JPH06276855A - Grafting robot - Google Patents

Abstract

PURPOSE:To obtain a carrying apparatus of stock seedling of grafting robot excellent in operability. CONSTITUTION:After a stock seedling is carried from its feeding position to a cutting position by a stock carrying apparatus and the stock seedling is cut, cut stock seedling is grafted to a scion at a grafting position. At this time, even if the stock fails in grafting to the scion, hands 37 and 38 of stock carrying apparatus which hold the stock in prescribed timing release the stock seedling. As a result, the stock seedling failed in grafting is thrust into the vicinity of root of the hand 37 and the stock seedling is carried about. In this case, the stock seedling failed in grafting is smoothly discharged from a part 18 of the stock carrying apparatus by setting a blocking plate 37a for blocking the hand 37 on the hand 37 and thrusting of the stock seedling into the hand 37 is prevented to make it possible to smoothly hold and carry the next seedling.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafted seedling producing robot for automatically supplying and grafting rootstock seedlings and scion seedlings, and more particularly to a rootstock transporting apparatus for the same.

[0002]

2. Description of the Related Art Conventional robots for producing grafted seedlings are known, for example, as disclosed in Japanese Utility Model Publication No. 3-27933 and Japanese Utility Model Publication No. 4-49935. The grafting robot described in the above publication has three seedling seedlings arranged in advance in seedling support holes radially provided on the outer periphery of the disk stand and three scion seedlings arranged in the disk stand having the same structure.
While rotating it by 60 degrees, adjoin the disk stand and
The seedlings are transferred to fixed hands provided on the rootstock processing disk portion and the scion processing disk portion that rotate by 60 degrees one by one, and the cutting devices are placed at positions where each seedling processing disk portion is rotated by a predetermined angle. It is a device that cuts rootstock seedlings and scion seedlings with each other, rotates these seedlings by a predetermined angle to rotate and convey them to a position where the rootstock and the scion can be joined, and joins the rootstock and the scion with a clip. . The inventors of the present invention previously improved the conventional grafting robot to invent a grafting robot that is easy to use and filed a series of patent applications (Japanese Patent Application No. 4-161512 and Japanese Patent Application No. 5-161512). 6753).

[0003]

The grafting robot of the invention of the above-mentioned patent application developed by the inventors of the present invention manually supplies rootstock seedlings or scion seedlings to the respective supply devices, and The seedlings are transported to the cutting position by each transport device.
At the cutting position, the rootstock leaves a single cotyledon, and the hypocotyl and root are cut off, and the scion is cut off from the middle part of the hypocotyl and joined at the junction at each cutting device. In the grafting robot, the cut rootstock and the scion are clipped and joined by a clip at the joining portion, but if the joining of the seedlings fails at this time, the cut rootstock seedlings are removed. When the rootstock hypocotyl hand or rootstock fixing hand of the rootstock carrier is released, the cotyledon of the rootstock bites into the root of the rootstock hypocotyl hand and carries the rootstock seedling, so that the next rootstock seedling can be gripped. There were things I couldn't do. Therefore, the present invention further improves the grafting robot developed by the present inventors,
The purpose is to provide a grafting robot with better usability. More specifically, the present invention has an object of making a rootstock seedling transporting device of a grafting robot excellent in operability.

[0004]

The above objects of the present invention can be achieved by the following constitutions. That is, the rootstock seedlings arranged in the rootstock supply device and the scion seedlings arranged in the scion supply device are transported to their respective cutting positions by the transport device for each seedling,
In a grafting robot that further conveys and joins the cut rootstock seedlings and scion seedlings to the bonding position with each transport device, shields the vicinity of the root of the hand that holds the rootstock seedling hypocotyl of the rootstock transport device. This is a grafting robot with a shielding plate installed above the rootstock seedling hypocotyl gripping hand.

[0005]

According to the present invention, the rootstock seedlings are transferred from their supply position to the cutting position by the rootstock transfer device to cut the rootstock seedlings, and then they are joined to the spikes at the joining position. At this time, even if the joining of the rootstock and the scion fails, the hand of the rootstock carrier that holds the rootstock releases the rootstock seedling at a predetermined timing. Therefore, the rootstock seedlings that failed to join bite into the roots of the hand that holds the rootstock seedling hypocotyl, and carry the rootstock seedlings around. , The rootstock seedlings that have failed to be joined are smoothly discharged from the rootstock carrier device.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. A top view of the grafting robot of this embodiment is shown in FIG. 1 (a view with the top plate removed), an enlarged view of that part (grafting part) is shown in FIG. 2, a front view is shown in FIG. 3, and a side view is shown in FIG. . The grafting robot comprises a clip feeder part 1 and a graft part 2, and the graft part 2 comprises a root part 3, a spike part 5 and a joint part 6. A clip guide rail 9 is provided from the outer circumference of the clip bowl 7 of the clip feeder portion 1, and the graft portion 2 is provided at the tip thereof.
Adjacent to each other. In addition, the robot manipulators 10 and 1 for gripping and carrying the rootstock and the scion, respectively.
1 and seedling supply plates 13 and 14 are suspended on a top plate 15 (FIG. 3) of the graft part 2. Since all the movements are assembled to one top plate 15, the dimensional accuracy is improved. Further, the top plate 15 plays a role of a cover and a strength member of the grafting robot and prevents scattering of cutting scraps of the rootstock and the scion. FIG. 2 shows an enlarged view of the grafting part 2 portion of FIG. 1. The root part 3 is composed of a root seedling feeding device 17, a root carrier device 18 and a root cutting device 19, and the root part 5 is also included. Similarly, it comprises a scion seedling supply device 21, a scion transfer device 22, and a scion cutting device 23.

The rootstock seedlings manually supplied to the rootstock seedling supply device 17 are transferred to the position (cutting position) of the rootstock cutting device 19 by the rootstock transfer device 18 rotating in the direction of arrow (a) in FIG. Then, the cutting device 19 rotates (see FIG. 4) to leave one cotyledon of the rootstock seedling by the cutting blade and cut off the other cotyledon portions. The rootstock cutting device 19 is a rotary cutter having a cutting blade attached to its tip, and
It rotates in the direction of arrow (c) in FIG. The rootstock that has been cut and left one cotyledon is conveyed in the direction of the arrow (B), and is joined to the scion by the joining device 25 (see FIGS. 2 and 3) of the joining portion 6 at the grafting portion 2.

Similarly, the scion seedling supplying device 2 is manually operated.
The scion seedlings supplied to No. 1 are conveyed by the scion conveying device 22 in the arrow (d) direction (see FIG. 1) and rotated in the cutting position in the arrow (f) direction (see FIGS. 1 and 4). The cutting device 23 partially cuts off the hypocotyl part and the root part while leaving the tissue above the hypocotyl part. Then, the scion having the cotyledon portion is conveyed in the direction of the arrow (e), is joined to the rootstock and the grafting section 2 by the clip supplied from the clip feeder section 1, the grafting operation is completed, and the lower side of the grafting section 2 is joined. Fall on
Be recovered.

Next, the rootstock seedling supply device 17 and the carrier device 1
8 will be described. First, the rootstock seedling supply device 17 will be described with reference to FIGS. 2, 3, and 5. The rootstock seedling supply plate 13 is composed of a holding portion 13b having a structure for receiving the rootstock at an angle that comes into contact with the rear surfaces of both cotyledons that are open in the direction opposite to the receiving groove 13a that is larger than the rootstock seedling embryo axis diameter. ing.
Since the holding portion 13b is provided at an angle to contact the back surface of the cotyledon, it is necessary to place the seedling on the feeding plate 13 in substantially the same direction without accurately setting the direction of the cotyledon when feeding the rootstock seedling. You can

Further, as shown in an enlarged side view of the rootstock seedling supply plate 13 portion (FIG. 5A) and an enlarged view of the rootstock seedling supply plate 13 portion from below (FIG. 5B), Rootstock seedling supply plate 13
A movable gripping hand 13c for gripping the hypocotyl and an actuator 13d for driving the gripping hand 13c are provided below the receiving groove 13a. Then, the gripping hand 13c is rotated around the base portion on the actuator 13d side, and the hypocotyl can be sandwiched with one side of the receiving groove 13a (herein referred to as "fixed gripping hand 13c '"). The drive control of the actuator 13d is performed by the microswitch 1 that the rootstock seedling is inserted into the receiving groove 13a.
The detection is performed by the actuator 13f of 3e. Then, the sequencer 140 is input by the input of the microswitch 13e.
Operates to drive the valve 141, and the compressor 14
The air pressure from 2 drives the movable gripping hand 13c. Therefore, the actuator 13f is arranged so as to cross the receiving groove 13a, and is attached rotatably around a rotation shaft 13f ′ provided on the bottom surface of the microswitch 13e. Then, as shown in FIG. 6, the movable gripping hand 1
After holding the hypocotyl of the rootstock seedling with the 3c and the fixed gripping hand 13c ′ (FIG. 6 (a)), pulling the rootstock down manually
The cotyledon development base of the rootstock seedling is caught by the gripping hands 13c and 13c ', and the rootstock seedling is positioned at that position (FIG. 6 (b)). Since the fixed gripping hand 13c 'is fixed, the position of the hypocotyl portion of the rootstock seedling that comes into contact with this is a fixed position even if the thickness of the hypocotyl is different. And, the hypocotyl portion of the rootstock seedling that abuts against the fixed gripping hand 13c ′ is the side that hits the cutting blade (not shown) of the cutter at the cutting position, and the hypocotyl always touches the cutting blade at the specific coordinate point at the cutting position. Contact. Therefore, as shown in FIG. 7, in the case of a rootstock seedling having a thin hypocotyl (FIG. 7A), the hypocotyl is separated from the back support cylindrical roller 41 at the tip of the support arm 45 of the rootstock transporting device 18. Therefore, the hypocotyl is bent while being cut at the specific coordinate point (the point A where the cutting blade comes into contact with the hypocotyl), and a large cut surface is obtained.
Bonding with the scion becomes easier and the survival rate improves. Also,
In the case of rootstock seedlings with thick hypocotyl (Fig. 7 (b)), the cylindrical roller 41 for back support works effectively to lengthen the cut surface unnecessarily or expose the medullary cavity in the central part of the hypocotyl. And the survival rate due to the joining with the scion is improved. In this way, cutting and adjusting the hypocotyl of the grafting robot has been very difficult in the past, but this embodiment enables grafting of seedlings having different thicknesses without adjustment.

The rootstock seedlings set on the rootstock seedling supply plate 13 are gripped by the rootstock carrying device 18 and sequentially carried to the cutting position and the joining position. A detailed view of the stock transporting device 18 is shown in FIG. 8A is a top view, and FIG. 8B is a side view (FIG. 8A is a view taken along the line AA in FIG. 8B). A root transporting rotary actuator 29 of the stock transporting device 18 is supported by the top plate 15, and a stock transporting arm support 30 is provided below the actuator 29 to support the rotary shaft 3 of the actuator.
It is rotatably supported around 1. The stock transfer arm support 30 includes a stock transfer arm pushing cylinder 33 supported by the support 30, a stock transfer arm 34 fixed to the cylinder 33, and a stock gripping portion 35 at the tip of the transfer arm 34. (A pair of rootstock hypocotyl hands 37, a pair of rootstock fixing hands 38, and a cylindrical roller 41) are provided. Both hands 37 and 38 are controlled to be opened and closed by an air cylinder provided in a box (not shown) of the stock transport arm 34 so as to grip the stock. The rootstock hypocotyl hand 37 is made of rubber so as not to damage the hypocotyl of the rootstock. Also, the root fixing hand 38 is used for the root root bowl 4.
3 (see FIG. 8B) is made of a curved plate that grips the cylindrical side surface.

Further, the root carrier transport arm support 30 has a support arm 45 for lifting the root cotyledons by rotating the cylindrical roller 41 in the vertical direction at the time of joining with the spike, and a root cotyledon lifting rotary actuator. 49 are provided. The rootstock transport arm 34 extruded to the rootstock seedling set position on the rootstock seedling supply plate 13 is a rootstock hypocotyl hand 37 at the tip of the armstock transport arm 34.
The air cylinder operates to hold the rootstock seedlings. Hand 3
At the same time as the operation of 7, the rotary actuator 29 for the root carrier arm is also actuated to carry the root seedling held by the hand 37 to the cutting position. Further, at the time of joining with the scion, as shown in FIG. 9, the cylindrical roller 41 is rotated in the vertical direction to lift the cotyledon to be left on the rootstock so that the clip can grasp the rootstock hypocotyl.

A characteristic part of this embodiment is that a shield plate 37a for shielding the vicinity of the root of the rootstock hypocotyl hand 37 is provided above the hypocotyl hand 37 as shown in FIGS. This shielding plate 37a prevents the rootstock seedling from joining the scion at the joining position, and the rootstock seedling that has failed to join even if the hand 37 separates the rootstock does not bite into the root of the hypocotyl hand 37. , Rootstock seedlings that have failed to be joined are smoothly discharged from the rootstock carrier device. Thus, even if the joining of the rootstock and the scion fails, the rootstock carrier 18 does not hinder the gripping and carrying of the next rootstock seedling.

Further, as shown in FIG. 9, the cotyledon left on the rootstock is lifted by the cylindrical roller 41 at the time of joining with the scion, but if the lifting state of the cotyledon left on the rootstock is maintained after joining, Even if there is a rootstock seedling that has failed to be joined, it will not bite into the root of the rootstock hypocotyl hand 37. Because, after the joining timing, the rootstock transport arm 34 is retracted, and the process proceeds to the return transport for gripping and transporting the next rootstock seedling, and the cotyledons of the rootstock seedling are pushed outward of the hypocotyl hand 37. This is because the rootstock gripping portion 35 moves in this state, and thus rootstock seedlings that have failed to be joined are easily discharged from the hypocotyl hand 37 and the possibility of carrying around is reduced.

Next, the brush section will be described in detail. First, the scion seedling supply device 21 will be described. As shown in FIG. 2, the scion seedling supply device 21 is provided with a scion seedling supply plate 14 having a scion receiving groove 14a opened at the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is manually inserted into 14a to support the scion seedling. The scion seedlings supported by the scion seedling supply plate 14 are grasped by the scion conveying device 22 and sequentially conveyed to the cutting position and the joining position. A detailed view of the scion transport device 22 is shown in FIG.
FIG. 10A is a top view and FIG. 10B is a side view. FIG. 10A is a view taken along the line AA of FIG. In the scion conveying device 22, a scoop conveying rotary actuator 73 and a scion conveying arm support 75 below the actuator 73 are rotatably supported around the actuator rotating shaft 76. The Hogi transport arm support 75 has
The scion transfer arm pushing cylinder 77 supported by the support 75, the scion transfer arm 79 that is expanded and contracted by the cylinder 77, and the scoop cotyledon support plate 81 that constitutes a scoop gripping portion 80 at the tip of the transfer arm 79. And a scion hypocotyl hand 83 is provided.

The opening and closing of the hand 83 is controlled by an actuator 89 provided at the tip of the scion conveying arm 79 so as to grip the scion. The hog cotyledon support plate 81 has a plate-like portion 81a on which the back surface of the hog cotyledon is placed. The scoop transport arm 79 is pushed out by the transport arm push-out cylinder 77, and the push-out amount is adjusted by the push-out amount adjusting shim 91. Further, a backing guide 92 is fixed to the lower portion of the scoop conveying arm pushing cylinder 77, and when the scoop conveying arm 79 comes to the retracted position, the backing guide 9 thereof is provided.
The guide piece 92a at the 2 tip backs the hypocotyl when cutting the hypocotyl of the scion. By the backing support of the hypocotyl by the guide piece 92a, the cutting can be surely performed by the cutter.

The rotation direction of the scion cutting device 23 is as shown by the arrow (f) in FIGS. 1 and 4, and the scion cutting device 23 is rotated in the opposite direction to the root cutting device 19. The reason is that it is more advantageous to cut from the hypocotyl side to the cotyledon side when cutting a single cotyledon while leaving the hypocotyl at the time of rootstock cutting, whereas cutting the hypocotyl hypocotyl is Abutting guide 92 Guide piece 92 at the tip
This is for the effect of holding down a and for preventing the shape of the acute-angled portion at the tip of the hypocotyl from being cut.

Further, the scion transport arm 79 is in the push-out position during transport of the scion from the supply position to the cutting position, and the arm 79 moves to the retracted position (FIG. 10 (b)) during cutting. Furthermore, the backing guide 92 is used when joining the scion and rootstock.
However, at that time, by pushing out the transfer arm 79 and projecting the hypocotyl hand 83 and the like, it is possible to prevent interference between the backing guide 92 and the hand 83 and the like.

When the scion gripping portion 80 such as the hypocotyl hand 83 is not stretchable and is fixed when the scion and the rootstock are joined,
A gap must be provided between the rootstock and the scion to prevent them from interfering with each other, but in order to perform clip joining, a mechanism for attracting each seedling separately is required when this gap is present. In addition, if the scion gripping portion 80 is fixed,
Since the seedling supply direction was limited to the tangential direction of the transportation circumference, left-handed people had difficulty supplying seedlings when supplying scion.
However, in the case of the present embodiment, since the scion gripping portion 80 is capable of expanding and contracting, the seedling pulling mechanism is not necessary and at the same time workability is improved regardless of the difference in dominant arm.

In this way, by expanding and contracting the transfer arm 79,
By making the scion gripping portion 80 movable, the degree of freedom in the method of receiving scion seedlings from the supply plate 14 is increased. Further, as described above, the shim 91 of the scion seedling transfer arm 79 adjusts the pushing amount of the scion gripping portion 80. This is because the cut surface of the rootstock and the scion must be inside the opening at the tip of the clip at the time of joining by the clip, but due to the assembly error and the difference in the hypocotyl diameter due to the difference in the variety, etc. This is because the amount of extrusion needs to be finely adjusted. In the present embodiment, the shim 91 is provided in the scion transport device 22, but it may be provided in the root transport device 18.

Next, the cutting device will be described with reference to FIG. Although the cutting device is provided in each of the root part 3 and the spike part 5, it has a mechanism common to both. FIG. 11 shows a cutting device on the base 3 side. FIG. 11A is a top view thereof (direction viewed from the top of the grafting robot),
FIG. 11B is a side view seen from the arrow A direction in FIG. 11A (the direction viewed from the side wall side of the grafting robot side of the grafting robot). The cutter driving motor 111 is supported by a column 112 oriented in the vertical direction, and a cutter arm 115 is attached to a rotary shaft 113 of the motor 111. A cutting blade 117 is attached to a cutting blade supporting piece 116 provided at the tip of the cutter arm 115 in a direction orthogonal to the arm 115.
Is attached. The attachment position of the cutting blade support piece 116 to the cutter arm 115 is adjusted by an adjusting tool such as an adjusting screw 119 provided on the cutter arm 115. In addition, the mounting height of the cutter driving motor 111 is adjusted by the support 11
It is performed with an adjusting tool such as the adjusting screw 120 provided on the No. 2. In addition, the cutting arm 117 does not interfere with the cutting of the hypocotyl so that the cutting arm 117 does not hit the hypocotyl before
A cotyledon lifting guide 122 for lifting the cotyledons (cotyledons to be cut off) of the seedling within the rotation locus of No. 7 is provided.

Here, as shown in FIG. 12, it is desirable that the initial stop position of the cutter arm 115 on the side of the scion be a backward tilt position with respect to the vertical center line H ₀ . Because the initial position of the cutting device 23 on the side of the spike is upward, but if the cutting device 23 leans forward from the vertical center line H ₀ , it hangs downward when no air pressure is applied, and air pressure is applied at startup. And move up. At this time, if the scion grasping portion 80 of the scion conveying device 22 is located at the position of the cutting device 23, it may interfere with the grasping portion 80, and the cutting device 23 suddenly moves, which is dangerous. When the initial stop position of the cutter arm 115 is set to the rearward tilt position with respect to the vertical center line H _0, it does not move downward even if air escapes, and it is safe to start. Further, when the cutting devices 19 and 23 of both the root part 3 and the spike part 5 are tilted backward, when the safety cover is opened and the cutter is inspected and replaced,
Easy to work with.

When the seedlings are cut, the sap attached to the cutting blade 117 immediately dries and adheres to the blade, which causes the cutting blade 117 to have poor sharpness. However, as shown in FIG. No. 3 and spike unit 5 above the cutting blade 117 at the upper and lower stop positions of the respective cutting devices 19 and 23, a nozzle 11 for dropping water or the like.
8a and 118b (FIG. 13 is a view of the scion seedling side) are provided respectively, and if water or the like is constantly dropped from the water tank 120 by a simple gravity dropping type structure, the cutting blade 117 becomes wet, The sharpness of the blade can be maintained. If the dripping nozzles 118a and 118b are also provided at two positions above and below the cutter support 112, water can be dropped onto both the front and back sides of the cutting blade 117.

Regarding the clip feeder 1 and the clip joining device 25, the applicant's earlier application (Japanese Patent Application No. 5-675).
The configuration as described in (No. 3) is adopted. Also,
The operating sequence of the grafting robot of this embodiment is as disclosed in FIG. 14, and the root part 3 of the grafting robot of the present invention is shown.
The operation time chart of each device of the spike unit 5 is as disclosed in FIGS. 15 and 16. The operation time chart of each device of the clip feeder unit 1 is as described in the applicant's earlier application (Japanese Patent Application No. 4-161512, etc.).

[0025]

According to the present invention, even if the rootstock seedling and the scion seedling fail to be joined and the rootstock in the cut state is released by the rootstock seedling hypocotyl-gripping hand, the shield plate is used as the rootstock. Since cotyledons are prevented from biting into the vicinity of the root of the hand, seedlings can be discharged smoothly.

[Brief description of drawings]

FIG. 1 is a top view of a grafting robot according to an embodiment of the present invention.

FIG. 2 is a top view of a grafting portion of the grafting robot according to the embodiment of the present invention.

FIG. 3 is a front view of a grafting portion of the grafting robot according to the embodiment of the present invention.

FIG. 4 is a side view of a grafting portion of the grafting robot according to the embodiment of the present invention.

FIG. 5 is a diagram of a rootstock supply device for a grafting robot according to an embodiment of the present invention.

FIG. 6 is an explanatory diagram when a rootstock seedling is inserted into a rootstock supply device of a grafting robot according to an embodiment of the present invention.

FIG. 7 is a diagram when cutting a rootstock seedling of a grafting robot according to an embodiment of the present invention.

FIG. 8 is a diagram of a root carrier of the grafting robot according to the embodiment of the present invention.

FIG. 9 is a view of a root carrier transporting apparatus at the time of joining rootstocks and scions of a grafting robot according to an embodiment of the present invention.

FIG. 10 is a diagram of a scion conveying device of a grafting robot according to an embodiment of the present invention.

FIG. 11 is a diagram of a cutting device for a grafting robot according to an embodiment of the present invention.

FIG. 12 is a view showing an initial stop position of the cutting device according to the embodiment of the present invention.

FIG. 13 is a view of a cutting blade cleaning water dropping device provided in the scion cutting device of the grafting robot according to the embodiment of the present invention.

FIG. 14 is a diagram showing an operation sequence of the grafting robot according to the embodiment of the present invention.

FIG. 15 is a diagram showing a time chart of driving the root part of the grafting robot according to the embodiment of the present invention.

FIG. 16 is a diagram showing a time chart of driving the scion part of the grafting robot according to the embodiment of the present invention.

[Explanation of symbols]

1 ... Clip feeder part, 2 ... Graft part, 3 ... Root part, 5
… Spike part, 6… Joint part, 13… Rootstock seedling feeding plate, 17… Rootstock seedling feeding device, 18… Rootstock transporting device, 19… Rootstock cutting device, 21… Spring seedling feeding device, 22… Scion transport device, 23
... scion cutting device, 37 ... rootstock hypocotyl hand, 37a ... shield plate

Claims (1)

[Claims] 1. A rootstock that is cut into rootstock seedlings that are placed in the rootstock feeder and rootstock seedlings that are placed in the rootstock feeder are transported to their respective cutting positions by respective seedling transporting devices. In a grafting robot that further conveys and joins seedlings and scion seedlings to their joining positions with their respective transport devices, a shield plate that shields the vicinity of the root of the hand that holds the hypocotyl of the rootstock seedlings of the rootstock transport device is used as a base. A grafting robot that is provided above the tree seedling hypocotyl gripping hand.