JPH0627A - Grafting robot - Google Patents

Abstract

PURPOSE:To provide a grafting robot provided with a compact scion-transfer apparatus having excellent workability. CONSTITUTION:A scion seedling supplying plate 14 is composed of a bent piece 14a having a horizontal plane and a scion hycopotyl receiving groove 14c opened to the side of a scion seedling supplying operator and an inclined piece 14b having the bent piece at an end. When the scion hycopotyl receiving groove 14c is opened at the side of the scion seedling supplying operator, the scion can easily be arranged on the supplying plate by a left-handed person as well as by a right-handed person. Since the scion hycopotyl receiving groove 14c is formed on the bent piece having a horizontal plane, the back of cotyledon can stably be arranged on the bent piece. The hindrance of the supply of scion by true leaves can be prevented by providing the scion cotyledon receiving groove 14c with a notch 14d for the true leaf of the developing base of a cotyledon of the scion 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 scion feeder.

[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. .

[0003]

SUMMARY OF THE INVENTION It is an object of the present invention to further improve the conventional grafting robot and provide a grafting robot that is easy to use.

More specifically, an object of the present invention is to provide a scion seedling feeding mechanism of a grafting robot with excellent operability.

[0005]

The above objects of the present invention can be achieved by the following constitutions. That is, the rootstock seedlings arranged on the rootstock seedling supply plate and the scion seedlings arranged on the scion seedling supply plate are conveyed to their respective cutting positions by the conveying devices for the respective seedlings, and the respective rootstock seedlings are cut. In a grafting robot that further conveys and joins the scion seedlings to the splicing position by each transport device, the scion seedling supply plate has a scion embryo bearing groove that opens on the scion seedling supply side It is a grafting robot consisting of a piece and an inclined piece with the bent piece at the end.

[0006] A cutout portion for the true leaf at the base of the cotyledon development of the hypocotyl of the scion seedling can be provided in the scion embryo bearing groove of the scion seedling supply plate.

Further, the scion seedling supply plate may be composed of two divided plates arranged in parallel, and the parallel disposition interval may be adjusted according to the diameter of the scion hypocotyl.

[0008]

[Operation] When the scion germ bearing groove of the scion seedling supply plate is opened on the scion seedling supply side, the scion can be easily arranged on the supply plate regardless of the dominant arm of the supplier. Further, since the scion embryo bearing groove is provided in the bent piece having a flat surface in the horizontal direction, the back surface of the cotyledon can be placed comfortably on the bent piece. Further, by providing a cutout portion for the true leaf at the base of the cotyledon development of the hypocotyl of the spikelet seedling, the true leaf does not interfere with the supply of the spikelet in the scion embryo bearing groove.

Further, if the scion seedling supply plate is composed of two divided plates arranged in parallel, the parallel arrangement interval can be adjusted according to the hypocotyl diameter.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. A top view of the grafting robot of the present embodiment is shown in FIG. 1 (a view with the top plate removed), an enlarged view of that part (a graft part) is shown in FIG. 2, a front view is shown in FIG. 3 (a view without a front cover), Figure 4 is a side view
(Side view of the rootstock side with the side cover removed). The grafting robot comprises a clip feeder section 1 and a graft section 2, and the graft section 2 comprises a root section 3, a scion section 5 and a joint section 6 in the middle thereof.

Clip bowl 7 of clip feeder 1
A clip guide rail 9 is provided from the outer circumference, and the graft portion 2 is adjacent to the tip end portion thereof. Further, the robot manipulators 10 and 11 and the seedling supply plates 13 and 14 for gripping and transporting the rootstock and the scion respectively are suspended on the 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. An enlarged view of the grafted portion 2 portion of FIG. 1 is shown in FIG. The rootstock part 3 is composed of a rootstock seedling supply device 17, a rootstock seedling transfer device 18 and a rootstock cutting device 19, and the scion part 5 is also a scion seedling supply device 21 and a scion transfer device 22. , 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 rotates in the direction of arrow (c) in FIG. The rootstock, which 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 at the joining unit 2.

Similarly, the scion feeder 21 is manually operated.
The scion seedlings that have been supplied to the scissors are conveyed in the direction of arrow (d) by the scion conveying device 22, and the tissues above the hypocotyl part are left by the scion cutting device 23 that rotates in the direction of the arrow (f) at the cutting position. Part of the hypocotyl and root are cut off. Then, the scion with the cotyledon is transported in the direction of arrow (e),
The rootstock and the joint portion 2 are joined by the clip supplied from the clip feeder portion 1, the grafting operation is completed, and the joint piece 2 is dropped and collected below the graft portion 2.

Next, the stock supply device 17 and the carrier device 18
Explain. First, the stock supply device 17 will be described mainly with reference to FIGS. 2 and 3. 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 diameter of the receiving groove 13a is larger than the diameter of the cotyledon expansion base of the rootstock seedling, the cotyledon of the rootstock seedling is stably held by the holding portion 13b. In addition, the holding unit 1 has an angle to contact the back surface of the cotyledon.
Since 3b is provided, seedlings can be placed on the supply plate 13 in substantially the same direction without accurately setting the direction of the cotyledons when supplying the rootstock seedlings.

The rootstock seedlings set on the rootstock seedling supply plate 13 are gripped by the rootstock transfer device 18 and sequentially transferred to the cutting position and the joining position. A detailed view of the stock transporter 18 is shown in FIG. 5 (a) is a top view, FIG. 5 (b) is a side view, and FIG. 5 (c) is a bottom view of the leading end of the transport device.

The root transporting rotary actuator 29 of the root stock transporting device 18 is supported by the top plate 15, and a root stock transport arm support 30 is rotatably mounted on the actuator rotation shaft 31 below the actuator 29. It is supported.
The stock transfer arm support 30 includes a stock transfer arm push-out cylinder 33 supported by the support 30 and a cylinder 33.
And a root gripping portion 35 (rootstock hypocotyl hand 37, rootstock root fixing hand 38, rootstock hanging piece 39, and cylindrical roller 41) provided at the end of the carrier arm 34. There is. The both hands 37, 38 are controlled to be opened and closed by an air cylinder (not shown) provided in the box 42 of the stock carrying arm 34 so as to grip the stock. 5 is a bottom view of the hands 37 and 38 of FIG. 5B.
As shown in (c), the rootstock hypocotyl hand 37 is made of rubber so as not to damage the hypocotyl of the rootstock. In addition, the base 38 for fixing the root of the root 38 (see FIG.
In order to maintain the shape of (b), it is made of a curved plate that holds the cylindrical side surface of the rootstock pot 43.

Further, the stock transporting arm 34 holds the stock stock cotyledon deployment base 40 (see FIG. 8) to suspend the stock stock neck 3.
9, a cylindrical roller 41, a stock neck hanging piece support arm 45 for supporting them, and a neck hanging piece rotation actuator 46 attached to the lower surface of the support arm 45 for rotating the stock neck hanging piece 39 in the horizontal plane direction. Root neck hanging equipment 4
7 is provided. In addition, the rootstock transport arm support 30
There is also a rootstock cotyledon lifting rotary actuator 49 for lifting the rootstock cotyledons by vertically rotating the rootstock neck suspension 47 when joining the rootstock.

The air cylinders of the rootstock hypocotyl hand 37 and the rootstock fixing hand 38 at the tip of the rootstock transport arm 34 extruded to the position of the rootstock seedling on the rootstock seedling supply plate 13 actuate to operate the rootstock. Grasp the seedlings (Fig. 8). At this time, the cotyledon deployment base 40 is located above the hand 37 at a distance. At the same time as the operation of these hands 37, 38, the rotation actuator 29 for the stock transporting arm is also operated, and the hands 37,
The rootstock seedling grasped at 38 is conveyed to the cutting position. At the cutting position, the hands 37 and 38 are turned off for a predetermined time,
At this time, the rootstock neck suspension piece 39 (which is located at the broken line in FIG. 5A when the seedstock is supplied to the rootstock seedling supply plate 13) has already come to the solid line position in FIG. The cotyledon expansion base 40 of the seedling is in a state of being supported by the neck suspension piece 39 (FIG. 5).
(B)). Immediately after this, the rootstock hypocotyl hand 37 and the rootstock fixing hand 38 grip the hypocotyl again, and the rootstock is gripped at the set cutting position in the hypocotyl direction.

This rootstock neck suspension 47 supports the cotyledon deployment base 40 of the rootstock with a neck suspension piece 39 to suspend the rootstock and position the cutting position of the rootstock. The difference in thickness of the cotyledon expansion base 40 of seedlings of the same variety is 0.2-
Since it is within the range of 0.3 mm, the cutting position in the embryo axis direction of the rootstock can be made constant by the rootstock neck suspension 47 for each type of plant.

At the time of cutting, the rootstock cotyledon presser 50 located above the rootstock cutting position on the front side of the rootstock transport rotary actuator 29 shown in FIG. 4 comes down and presses the cotyledons as shown in FIG. In this way, the cotyledon is sandwiched by the cylindrical roller 41 and the cotyledon presser 50, and the rootstock with one cotyledon left easily is obtained by the cutting blade of the cutting device 19. In addition, when joining with the spike, Fig. 7
As shown in, the root neck hanging device 47 is rotated in the vertical direction to lift the cotyledon left on the root stock so that the clip can hold the root axis of the root stock.

Next, the brush section will be described in detail. First, the description of the scion feeder 21 which is a characteristic part of the present embodiment will be described in detail. 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 14c opened at the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is manually inserted into the groove 14c to support the scion seedling.

In the present embodiment, the spikes can be supplied from the tangential direction of the circumference for conveying the spikes (arrows (d) and (e) in FIG. 1). That is, the scion transport arm 79 in which the opening of the scion receiving groove 14c of the scion seedling supply plate 14 is substantially in the front direction of the scion seedling supplier.
(See FIG. 11) It is attached so as to face the tangential direction of the circumference (arrow (d) in FIG. 1) that is the transport locus. Therefore, a right-handed supplier such as a device in which the opening portion of the scion receiving groove 14c faces the opposite direction to the conveying direction which is the tangential direction of the conveying circumference like the conventional scion seedling supplying plate. Does not have a drawback that it is difficult to supply seedlings, and in the case of this embodiment, it is easy to supply scion seedlings regardless of the dominant arm of the worker.
In addition, there is an advantage that the trajectories of the scion seedling supply direction and the scion seedling conveyance direction do not interfere with each other during automatic seedling.

Further, the opening of the scion receiving groove 14c of the scion seedling supply plate 14 can be formed so that the seedlings can be supplied from the normal direction of the circumference of the scion conveying circumference. In this case as well, it becomes easy to supply the scion seedlings regardless of the dominant arm of the worker. In addition, in this case, there is no interference during automatic seedling, and at the time of scion seedling supply, it can be supplied from the normal direction of the circumference of the scion conveying circumference, which is the natural movement of the worker's arm, so there is less fatigue. .

FIG. 9 (a) shows an enlarged view of the scion seedling supply plate 14 in the top view of the grafting robot of FIG. 1, and FIG. 9 (b).
Shows a sectional view taken along the line AA of FIG. In addition, FIG.
As shown in the enlarged view of the scion seedling supply plate 14 in (b), the scion seedling supply plate 14 has an inclined portion 14a and a horizontal bent portion 14b at its tip. Therefore, the scion seedling supply plate 1
The cotyledon is supported by the bent portion 14b of No. 4, and the seedling is stably supported by pulling it downward by the weight of the root. An operator disposes the scion seedlings on the scion seedling supply plate 14. At this time, as shown in FIG. 9A, if the scoop seedlings are arranged so as to support the back surface of the cotyledon, the spikes can be arranged. The direction in which the tree seedlings are placed will be automatically determined. In this way, when the scion seedlings are arranged on the scion seedling supply plate 14 in a predetermined direction, as shown in FIG.
As shown in 0, there is no possibility that the scion cotyledons will interfere with the root cotyledon when joined to the root.

As shown in FIGS. 9 (a) and 9 (b) (cross section taken along the line AA), the scion seedling supply plate 14 is provided with the scion seedling supply plate 1.
4, a receiving groove 14c for inserting a hypocotyl is provided in the bent portion 14b, and the receiving groove 14c supports the hypocotyl of the scion. At this time, the notch portion 14d is formed in the inclined portion 1 so that the true leaf 95 at the cotyledon expansion base portion 93 of the hypocotyl sufficiently enters the receiving groove 14c.
It is provided toward 4a. Since the petiole 95 of the true leaf of the scion seedling protrudes from the vicinity of the cotyledon development base 93, it becomes unstable when suspended if the relief of the petiole 95 of the true leaf is not present in the supply plate 14. This can be prevented by the notch 14d. Further, when the spikes and the rootstock are clip-joined, if the petiole 95 of the true leaf is present at the position shown by the broken line in FIG. 10, it may interfere with the opposite rootstock cotyledons and make a joining error. If the portion 14d is provided so as to face the inclined portion 14a, the petiole 95 of the true leaf can be arranged at the position shown by the solid line in FIG. 10 at the time of joining the scion and the rootstock, and a joining error can be eliminated.

Although not shown, the scion seedling supply plate 14 may be divided into two and arranged in parallel, and a hypocotyl insertion interval may be provided therebetween. In this case, the true leaves 95 of the scion seedling can be set so as to enter the interval. Also, 2
If the parallel arrangement intervals of the divided scion seedling supply plates 14 can be adjusted, the intervals between the left and right supply plate 14 can be changed depending on the difference in the hypocotyl diameter, so that it is possible to cope with scion seedlings of each variety having different hypocotyl diameters. Become.

The scion seedlings supported by the scion seedling supply plate 14 are gripped 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. 11A is a top view (illustration of a spike-rotating rotary actuator 73 described later is omitted), and FIG. 11B is a side view. 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 scion transfer arm support 75 has a scoop transfer arm pushing cylinder 77 supported by the support 75, a scoop transfer arm 79 that is expanded and contracted by the cylinder 77, and a scoop gripping portion at the tip of the transfer arm 79. A scion cob holder 81, a scion hypocotyl hand 83, and a scion root fixing hand 84, which form 80, are provided. Both hands 81 and 83 are controlled to be opened and closed by an air cylinder 89 provided in a hand support member 85 at the tip of the scion transport arm 79 so as to grip the scion. The inside of the hog cotyledon presser hand 81 is made of rubber so as not to damage the hog cotyledon. Only the scion hypocotyl hand 83 supports the scion at the scion feeding position, and the scion cotyledon holding hand 81 holds the cotyledon at the cutting position so as not to interfere with the cutting of the hypocotyl part (see FIG. 12). ).

A supporting plate 87 for supporting the scion root fixing hand 84 is fixed to one side surface of the scion conveying arm 79. The scion root fixed hand 84 is provided with a rotary actuator 88 of a pneumatic drive type on the support plate 87 from the horizontal position to the vertical position so that the fixed hand arm 84a can rotate. This hot root fixing hand 84
And supports the hypocotyl in the vicinity of the scion root, and when cutting the scion hypocotyl with the scion cutting device 23 at the cutting position, the hand 84 is rotated right below (see FIG. 13). Keep the roots out of the way.

As described above, the scion gripping portion is constituted by the scion cotyledon pressing hand 81, scion hypocotyl hand 83, scion root fixing hand 84 and the like.

The scoop transport arm 79 is pushed out by the transport arm pushing cylinder 77, and the pushing amount is adjusted by the pushing amount adjusting shim 91. Further, the backing guide 92 is fixed to the lower part of the scooping cylinder push-out cylinder 77, and when the scooping transport arm 79 comes to the retracted position, the guide piece 92a at the tip of the scooping guide 92 causes the scion embryo to emerge. The hypocotyl is lined when the axis is cut (see FIG. 13). When the backing guide 92 cuts the scion, the guide piece 92a supports the hypocotyl backing so that the cutting can be reliably performed by the cutter. The rotation direction of the scion cutting device is as shown in FIGS. 1 and 13, and the scoop cutting device 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 This is for the purpose of effectively holding down the guide piece 92a at the tip of the contact guide 92, and for preventing the shape of the acute-angled portion at the tip formed by cutting the hypocotyl from collapsing.

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. 14 shows the cutting device on the side of the root part 3. FIG. 14A is a top view of the same (direction viewed from the top of the grafting robot),
FIG. 14B is a side view seen from the direction of arrow A in FIG. 14A (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 order to prevent the cutter arm 115 from interfering with the cutting of the hypocotyl, the cotyledon of the seedling (cotyledon to be cut off) in the rotation locus of the cutting blade 117 is lifted before the cutting blade 117 hits the hypocotyl. Cotyledon lifting guide 12
Two are provided. 2 shows a state in which the cutting blade 117 of the scion cutting device 23 of the scion part is on the same vertical plane as the support 112.

Next, the clip supply device and the clip joining device are shown in FIGS. As shown in FIG. 1, the clip feeder 1 of the clip feeder is a clip bowl 7
Attach both ends of the handle 123a of the clip 123 (see FIGS. 15, 16 and 17) to a vibration type part feeder (vibration system NB-300: Mortron Co., Ltd.) having a spiral ascending path along the inner surface of the. A clip guide rail 9 composed of a vibration trough having a groove for guiding is connected, and a tip of the guide rail is connected to a clip hooking device 124 facing the graft part 2.

FIG. 15 shows a clip hooking device 124 (= clip joining device 2) connected to the clip guide rail 9.
5) is a top view of a main part, and FIGS. 16 and 17 are side views thereof. As shown in FIG. 15, the tip end of the guide rail 9 narrows the guide interval between both ends of the handle portion 123a of the clip 123 immediately before the joining of the rootstock and the scion of the graft portion 2, and the grip portion of the clip 123 is held. A constriction guide rail 125 for opening 123b is connected. Here, when the clip 123 (FIG. 15 (a)) that has advanced with the grip portion 123b opened reaches the joining position of the rootstock and the scion, the clip opening / closing tool 126 releases the bias of the handle portion 123a of the clip 123. 15 (b), and the holding part 123b keeps the rootstock and the scion in a joined state.

The advance of the clip 123 is performed as follows in the procedure shown in FIGS. First, when the clip 123 supplied from the clip feeder section 1 via the guide rail 9 comes to the position of the narrow guide rail 125 (FIG. 16).
(A)), the clip push-out cylinder 127 starts to operate, the metal clip push-out tool 128 fixedly supported by the cylinder 127 moves forward, and the clip 123 is placed on the constriction guide rail 125 (FIG. 16 (b)). ). At this time, the grip portion 123b of the clip 123 is opened, but since the clip opening / closing tool 126 operates here as shown in FIG. 15 (b), the clip 123 can tighten the graft.
At the same time, the clip pusher 128 advances to drop the graft (FIG. 17 (a)). As shown in the figure, the tip of the clip push-out tool 128 has the same shape as the upper corner of the clip gripping portion 123b, and since it has an inclined shape from this tip to the base, when the clip push-out cylinder 127 is retracted, it is next narrowed. It is possible to get over the clip gripping portion 123b of the clip 123 supplied to the guide rail 125 (FIG. 17B). It should be noted that the sensor 1 for detecting the presence or absence of a clip is provided above the clip hanging device 124.
29 is provided, and when the clip 123 is no longer supplied, the operation is automatically stopped.

Next, the procedure for operating the grafting robot of this embodiment will be described. First, the operation sequence of the grafting robot will be described with reference to FIG. The rootstock seedlings set on the rootstock seedling supply plate 13 are grasped by the rootstock hypocotyl hand 37 and the rootstock fixing hand 38 at the tip of the rootstock transport arm 34 that has been extruded, and this is rotated and transported by 90 degrees, and in the meantime. After the cotyledon expansion base 50 of the rootstock is supported by the neck suspension piece 39, the rootstock is suspended, then the rootstock is exchanged with the rootstock hypocotyl hand 37 and the rootstock fixing hand 38, and the cotyledons are placed at the cutting position. Cut the other cotyledons, leaving one.

At the same time when the rootstock seedlings are transported from the supply position to the cutting position, the spikelets set on the spikelet seedling supply plate 14 are also extruded, and the scion transfer arm 79 has a scoop cotyledon holding hand 81. Scion hypocotyl hand 83 and scion root fixing hand 8
It is grasped at 4 and conveyed to the cutting position. Here, the scion root is fixed outside the locus of the cutting blade by the root fixing hand 84 so that the hypocotyl can be easily cut. The rootstock and the scion that have been cut are each rotated 90 degrees to the joining position, where the clip 12
Joined by 3. At this time, the cotyledons left on the rootstock and the pair of cotyledons in the opposite direction of the scion are joined in a direction orthogonal to each other. Then, the root transport arm 34 and the spike transport arm 79 return to the root feed position and the spike feed position, which are the initial positions, by rotating backward by 180 degrees.

At this time, the cutting devices 19 and 23 of this embodiment are machines that rotate and use the cutting blade 117, and therefore have the following safety devices. First, foot switches (not shown) are provided on the rootstock side and the scion side. In this way, rootstock seedlings and scion seedlings are supplied by different people.
It is necessary to set to 3 and 14, and when any one of the two people wants to stop the robot, the robot can be stopped at any time. Further, since the front surface of the grafting unit 2 of the grafting robot is covered with a safety cover (not shown), the robot stops when the safety cover is opened.
Further, when the clip presence / absence sensor 129 (FIGS. 16 and 17) detects that the clip 123 has disappeared, the rootstock and the scion cannot be grafted.
However, in this case, when the clip 123 is set,
Work is continued with the reset switch. Clip 123
If the grafted robot is stopped except when it disappears, work of the grafted robot is restarted from the beginning.

Next, a time chart (FIGS. 19 to 2)
The operation of the grafted robot will be described with reference to 1). First, the movement of each device of the root part will be described. Rootstock seedling supply plate 1
In order to grab the rootstock seedling set in 3, air is supplied to the rootstock transfer arm pushing cylinder 33 to transfer arm 34.
Moves forward. At the rootstock receiving position, the operating air cylinders (in the rootstock transport arm box 42) of the rootstock hypocotyl hand 37 at the tip of the arm 34 and the rootstock fixing hand 38 operate to grip the rootstock seedling (FIG. 8). ). These hands 37, 3
Simultaneously with the operation of 8, the root transporting rotary actuator 29 is also operated to transport the root stock grasped by the hands 37 and 38 to the cutting position. At this time, since the cylindrical roller 41 is brought into contact with the back side of the cutting position of the rootstock, the rootstock transport arm pushing cylinder 33 is turned off and the transport arm 34 is retracted. At the cutting position, the hands 37 and 38 are off for a predetermined time. At this time, since the rootstock neck suspension piece 39 has already come to the solid line position of FIG. 5A, the cotyledon deployment base 40 of the rootstock is in a state of being supported by the neck suspension piece 39 (FIG. 5B). ). Immediately after this, the hypocotyl hand 37 and the fixed root hand 38 are turned on, and the set cutting position of the hypocotyl is determined. Next, the rootstock cotyledon presser 50 is turned on (FIG. 6), and in this state, one cotyledon of the rootstock is left, and the other cotyledons are cut off by the cutting blade 117 as shown by the arrow in FIG.
Then, the rotary actuator 29 is turned on again, and the rootstock having one cotyledon left is conveyed to the vicinity of the joining position. In the vicinity of the joining position, the transfer arm pushing cylinder 33 is turned on again, and the rootstock is advanced to a position where it is joined to the scion. The rotary actuator 29 maintains the ON state until the clip 123 is pushed out and the joining is completed. The clip push-out position in the time chart of FIG. 19 is the clip push-out first stage position described later.

At the joining position, one cotyledon left on the rootstock is lifted by the cylindrical roller 41 so that it can be easily joined.
The rotary actuator 49 for lifting the cotyledon cotyledon rotates a predetermined angle as shown in FIG. After joining, hypocotyl hand 3
7, root fixing hand 38, transport rotary actuator 29
And the cotyledon lifting rotary actuator 49 is turned off, and each returns to the rootstock supply position.

Incidentally, the rotary actuator 29 for transferring the rootstock.
Is a two-stage actuator (manufactured by New Error Co., Ltd.), which can sequentially perform 90-degree rotary conveyance from the root supply position to the cutting position and 90-degree rotary conveyance from the cutting position to the joining position.

Next, the operation of various devices in the scion will be described with reference to the time chart of FIG. Hotoki seedling supply plate 1
Air is supplied to the scion transfer arm pushing cylinder 77 in order to grab the scion seedling set to 4, and the scion transfer arm 79 advances. The transfer arm 79 is at the receiving position of the brush.
The operating air cylinder 89 of the scion hypocotyl hand 83 at the tip operates to grip the scion axis of the scion seedling. At the same time as the operation of the hypocotyl hand 83, the rotary actuator 73 for carrying the scion also operates to carry the scion grasped by the hand 83 to the cutting position. At this time, since the back side of the cutting portion of the hypocotyl of the scion is brought into contact with the backing guide piece 92a, the scion transport arm pushing cylinder 77 is turned off and the transport arm 79 is retracted. Also, while the scion is being transported to the cutting position,
The root fixing hand 84 fixes the scion roots as shown in FIG. This is to prevent the scion root from interfering with the operation of the cutting blade when the hypocotyl of the scion is cut with the cutting blade as shown by the arrow in FIG. At the cutting position, the cotyledon pressing hand 81 is operated to bundle the cotyledons of the scion as shown in FIG. 13 so that the cotyledons also do not interfere with the operation of the cutting blade.

When the hypocotyl of the scion is cut, a part of the hypocotyl and the scion root are cut off, and the remaining hypocotyl and cotyledons are removed by both hands 8.
While being held by Nos. 1 and 83, it is rotationally conveyed to the vicinity of the joining position by the operation of the spike-rotating rotary actuator 73. In the vicinity of the joining position, the transfer arm pushing cylinder 77 is turned on again to advance the scion to the position where it is joined to the rootstock. The rotary actuator 73 for transporting the scion is a clip 123.
Holds on until is pushed out and joining is completed.
The clip push-out position in the time chart of FIG. 20 is the clip push-out first stage position described later.

The rotary actuator 73 for transporting the scion
Is a two-stage actuator (manufactured by New Error Co., Ltd.) similar to the rotary actuator 29 for transporting the stock.

Next, the operation of various devices of the clip supply unit will be described with reference to the time chart of FIG. When the rootstock and the scion are supplied to the joining position, the clip pushing cylinder 127 of FIG. 16B pushes the clip 123 to the clip pushing position (first step pushing position). The clip push-out cylinder 127 is a two-stage air cylinder. Here, the clip push-out is temporarily stopped, and the clip opening / closing tool 126 (FIG. 15) is operated during that time to open the urging end of the clip. The tip of the clip closes. In synchronism with the operation of the opening / closing tool 126, the clip pushing cylinder 127 further pushes the joined seedlings to the position shown in FIG. 17 (a) (the second stage pushing position) and drops them into the joined seedling receiving portion. After that, the clip 123 retracts to the original position. This operation is repeated for each joining.

[0046]

According to the present invention, since the scion germ bearing groove of the scion seedling supply plate is open to the scion seedling supplier side, scion seedlings can be used regardless of whether they are right-handed or left-handed. Easy to place on the supply plate. Is easy to supply. Therefore, since it is sufficient to supply the scion seedlings along the receiving groove, the supply direction is automatically determined and the workability is improved.

[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 exemplary embodiment of the present invention.

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

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

FIG. 5 is a diagram of a root carrier of a grafting robot according to an embodiment of the present invention.

FIG. 6 is a view of the vicinity of a root carrier when the root graft of the grafting robot according to the exemplary embodiment of the present invention is cut.

FIG. 7 is a diagram 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. 8 is a view of the root stock transporting apparatus in a state of being received from the root stock feeding apparatus of the grafting robot according to the embodiment of the present invention.

FIG. 9 is an enlarged view of a scion seedling supply plate of the grafting robot according to the embodiment of the present invention.

FIG. 10 is a diagram showing a joining state of a rootstock and a scion of a grafting robot according to an embodiment of the present invention.

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

FIG. 12 is a diagram of a scion conveying device before cutting scion seedlings of a grafting robot according to an embodiment of the present invention.

FIG. 13 is a diagram showing the vicinity of a scion conveying device when cutting scions of a grafting robot according to an embodiment of the present invention.

FIG. 14 is a diagram of a cutting device for a grafting robot according to an embodiment of the present invention.

FIG. 15 is a top view of the clip hanging device of the grafting robot according to the embodiment of the present invention.

FIG. 16 is a side view of the clip hanging device of the grafting robot according to the embodiment of the present invention.

FIG. 17 is a side view of the clip hanging device of the grafting robot according to the exemplary embodiment of the present invention.

FIG. 18 is a diagram showing an operation sequence of the grafting robot according to the embodiment of the present invention.

FIG. 19 is a diagram showing a time chart of the root part of the grafting robot according to the embodiment of the present invention.

FIG. 20 is a diagram showing a time chart of the scion part of the grafting robot according to the embodiment of the present invention.

FIG. 21 is a diagram showing a time chart of the clip supply unit 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, 9… clip guide rail, 1
0 ... Rootstock robot manipulator, 11 ... Billing robot manipulator, 13 ... Rootstock seedling supply plate, 14 ... Brush seedling supply plate, 14a ... Slanting piece, 14b ... Bending piece, 14
c ... Hoki receiving groove, 14d ... Notch, 15 ... Top plate, 18
... rootstock conveying device, 19 ... rootstock cutting device, 22 ... scion conveying device, 23 ... scion cutting device, 25 ... clip joining device,
29 ... Rotation actuator for rootstock transfer, 33 ... Rootstock transfer arm pushing cylinder, 34 ... Rootstock transfer arm, 35 ... Rootstock gripping part, 37 ... Rootstock hypocotyl hand, 38 ... Rootstock fixed hand, 39 ... Root Wooden neck hanging piece, 41 ... Cylindrical roller, 47 ... Neck hanging tool, 49 ... Rotation actuator for lifting cotyledons, 50
... rootstock cob retainer, 73 ... rotation actuator for transporting scion, 77 ... extrusion cylinder for scion transport arm, 79 ... scoop transport arm, 80 ... scoop gripping portion, 81 ... scoop cob hand, 83 ... scrub Hypocotyl hand, 84 ... Hot root fixing hand,
92 ... backing guide, 95 ... scion true leaf, 117 ... cutting blade, 123 ... clip, 124 ... clip hanging device, 1
25 ... Constriction guide rail, 126 ... Clip opening / closing tool, 1
27 ... Clip pushing cylinder, 128 ... Clip pushing tool

Claims (3)

[Claims] 1. A stand that cuts rootstock seedlings arranged on a rootstock seedling supply plate and scion seedlings arranged on a scion seedling supply plate to respective cutting positions by respective seedling carrier devices and cuts. In a grafting robot that further conveys and joins tree seedlings and scion seedlings to the splicing position with their respective transport devices, the scion seedling supply plate has a scion embryo bearing groove that opens on the scion seedling supply side and is a horizontal surface. A grafting robot comprising a bent piece having a bent piece and an inclined piece having the bent piece at an end thereof. 2. The grafting robot according to claim 1, wherein the scion germ bearing groove is provided with a notch for a true leaf of a cotyledon development base of a scion of a scion seedling. 3. The rootstock seedlings arranged on the rootstock seedling supply plate and the earcut seedlings arranged on the earstock seedling supply plate are conveyed to respective cutting positions by respective seedling conveying devices, and each of the bases is cut. In a grafting robot that further conveys and joins tree seedlings and scion seedlings to the splicing position with each conveying device, the scion seedling supply plate consists of two divided plates arranged in parallel, and the parallel arrangement interval is the scion hypocotyl diameter. A grafting robot characterized by being adjustable according to the requirements.