JPH06292457A - Grafting robot - Google Patents
Grafting robotInfo
- Publication number
- JPH06292457A JPH06292457A JP5077896A JP7789693A JPH06292457A JP H06292457 A JPH06292457 A JP H06292457A JP 5077896 A JP5077896 A JP 5077896A JP 7789693 A JP7789693 A JP 7789693A JP H06292457 A JPH06292457 A JP H06292457A
- Authority
- JP
- Japan
- Prior art keywords
- cutting
- rootstock
- scion
- cutting blade
- seedling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Cultivation Of Plants (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は台木苗と穂木苗を自動的
に供給・接木する接木苗製造用ロボットに関し、特に苗
の切断装置に関するものである。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 seedling cutting device.
【0002】[0002]
【従来の技術】従来の接木苗製造用のロボットは例えば
実開平3−27933号公報、実開平4−49935号
公報等に開示されているような装置が知られている。前
記公報記載の接木ロボットは、円盤台の外周部に放射状
に複数個設けられた苗支持孔に予め配置された台木苗お
よび同一構造の円盤台に配置された穂木苗をそれぞれ3
60度回転させながら、該円盤台に隣接して、やはり3
60度の回転をする台木処理円盤部および穂木処理円盤
部にそれぞれ突出して設けられる固定ハンドに一つずつ
各苗を受け渡し、各苗処理円盤部がそれぞれ所定角度回
転した位置で、切断装置で台木苗および穂木苗をそれぞ
れ切断し、これらの苗をさらに所定角度回転させて台木
と穂木が接合できる位置に回転搬送させ、台木と穂木を
クリップで接合する装置である。本発明者らは先に、前
記従来の接木ロボットを改良して、使いがっての良い接
木ロボットについて発明して一連の特許出願をした(特
願平4−161512号、特願平5−6753号等)。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】[0003]
【発明が解決しようとする課題】前記本発明者らの開発
した前記接木ロボットにおける切断装置の切断刃は切断
装置の先端部に平面状に取り付けられているので、切断
刃の動線であるカッタ軌跡に対して角度が付き、切り口
を広げるよう方向に力がかかるため、苗の切り取られる
側が接木用に残す方の苗の子葉展開基部付近の薄い部分
を押して、そこにクラックが入るトラブルがあった。こ
のことは台木の場合に多く、特に、硬い苗の場合にクラ
ックが入ることが多かった。また、比較的胚軸径の細い
穂木の場合でも、平面状に取り付けられた切断刃が切口
を広げる方向に胚軸に力をかけることにより、切り落と
す側の胚軸がカッタ軌跡の接線方向に傾き、穂木苗の切
断終り部分で表皮が残る問題があった。そこで、本発明
は前記本発明者らの開発した前記接木ロボットをさらに
改良して、より使いがっての良い接木ロボットを提供す
ることを目的とする。詳細には、本発明は接木ロボット
の苗の切断装置を操作性の優れたものにすることを目的
とする。Since the cutting blade of the cutting device in the grafting robot developed by the present inventors is flatly attached to the tip of the cutting device, the cutter which is the flow line of the cutting blade. Since there is an angle with respect to the locus and force is applied in the direction to widen the cut, there is a problem that the side to be cut off of the seedling pushes the thin part near the base of the cotyledon expansion of the seedling and leaves a crack there. It was This was often the case with rootstocks, especially with hard seedlings. Also, even in the case of a scion with a relatively small hypocotyl diameter, the cutting blade attached to the plane exerts a force on the hypocotyl in the direction to widen the cut, so that the hypocotyl on the side to be cut off becomes tangential to the cutter locus. There was a problem that the epidermis remained at the end of cutting and cutting of the spikelet seedling. Therefore, an object of the present invention is to further improve the grafting robot developed by the present inventors and to provide a grafting robot with better usability. More specifically, the present invention aims to make a seedling cutting device of a grafting robot excellent in operability.
【0004】[0004]
【課題を解決するための手段】本発明の上記目的は次の
構成によって達成される。すなわち、台木供給装置に配
置される台木苗および穂木供給装置に配置される穂木苗
を各々の苗の搬送装置で、各々の切断位置まで搬送し、
それぞれ切断した台木苗と穂木苗をさらに各々の搬送装
置で接合位置まで搬送して接合する接木ロボットにおい
て、前記切断装置への切断刃の取付形状を切断刃の切断
時の軌跡に沿う形状とした接木ロボットである。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 the rootstock seedlings and the scion seedlings that have been cut to each other by their respective transporting devices and joins them, the shape of the cutting blade to be attached to the cutting device is a shape that follows the trajectory of the cutting blade when cutting. It is a grafted robot.
【0005】[0005]
【作用】本発明によれば、切断装置への切断刃の取付形
状を切断刃の切断時の軌跡(以後、カッタ軌跡と言う)
に沿う形状としたので、カッタ軌跡と同一方向に切断刃
も移動するため、切断中に苗の切り取られる側が接木用
に残る側の苗部分を押すこともなく、従って、苗にクラ
ックが入るトラブル(主に台木側)あるいは切断終り部
分で表皮が残る問題(主に穂木側)が生じなくなる。ま
た、切断刃が曲面状に取り付けられるため切断刃の剛性
が上り、苗の切断の安定化が図れる。According to the present invention, the shape of attachment of the cutting blade to the cutting device is a locus when the cutting blade is cut (hereinafter referred to as a cutter locus).
Since the cutting blade moves in the same direction as the cutter locus because it has a shape that follows the cutter path, the side where the seedling is cut during cutting does not push the seedling part that remains for grafting. The problem that the epidermis remains (mainly on the rootstock side) or at the end of cutting (mainly on the earstock side) does not occur. Further, since the cutting blade is attached in a curved shape, the rigidity of the cutting blade is increased and the cutting of seedlings can be stabilized.
【0006】[0006]
【実施例】本発明の実施例を以下、図面と共に説明す
る。本実施例の接木ロボットの上面図を図1(天板を外
した図)に、その部分(接木部)拡大図を図2に、前面
図を図3に、側面図を図4にそれぞれ示す。接木ロボッ
トはクリップフイーダ部1と接木部2からなり、接木部
2は台木部3と穂木部5および接合部6からなってい
る。クリップフィーダ部1のクリップボウル7外周から
クリップガイドレール9を設け、その先端部に接木部2
を隣接させる。また、台木と穂木の各々を把持、搬送す
るためのそれぞれのロボットマニュピュレータ10、1
1および苗供給板13、14を接木部2の天板15(図
3)に懸架している。一枚の天板15に全てのムーブメ
ントを組み付けたため、寸法精度がよくなる。また、天
板15は接木ロボットのカバーと強度部材の役割を果た
しており、台木と穂木の切断カスの飛散を防ぐ。図1の
接木部2部分の拡大図を図2に示す。台木部3は台木苗
供給装置17と台木搬送装置18および台木切断装置1
9からなり、また、穂木部5も同様に穂木苗供給装置2
1、穂木搬送装置22、穂木切断装置23からなってい
る。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. An enlarged view of the grafted portion 2 portion of FIG. 1 is shown in FIG. The rootstock section 3 includes a rootstock seedling supply device 17, a rootstock transport device 18, and a rootstock cutting device 1.
9 and the scion part 5 is also a scion seedling supply device 2
1, a scion conveying device 22 and a scion cutting device 23.
【0007】台木苗供給装置17に人手により供給され
る台木苗は図1の矢印(イ)の方向に回転する台木搬送
装置18により台木切断装置19の位置(切断位置)ま
で搬送され、ここで、切断装置19が回転して(図4参
照)その切断刃により台木苗の子葉を一枚残して、その
他の子葉部分は切り落とされる。台木切断装置19は先
端に切断刃を取り付けた回転式カッターであり、図1、
図4の矢印(ハ)方向に回転する。切断されて子葉を一
枚残した台木は矢印(ロ)方向(図1参照)に搬送さ
れ、接木部2で接合部6の接合装置25(図2、図3参
照)で穂木と接合される。また、同様に人手により穂木
苗供給装置21に供給された穂木苗は穂木搬送装置22
により矢印(ニ)方向(図1参照)に搬送され、切断位
置で矢印(ヘ)方向(図1、図4参照)に回転する穂木
切断装置23によりその胚軸部分より上の組織を残し
て、一部胚軸部と根部が切り落とされる。そして、子葉
部分を持つ穂木は矢印(ホ)方向(図1参照)に搬送さ
れ、台木と接木部2において、クリップフィーダ部1か
ら供給されるクリップで接合され、接木操作が完了し、
接木部2の下方に落下・回収される。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, which has been cut and left one cotyledon, is transported in the direction of the arrow (b) (see FIG. 1), and is joined to the scion by the joining device 25 (see FIGS. 2 and 3) of the joining portion 6 at the graft portion 2. To be done. Similarly, the scion seedlings manually supplied to the scion seedling supply device 21 are transferred to the scion transfer device 22.
Is carried in the arrow (d) direction (see FIG. 1) by the scissors and rotated at the cutting position in the arrow (f) direction (see FIGS. 1 and 4) to leave the tissue above the hypocotyl portion by the scion cutting device 23. Part of the hypocotyl and root are cut off. Then, the scion having the cotyledon portion is conveyed in the direction of the arrow (e) (see FIG. 1), is joined by the clip supplied from the clip feeder unit 1 at the rootstock and the grafting unit 2, and the grafting operation is completed,
It is dropped and collected below the graft unit 2.
【0008】次いで、台木苗供給装置17と搬送装置1
8の説明をする。 まず、台木苗供給装置17について
図2、図3により説明する。台木苗供給板13は台木苗
胚軸径よりも大きな受け溝13aと対向する方向に開い
ている両子葉の裏面に接触する角度を持って台木を受け
取る構造からなる保持部13bからなっている。子葉裏
面に接触する角度を持って保持部13bが設けられてい
るので、台木苗を供給する時に子葉の向きを正確にセッ
トしなくても略同一方向に苗を供給板13上に載せる事
ができる。台木苗供給板13にセットされた台木苗は台
木搬送装置18で把持されて、切断位置と接合位置に順
次搬送される。Next, the rootstock seedling supply device 17 and the transfer device 1
8 will be described. First, the rootstock seedling supply device 17 will be described 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 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 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.
【0009】台木搬送装置18の詳細図を図5に示す。
図5(a)は上面図であり、図5(b)は側面図(図5
(a)は図5(b)のA−A線視図)である。台木搬送
装置18の台木搬送用回転アクチュエータ29は天板1
5に支持され、該アクチュエータ29の下部には台木搬
送アーム支持体30が該アクチュエータ回転軸31を中
心に回転自在に支持されている。台木搬送アーム支持体
30には、該支持体30に支持された台木搬送アーム押
出シリンダ33、該シリンダ33に固定された台木搬送
アーム34と該搬送アーム34先端の台木把持部35
(一対の台木胚軸ハンド37と一対の台木根固定ハンド
38と円筒ローラ41)が設けられている。前記両ハン
ド37、38は台木搬送アーム34のボックス(図示せ
ず)内に設けられたエアシリンダにより台木を把持する
ように開閉制御される。台木胚軸ハンド37は台木の胚
軸を傷つけないために該ハンド37内側はゴム製となっ
ている。また、台木根固定ハンド38は台木根鉢43
(図5(b)参照)の円筒状の側面を把持するような湾
曲板で出来ている。また、台木搬送アーム支持体30に
は、穂木との接合時に前記円筒ローラ41を鉛直方向に
回転させ、台木子葉を持ち上げるための支持アーム45
と台木子葉持ち上げ用回転アクチュエータ49が設けら
れている。FIG. 5 is a detailed view of the root carrier device 18.
5A is a top view and FIG. 5B is a side view (FIG.
5A is a view taken along the line AA of FIG. 5B). The rotary actuator 29 for transporting the stock of the stock transporting device 18 is the top plate 1.
A rootstock transport arm support 30 is supported below the actuator 29 so as to be rotatable around the actuator rotation shaft 31. 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 a root root bowl 43.
It is made of a curved plate that holds the cylindrical side surface (see FIG. 5B). In addition, the support arm 45 for rotating the cylindrical roller 41 in the vertical direction at the time of joining the rootstock to the rootstock transport arm support 30 to lift the rootstock cotyledons.
And a rotary actuator 49 for lifting the cotyledon cotyledons.
【0010】台木苗供給板13上の台木苗のセット位置
まで押し出された台木搬送アーム34先端の台木胚軸ハ
ンド37のエアシリンダが作動して台木苗を把持する。
ハンド37の作動と同時に台木搬送アーム用回転アクチ
ュエータ29も作動して、前記ハンド37で把持した台
木苗を切断位置まで搬送する。また、穂木との接合時に
は図6に示すように、この円筒ローラ41を鉛直方向に
回転させ、台木に残す子葉を持ち上げ、クリップが台木
胚軸を把持できるようにする。また、図7に示すように
胚軸背当て用の円筒ローラ41の上方に位置するように
支持アーム45にL字状の子葉ささえ板42を設けても
良い。図7(a)は正面図、図7(b)は図7(a)の
矢印A方向から見た側面図である。従来は台木の子葉が
開いている場合、子葉の規制がないと切断時に切り落と
すべき本葉の一部が切断されずに接木苗側に残る場合が
あった。しかし、子葉ささえ板42を設けることによ
り、台木の子葉が開いても閉じても同じようにきれいに
切断することができるようになった。また、台木苗を深
切りに調整した場合でも、接木苗側に残った子葉をささ
えているため、穂木との接合時に子葉が垂れ下がって、
接合ミスをすることがなくなった。また、台木胚軸ハン
ド37の根元近傍を遮へいする遮へい板37aを胚軸ハ
ンド37上方に設けて接合に失敗した台木苗が胚軸ハン
ド37根元に食い込むことを防ぐ。The air cylinder of the rootstock hypocotyl hand 37 at the tip of the rootstock transport arm 34 pushed to the position for setting the rootstock seedlings on the rootstock seedling supply plate 13 operates to grip the rootstock seedlings.
At the same time as the operation of the hand 37, the rotation actuator 29 for the rootstock transfer arm is also operated to transfer the rootstock seedling grasped by the hand 37 to the cutting position. Further, at the time of joining with the scion, as shown in FIG. 6, the cylindrical roller 41 is rotated in the vertical direction to lift the cotyledon left on the rootstock so that the clip can grasp the rootstock hypocotyl. Further, as shown in FIG. 7, an L-shaped cotyledon support plate 42 may be provided on the support arm 45 so as to be located above the cylindrical roller 41 for backing the hypocotyl. 7A is a front view, and FIG. 7B is a side view seen from the direction of arrow A in FIG. 7A. Conventionally, when the cotyledons of the rootstock are open, some of the true leaves that should be cut off at the time of cutting may remain on the grafted seedling side without being cut unless the cotyledons are regulated. However, by providing the cotyledon support plate 42, the cotyledon of the rootstock can be cut equally finely when it is opened or closed. In addition, even if the rootstock seedlings are adjusted to a deep cut, the cotyledons remaining on the grafted seedling side are supported, so the cotyledons hang down when joining with the scion,
No more mistakes in joining. In addition, a shield plate 37a that shields the vicinity of the root of the rootstock hypocotyl hand 37 is provided above the hypocotyl hand 37 to prevent rootstock seedlings that have failed to bond into the root of the hypocotyl hand 37.
【0011】次に、穂木部について詳細に説明する。ま
ず、穂木苗供給装置21について説明する。図2に明示
されるように穂木苗供給装置21には前面に開口した穂
木受け溝14aを形成した穂木苗供給板14が水平平面
を持つように設けられていて、この穂木受け溝14aに
人手により1本1本穂木苗の胚軸を挿入して、穂木苗を
支持させる。穂木苗供給板14に支持された穂木苗は穂
木搬送装置22で把持されて、切断位置と接合位置に順
次搬送される。穂木搬送装置22の詳細図を図8に示
す。図8(a)は上面図であり、図8(b)は側面図で
ある。図8(a)は図8(b)のA−A線視図である。
穂木搬送装置22は穂木搬送用回転アクチュエータ73
と該アクチュエータ73の下部の穂木搬送アーム支持体
75が該アクチュエータ回転軸76を中心に回転自在に
支持されている。穂木搬送アーム支持体75には、該支
持体75に支持された穂木搬送アーム押出シリンダ7
7、該シリンダ77により伸縮される穂木搬送アーム7
9と該搬送アーム79先端には穂木把持部80を構成す
る穂木子葉支えプレート81と穂木胚軸ハンド83が設
けられている。前記ハンド83は穂木搬送アーム79先
端に設けられたアクチュエータ89により穂木を把持す
るように開閉制御される。穂木子葉支えプレート81に
は穂木子葉の裏面を載せる板状部分81aがある。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 the groove 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. 8A is a top view and FIG. 8B is a side view. FIG. 8A is a view taken along the line AA of FIG.
The scion transport device 22 is a rotary actuator 73 for scion transport.
Also, a scion carrying arm support 75 below the actuator 73 is rotatably supported about the actuator rotation shaft 76. The scion transfer arm support 75 includes a scoop transfer arm pushing cylinder 7 supported by the support 75.
7. Scoop transport arm 7 that is expanded and contracted by the cylinder 77
9 and the tip of the transfer arm 79 are provided with a scion cotyledon support plate 81 and a scion hypocotyl hand 83 which constitute a scion gripping portion 80. The hand 83 is controlled to be opened and closed 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.
【0012】穂木搬送アーム79は搬送アーム押出シリ
ンダ77で押し出されるが、その押し出し量は押し出量
調整シム91により調整される。また、穂木搬送アーム
押出シリンダ77下部には裏当てガイド92が固定され
ていて、穂木搬送アーム79が後退した位置に来ると、
その裏当てガイド92先端のガイド片92aが穂木の胚
軸切断時に胚軸の裏当てをする。このガイド片92aに
よる胚軸の裏当て支持によりカッタによる切断が確実に
行える。なお、穂木切断装置23の回転方向は図1、図
4の矢印(ヘ)に示す通りであり、台木切断装置19と
は逆方向に回転させる。その理由は台木切断時には子葉
一枚を胚軸に残した状態で切断するのには胚軸側から子
葉側に切断したほうが有利であるのに対して、穂木の胚
軸の切断は裏当てガイド92先端のガイド片92aの押
えを効かすためと、胚軸が切断されてできるその先端の
鋭角部の形が崩れないようにするためである。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, a backing guide 92 is fixed to the lower part of the spike-carrying-arm pushing cylinder 77, and when the spike-carrying arm 79 comes to the retracted position,
The guide piece 92a at the tip of the backing guide 92 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 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.
【0013】また、穂木搬送アーム79は穂木を供給位
置から切断位置に搬送中には押し出し位置にあり、切断
時には該アーム79は後退位置(図8(b))に移動す
る。さらに、穂木と台木の接合時には裏当ガイド92は
邪魔になるが、そのときは搬送アーム79を押し出し、
胚軸ハンド83等を突出させることで、裏当ガイド92
とハンド83等との干渉を防ぐことができる。このよう
に搬送アーム79の伸縮により、穂木把持部80を移動
可能としたことで、穂木苗を供給板14から受け取る方
法に自由度が増した。また、前述のように穂木苗の搬送
アーム79のシム91により、穂木把持部80の押し出
し量を調整する。これは、クリップによる接合時に台木
と穂木の切断面がクリップの先端の開口部の中に入って
いなければならないが、組立誤差や品種の違いによる胚
軸径の違いなどによって搬送アーム79の押し出し量を
微調整する必要があるためである。本実施例では穂木搬
送装置22にシム91を設けたが、台木搬送装置18に
設けても良い。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. 8B) during cutting. Further, the backing guide 92 interferes with the joining of the spike and the rootstock, but at that time, the transport arm 79 is pushed out,
By projecting the hypocotyl hand 83 and the like, the backing guide 92
Can be prevented from interfering with the hand 83 or the like. In this way, by expanding and contracting the transfer arm 79, the scion gripping portion 80 can be moved, thereby increasing the degree of freedom in the method of receiving scion seedlings from the supply plate 14. 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.
【0014】次に切断装置を図9により説明する。な
お、切断装置は台木部3、穂木部5にそれぞれ設けられ
ているが、両方に共通する機構からなるものである。図
9には台木部3側の切断装置を示す。図9(a)は正面
図、図9(b)は図9(a)の切断刃の取り付け部分の
拡大図である。カッタ駆動用モータ111は鉛直方向に
向いた支柱112に支持されていて、そのモータ111
の回転軸113にカッタアーム115が取り付けられて
いる。このカッタアーム115の先端に該アーム115
と直交する方向に設けられた切断刃支持片116と押え
板118に切断刃117が取り付けられている。カッタ
アーム115への切断刃支持片116の取り付け位置は
カッタアーム115に設けられた調整ネジ119等の調
整具で行う。また、カッタ駆動用モータ111の取り付
け高さの調整は支柱112に設けられた調整ネジ(図示
せず)等の調整具で行う。また、カッタアーム115に
は胚軸の切断の邪魔にならないように、切断刃117が
胚軸に当たる前に切断刃117の回転軌跡内にある苗の
子葉(切り落とす子葉)を持ち上げるための子葉持ち上
げガイド122が設けられている。本実施例の特徴は切
断刃117の取付形状をカッタ軌跡に沿う形としたこと
である。図9では切断刃支持片116と押え板118の
形状を多角状にしているが、これを曲面状にしても良
い。こうして、台木苗の切断時にクラックが発生するこ
とが無くなり、また、穂木苗の切断時にも表皮が切断し
きれずに残ることもなくなった。また、切断刃を曲げた
ため、その剛性が向上し、苗の切断の安定化が図れた。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. 9 shows a cutting device on the side of the base 3. 9A is a front view, and FIG. 9B is an enlarged view of a mounting portion of the cutting blade of FIG. 9A. The cutter driving motor 111 is supported by a column 112 that is oriented in the vertical direction.
A cutter arm 115 is attached to the rotating shaft 113 of the. At the tip of the cutter arm 115, the arm 115
The cutting blade 117 is attached to the cutting blade support piece 116 and the pressing plate 118 which are provided in the direction orthogonal to the cutting blade 117. 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. Further, the mounting height of the cutter driving motor 111 is adjusted by an adjusting tool such as an adjusting screw (not shown) provided on the support 112. In addition, a cotyledon lifting guide for lifting the cotyledon (cotyledon to be cut off) of the seedling in the rotation locus of the cutting blade 117 before the cutting blade 117 hits the hypocotyl so that the cutter arm 115 does not interfere with the cutting of the hypocotyl. 122 is provided. The feature of this embodiment is that the mounting shape of the cutting blade 117 is formed along the cutter locus. Although the cutting blade support piece 116 and the pressing plate 118 are polygonal in FIG. 9, they may be curved. In this way, cracks did not occur when the rootstock seedlings were cut, and the epidermis did not remain uncut and remained even when the scion seedlings were cut. In addition, since the cutting blade was bent, its rigidity was improved and the cutting of seedlings was stabilized.
【0015】また、図10に示すように、切断刃117
の中心を側面から見て、台木側のカッタアーム115の
中心線H0(切断刃117の中心と切断刃円弧中心を通
る直線に平行でカッタアーム115の回転中心を通る直
線)よりも切断刃117を進行方向に向かって前方に配
置しても良い。これは、カッタアーム115の中心線H
0上に切断刃117の中心線H1(切断刃117の円弧の
頂点に対応)が一致して取り付けられていると、切断刃
117の反対側が胚軸切断面をなぞり切断面を粗くして
しまい、活着率が落ちるトラブルが発生するが、切断刃
117の反対側表面の切断時の軌跡は切断刃117のカ
ッタ軌跡より内側に位置するため、切断刃117をなぞ
ることがなく苗の切断面を平滑に保つことが可能となっ
た。Further, as shown in FIG. 10, a cutting blade 117
Seen from the side of the center of the cutting edge, cut more than the center line H 0 of the cutter arm 115 on the rootstock side (the straight line which is parallel to the straight line passing through the center of the cutting blade 117 and the arc center of the cutting blade and passing through the rotation center of the cutting arm 115). The blade 117 may be arranged forward in the traveling direction. This is the center line H of the cutter arm 115.
When the center line H 1 of the cutting blade 117 (corresponding to the apex of the arc of the cutting blade 117) is attached on 0, the opposite side of the cutting blade 117 traces the hypocotyl cutting surface to roughen the cutting surface. However, since the survival rate drops, the locus at the time of cutting the surface on the opposite side of the cutting blade 117 is located inside the cutter locus of the cutting blade 117, so that the cutting surface of the seedling can be cut without tracing the cutting blade 117. It has become possible to keep
【0016】また、図11(図11(a)は側面図、図
11(b)は押え板118を外した状態で図11(a)
の矢印A方向から見た図である。)に示すように切断刃
117を切断刃支持片116の面に対して斜めに取り付
けた。このような切断刃117の取り付けにより、切断
刃117の刃先は胚軸に対して斜め方向から切り込まれ
るので、胚軸を引き切ることができ、切断初期の衝撃力
が減少し、胚軸にクラックが生じることがなくなった。
また、切断抵抗が軽減することに伴い、切断速度も安定
したたため切断面が平滑となり、苗の接合後の活着率が
向上する。これに対して、胚軸に対して直角方向から切
断刃117が入る場合は胚軸を押し切る形となり、大き
な切断力を必要とし、また特に表皮の硬い苗、胚軸組織
がもろい苗等を切る場合、切断刃117が入った部分で
胚軸の軸を横切る方向にクラックが入ることがある。Further, FIG. 11 (FIG. 11 (a) is a side view, and FIG. 11 (b) is FIG. 11 (a) with the holding plate 118 removed.
It is the figure seen from the arrow A direction. ), The cutting blade 117 was obliquely attached to the surface of the cutting blade supporting piece 116. By attaching such a cutting blade 117, the cutting edge of the cutting blade 117 is cut obliquely to the hypocotyl, so that the hypocotyl can be cut off, the impact force at the initial stage of cutting is reduced, and No more cracking.
Further, as the cutting resistance is reduced, the cutting speed is also stabilized, so that the cutting surface becomes smooth and the survival rate of the seedlings after joining is improved. On the other hand, when the cutting blade 117 enters from a direction perpendicular to the hypocotyl, the hypocotyl is pushed down and a large cutting force is required, and particularly, a seedling with a hard epidermis or a seedling with a hypocotyl tissue is fragile. In this case, a crack may be formed in the portion including the cutting blade 117 in a direction crossing the axis of the hypocotyl.
【0017】また、図12に示すように穂木切断装置2
3の切断刃117のカッタ軌跡を穂木胚軸の裏当ガイド
92のガイド片92aの下端近傍に一致させた。この理
由は裏当ガイド片92aの下端から離れた位置にカッタ
軌跡があるように配置すると、胚軸の切断位置が安定し
ないので、できるだけ、切断刃117のカッタ軌跡がガ
イド片92aの下端に来るようにして安定した切断を行
い、台木との接合後の活着率を向上させるためである。
クリップフィーダ部1(図1)とクリップ接合装置25
(図2、図3)については本出願人の先の出願(特願平
5−6753号)に記載したとおりの構成を採用してい
る。また、本実施例の接木ロボットの作動シーケンスは
図13に開示したとおりであり、本発明の接木ロボット
の台木部3および穂木部5の各装置の作動タイムチャー
トについては、図14および図15に開示したとおりで
ある。また、クリップフィーダ部1の各装置の作動タイ
ムチャートは本出願人の先の出願(特願平4−1615
12号等)に記載したとおりである。Further, as shown in FIG. 12, the scion cutting device 2
The cutter locus of the cutting blade 117 of No. 3 was matched with the vicinity of the lower end of the guide piece 92a of the backing guide 92 of the scion hypocotyl. The reason for this is that if the cutter locus is placed at a position away from the lower end of the backing guide piece 92a, the cutting position of the hypocotyl is not stable, so that the cutter locus of the cutting blade 117 reaches the lower end of the guide piece 92a as much as possible. This is because stable cutting is performed in this manner and the survival rate after joining with the rootstock is improved.
Clip feeder unit 1 (FIG. 1) and clip joining device 25
Regarding (FIGS. 2 and 3), the configuration as described in the applicant's earlier application (Japanese Patent Application No. 5-6753) is adopted. The operation sequence of the grafting robot of the present embodiment is as disclosed in FIG. 13, and the operation time chart of each device of the root part 3 and the spike part 5 of the grafting robot of the present invention is shown in FIG. 14 and FIG. As disclosed in 15. Further, the operation time chart of each device of the clip feeder unit 1 is described in the previous application of the applicant (Japanese Patent Application No. 4-1615).
No. 12, etc.).
【0018】[0018]
【発明の効果】本発明によれば、切断装置への切断刃の
取付形状を切断刃のカッタ軌跡に沿う形状としたので、
苗にクラックが入るトラブル(主に台木側)あるいは切
断終り部分で表皮が残る問題(主に穂木側)が生じなく
なる。According to the present invention, since the mounting shape of the cutting blade to the cutting device is the shape along the cutter locus of the cutting blade,
The problem that the seedlings crack (mainly on the rootstock side) or the problem that the epidermis remains at the end of cutting (mainly on the earstock side) will not occur.
【図1】 本発明の一実施例の接木ロボットの上面図。FIG. 1 is a top view of a grafting robot according to an embodiment of the present invention.
【図2】 本発明の一実施例の接木ロボットの接木部の
上面図。FIG. 2 is a top view of a grafting portion of the grafting robot according to the embodiment of the present invention.
【図3】 本発明の一実施例の接木ロボットの接木部の
前面図。FIG. 3 is a front view of a grafting portion of the grafting robot according to the embodiment of the present invention.
【図4】 本発明の一実施例の接木ロボットの接木部の
側面図。FIG. 4 is a side view of a grafting portion of the grafting robot according to the embodiment of the present invention.
【図5】 本発明の一実施例の接木ロボットの台木搬送
装置の図。FIG. 5 is a view of a root carrier of the grafting robot according to the embodiment of the present invention.
【図6】 本発明の一実施例の接木ロボットの台木と穂
木の接合時の台木搬送装置の図。FIG. 6 is a view of a root carrier transporting apparatus at the time of joining rootstocks and scions of the grafting robot according to the embodiment of the present invention.
【図7】 本発明の一実施例の接木ロボットの台木搬送
装置に子葉ささえ板を設けた場合の図。FIG. 7 is a diagram showing a case where a cotyledon support plate is provided in the root carrier transporting device of the grafting robot according to the embodiment of the present invention.
【図8】 本発明の一実施例の接木ロボットの穂木搬送
装置の図。FIG. 8 is a diagram of a scion conveying device of a grafting robot according to an embodiment of the present invention.
【図9】 本発明の一実施例の接木ロボットの台木側の
切断装置の図。FIG. 9 is a diagram of a cutting device on the rootstock side of the grafting robot according to the embodiment of the present invention.
【図10】 本発明の一実施例の切断装置の切断刃の取
付形状を示す図。FIG. 10 is a view showing a mounting shape of a cutting blade of a cutting device according to an embodiment of the present invention.
【図11】 本発明の一実施例の切断装置の切断刃の取
付形状を示す図。FIG. 11 is a view showing a mounting shape of a cutting blade of a cutting device according to an embodiment of the present invention.
【図12】 本発明の一実施例の穂木の切断時のカッタ
軌跡と穂木搬送装置の裏当てガイド片との関係を示す
図。FIG. 12 is a diagram showing a relationship between a cutter locus at the time of cutting a scion and a backing guide piece of the scion conveying device according to an embodiment of the present invention.
【図13】 本発明の一実施例の接木ロボットの作動シ
ーケンスを示す図。FIG. 13 is a diagram showing an operation sequence of the grafting robot according to the embodiment of the present invention.
【図14】 本発明の一実施例の接木ロボットの台木部
の駆動のタイムチャートを示す図。FIG. 14 is a diagram showing a time chart of driving the root part of the grafting robot according to the embodiment of the present invention.
【図15】 本発明の一実施例の接木ロボットの穂木部
の駆動のタイムチャートを示す図。FIG. 15 is a diagram showing a time chart of driving the spikes of the grafting robot according to the embodiment of the present invention.
1…クリップフィーダ部、2…接木部、3…台木部、5
…穂木部、6…接合部、13…台木苗供給板、17…台
木苗供給装置、18…台木搬送装置、19…台木切断装
置、21…穂木苗供給装置、22…穂木搬送装置、23
…穂木切断装置、37…台木胚軸ハンド、42…台木子
葉ささえ板、115…カッタアーム、116…切断刃支
持片、117…切断刃、118…押え板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, 42 ... rootstock cotyledon support plate, 115 ... cutter arm, 116 ... cutting blade support piece 117 ... cutting blade, 118 ... pressing plate
Claims (1)
穂木供給装置に配置される穂木苗を各々の苗の搬送装置
で、各々の切断位置まで搬送し、それぞれ切断した台木
苗と穂木苗をさらに各々の搬送装置で接合位置まで搬送
して接合する接木ロボットにおいて、前記切断装置への
切断刃の取付形状を切断刃の切断時の軌跡に沿う形状と
したことを特徴とする接木ロボット。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 conveying devices, the mounting shape of the cutting blade to the cutting device is a shape that follows the trajectory of the cutting blade when cutting A grafted robot.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP07789693A JP3277595B2 (en) | 1993-04-05 | 1993-04-05 | Grafting robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP07789693A JP3277595B2 (en) | 1993-04-05 | 1993-04-05 | Grafting robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH06292457A true JPH06292457A (en) | 1994-10-21 |
JP3277595B2 JP3277595B2 (en) | 2002-04-22 |
Family
ID=13646846
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP07789693A Expired - Fee Related JP3277595B2 (en) | 1993-04-05 | 1993-04-05 | Grafting robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3277595B2 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6574916B1 (en) * | 2001-11-07 | 2003-06-10 | Harmon Carroll | Plant grafting system |
JP2013179850A (en) * | 2012-02-29 | 2013-09-12 | Iseki & Co Ltd | Device for producing grafted seedling |
CN112655396A (en) * | 2021-01-11 | 2021-04-16 | 贾欣悦 | Thickness self-adaptation formula grafting branch cutting device |
-
1993
- 1993-04-05 JP JP07789693A patent/JP3277595B2/en not_active Expired - Fee Related
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6574916B1 (en) * | 2001-11-07 | 2003-06-10 | Harmon Carroll | Plant grafting system |
JP2013179850A (en) * | 2012-02-29 | 2013-09-12 | Iseki & Co Ltd | Device for producing grafted seedling |
CN112655396A (en) * | 2021-01-11 | 2021-04-16 | 贾欣悦 | Thickness self-adaptation formula grafting branch cutting device |
CN112655396B (en) * | 2021-01-11 | 2023-12-15 | 新疆昆仑旭东生态科技发展有限公司 | Thickness self-adaptation formula grafting branch cutting device |
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JP3277595B2 (en) | 2002-04-22 |
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