45... Rootstock sensor, 46... Scion sensor. Figure Figure

Claims (7)

[Claims] (1) Supply the heat-shrinkable tube piece to the tube holding hole that is formed when the tube gripping chuck, which is provided so that it can be opened and closed, is closed, and move the hand that grips the scion to remove the stem of the scion. After cutting diagonally with a cutter, the stem above the cut surface is inserted into the heat-shrinkable tube piece in the tube holding hole, while the stem of the positioned rootstock is cut diagonally with a rootstock cutter and the stem above the cut surface is inserted into the heat-shrinkable tube piece in the tube holding hole. After positioning the lower stem from the cut surface of the tree below the tube holding hole, it rises and is inserted into the heat-shrinkable tube piece to overlap the cut surface of the scion and the cut surface of the rootstock, and then , an automatic grafting method characterized in that hot air is supplied to the heat-shrinkable tube piece to cause it to shrink, and then cold air is supplied to the heat-shrinkable tube piece. (2) A rootstock transfer section that can horizontally transfer the rootstock to the cutting position and the grafting position and that can be raised and lowered, and a rootstock transfer guide that is disposed above the rootstock transfer section and guides the horizontal movement of the rootstock stem. , a rootstock cutter for cutting the stem of the rootstock positioned at the cutting position, a rootstock insertion hole that is openable and closable and communicates with a tube holding hole at the grafting position when closed, and a rootstock insertion hole that communicates with the lower part of the tube holding hole. a rootstock joint section consisting of a tube gripping chuck that forms a tube holding hole, a heat-shrinkable tube supply section that supplies the heat-shrinkable tube piece to the tube holding hole, and a scion hand that grips and conveys the scion. , a scion supply section having a scion cutter disposed in the conveyance path of the scion hand and for cutting the scion stem diagonally; and a scion supply section that grips the carried scion and holds the tube. a scion transfer unit inserted into the hole;
an air supply section that supplies hot air and cold air to the heat-shrinkable tube piece covering the cut portions of the scion and rootstock, the rootstock transfer section, the rootstock joint section, and the heat-shrinkable tube supply section;
An automatic grafting device comprising a scion supply section, a scion transfer section, and a control section that controls the operation of the air supply section. (3) The rootstock transfer unit is provided with a rootstock positioning table having a plurality of holes for positioning the rootstock and a slot communicating between the holes, and is movable horizontally and can be raised and lowered by passing through the groove. Claim (2) characterized in that it is constituted by a rootstock transfer plate.
Automatic grafting device as described. (4) The position of the rootstock transfer guide is lower than the cut surface of the stem of the rootstock placed on the rootstock positioning table when the rootstock transfer unit is in the lowered position, and when it is in the raised position. The automatic grafting device according to claim 2, wherein the rootstock is placed at a higher position than the upper edge surface of the pot of the rootstock placed on the rootstock transfer plate. (5) The inner diameter of the tube holding hole is larger than the outer diameter of the heat-shrinkable tube piece, and the inner diameter of the rootstock insertion hole communicating below the tube holding hole is larger than the inner diameter of the heat-shrinkable tube piece. The automatic grafting device according to claim 2, wherein the automatic grafting device is small. (6) A scion sensor that detects the scion held by the scion hand and a rootstock sensor that detects the rootstock placed at the grafting position of the rootstock transfer unit are provided, and the control unit , when the scion sensor does not detect a scion, instructs the scion hand to re-grip the scion, and when the rootstock sensor does not detect a rootstock, instructs the rootstock transfer unit to perform a transfer operation; 3. The automatic grafting apparatus according to claim 2, further comprising a control for controlling the automatic grafting apparatus. (7) The scion transfer section includes a scion transfer hand that can be opened and closed, and a scion transfer hand that is slidably provided on a shaft protruding from the lower surface of the scion transfer hand and that is biased downward. 3. The automatic grafting apparatus according to claim 2, further comprising a tube holding plate that comes into pressure contact with the tube gripping chuck when lowered.