JPH07147842A - Robot for graftage - Google Patents

Abstract

PURPOSE:To provide a robot for graftage easy to handle and whose grip hand for stock root of a stock conveyer is improved. CONSTITUTION:A stock conveyer 18 is equipped, with a pair of hypocotyl hands 37 capable of gripping a stock hypocotyl by opening/closing of the tip thereof and a pair of stock root hands 38 capable of gripping a stock root by opening/ closing of the tip thereof below the hypocotyl hands 37, with the divergence of angle at the tip of the stock root hands set greater than that for the hypocotyl hands. Therefore, the hypocotyl at the stock portion of a conjugated seedling is thin and the divergence of angle of the stock hypocotyl hands 37 to grip the proximity of the hypocotyl portion registered by a stock seedling feeder 17 may be small; however, as the stock root hands 38 consist of e.g. of pair of those with a dog-leg form arranged in a specularly symmetrical way, the divergence of angle becomes greater, thus enabling sufficient gripping of even a larger diameter stock root portion.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art The inventors of the present invention have made a series of patent applications (Japanese Patent Application No. 4-161515 and Japanese Patent Application No. 5-194828) in order to develop a grafting robot having excellent operability as an alternative to the grafting robot. ) Was done. The grafting robot developed by the present inventors cuts the rootstock seedlings and scion seedlings arranged in the seedling feeding device with respective cutting devices, and clips the cut scion and rootstocks with these joining devices by clipping. It is a grafting robot that automatically inserts grafting equipment that is joined to the joining equipment and clips into grafting trays or pots.

[0003]

In the grafting robot developed by the present inventors, the gripping hand of the root of the root carrier is formed by two curved plate-shaped hands. In this case, the rootstock is supplied to the grafting robot in a state where the soil is attached or is stored together with the soil in the rootstock pot. Therefore, the base root gripping hand must be sufficiently open on the tip side of the hand before gripping the rootstock. However, since the conventional grafting robot developed by the present inventor has a hand openness that is almost the same as that of the rootstock hypocotyl, it may not be possible to grip the rootstock. Therefore, an object of the present invention is to provide a grafting robot that is easy to use by improving the gripping hands of the roots of the grafting carrier of the grafting robot.

[0004]

The above objects of the present invention can be achieved by the following constitutions. That is, the rootstock seedlings arranged in the rootstock seedling supply device and the spikelet seedlings arranged in the rootstock seedling supply device are transported to their respective cutting positions by the respective seedling carrier devices, and the respective rootstock seedlings are cut. In a grafting robot that further transports and scion seedlings and spear seedlings to the joining position with each transport device, a pair of hypocotyls that can grip the rootstock hypocotyl by opening and closing the tip of the rootstock transport device By opening and closing the tip below the hand and the hypocotyl hand, a pair of rootstock hands for holding the rootstock are provided respectively, and the opening angle of the tip of the rootstock hand is larger than the opening angle of the tip of the hypocotyl hand. It is a grafting robot that has been set.

[0005]

EFFECTS OF THE INVENTION According to the present invention, the hypocotyl of the rootstock portion of the bonded seedling is thin, and the opening angle of the rootstock hypocotyl hand that grips the vicinity of the hypocotyl portion positioned in the rootstock seedling feeding device is small. However, since the rootstock hand consists of a pair of doglegged hands that are arranged symmetrically, for example, the opening angle is large, and even if the diameter of the rootstock part is large, grasp it sufficiently. You can

[0006]

Embodiments of the present invention will be described with reference to the drawings. First, an outline of a grafting robot that automatically joins rootstock seedlings and scion seedlings will be described, and then the transplanting apparatus for the obtained jointed seedlings will be described. FIG. 1 is a top view of the grafting robot of this embodiment.
An enlarged view of the portion (grafting part) is shown in FIG. 2, a front view is shown in FIG. 3, and a side view is shown in FIG.
As will be described later, the transplanting device should be illustrated in each of the drawings in FIGS. 1 to 4, but in order to simplify the drawings, up to the step of automatically joining the rootstock seedling and the spikelet seedling. The implanting device is not shown in the drawings (FIGS. 1 to 4) for explaining each device.

As shown in FIG. 1, a mechanism for producing a joint seedling of a grafting robot of this embodiment comprises a clip feeder section 1 and a graft section 2, and the graft section 2 is a root section 3 and a scion section 5 and a joint. It consists of part 6. A clip guide rail 9 is provided from the outer periphery of the clip bowl 7 of the clip feeder portion 1, and the graft portion 2 is adjacent to the tip portion thereof. In addition, the robot manipulators 10 and 11 and the seedling supply plates 13 and 14 for gripping and transporting the rootstock and the scion, respectively.
Is suspended on the top plate 15 (FIG. 3) of the graft part 2. An enlarged view of the grafting part 2 portion shown in FIG. 1 is shown in FIG. 2. The rooting part 3 is composed of a rootstock seedling supplying device 17, a rootstock conveying device 18 and a rootstock cutting device 19, and the root part 5 Similarly, it also comprises a scion seedling supply device 21, a scion transfer device 22, and a scion cutting device 23.

The rootstock hypocotyl is manually supplied to the receiving groove 13a (see FIG. 2) having a diameter larger than the rootstock seedling hypocotyl diameter of the rootstock seedling feeding plate 13 of the rootstock seedling feeding device 17. This rootstock seedling is conveyed to the position (cutting position) of the rootstock cutting device 19 by the rootstock carrier device 18 rotating in the direction of arrow (a) in FIG. 1, where the cutting device 19 rotates to cut it. The blade leaves one cotyledon of the rootstock seedling, and the other cotyledons are cut off. 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 FIGS. 1 and 4. 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 seedlings manually supplied to the scion seedling supply plate 14 of the scion seedling supply device 21 are conveyed in the arrow (d) direction (see FIG. 1) by the scion conveying device 22 and at the cutting position. The scion cutting device 23 rotating in the arrow (f) direction (see FIGS. 1 and 4) 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), and is joined with the clip supplied from the clip feeder unit 1 at the rootstock and the graft unit 2,
The bonded seedlings are delivered to the transplantation hand of the transplantation device described later.

The root carrier 18 and the scion carrier 22 will now be briefly described mainly with reference to FIG. 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 carrying arm support 30 has a stock carrying arm pushing cylinder 33 supported by the support 30, a stock carrying arm 34 fixed to the cylinder 33, and a stock gripping part at the tip of the carrying arm 34 ( A pair of rootstock hypocotyl hand 37, rootstock hand 38, and cylindrical roller 41) are provided. The hand 37 is controlled to open and close by an air cylinder (not shown) so as to grip the rootstock. Further, the rootstock transport arm support 30 is provided with a support arm 45 for lifting the rootstock cotyledons by rotating the cylindrical roller 41 in the vertical direction at the time of joining the rootstock and a rotary actuator 49 for lifting the rootstock cotyledons. Has been. 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.
And an air cylinder (not shown) of the rootstock hand 38 is operated so that the both hands 37 and 38 grip the rootstock seedling. At the same time as the operation of the rootstock hypocotyl hand 37 and the rootstock root hand 38, the rootstock transfer rotary actuator 29 also operates to transfer the rootstock seedlings grasped by the hand 37 and the rootstock root hand 38 to the cutting position. Also, when joining with the spike, the support arm 4
Rotate 5 vertically to lift the cotyledons left on the rootstock,
Allow a clip (not shown) to grip the rootstock hypocotyl.

The feature of this embodiment is the shape of the rootstock hand 38 of the rootstock gripping portion. FIG. 5 (a) is a partial side view of the rootstock transporting device 18 centering on the rootstock gripping portion, and shows the state when the rootstock seedling supply device 17 portion receives rootstock seedlings. FIG. 5B shows a plan view with the tip of the rootstock hand 38 closed, and FIG. 5C shows a plan view with the tip of the hand 38 open. In FIGS. 5A to 5C,
It is illustrated so that the mutual relation of the tip positions of the rootstock hand 38 with respect to the reference line A indicating the tip position of the rootstock hypocotyl hand 37 can be understood. Further, FIG. 6 shows the rootstock hypocotyl hand 37.
6 is a view seen from the direction of arrow AA in FIG. According to the present embodiment, the opening angle of the pair of rootstock hypocotyl hands 37, which has a thin hypocotyl in the rootstock portion of the joined seedling and grips the hypocotyl portion in the vicinity positioned in the rootstock seedling feeding device 17, is Although it may be small, the rootstock hand 38 is composed of a pair of dog-legged hands 38 that are arranged symmetrically with respect to a mirror surface.
When the hand 38 is opened as shown in (c), the opening angle of the tip of the hand 38 becomes large, and the hand 38 can be sufficiently gripped even if the root root has a large diameter. Further, the tip of the rootstock hand 38 is at a position lower than the tip of the hypocotyl hand 37 when the tip of the hand 38 is opened with respect to the rootstock seedling feeding device 17 (FIG. 5C). Therefore, the root carrier 18
When the rootstock seedling is received from the rootstock seedling supply device 17, the rootstock hand 38 does not interfere with the rootstock. In addition, when the rootstock hand 38 is closed (see FIG.
(B)) Since the tip of the rootstock hand 38 is located ahead of the tip of the hypocotyl hand 37 with respect to the rootstock seedling supply device 17, the rootstock can be gripped, and the rootstock can be stably fed. You can receive seedlings.

As shown in FIG. 3, in the scion seedling conveying device 22, a scion conveying rotary actuator 51 and a scion conveying arm support 52 below the actuator 51 are rotatable about the actuator rotating shaft 53. It is supported. The scion transport arm support 52 includes a scoop transport arm pushing cylinder 55 supported by the scaffold 52, a scoop transport arm 56 that is expanded and contracted by the cylinder 55, and the transport arm 56.
At the tip, the scion support plate 58 and scion hypocotyl hand 5
9 is provided. The hand 59 is controlled to be opened and closed by an actuator (not shown) provided at the tip of the scion conveying arm 56 so as to grip the scion. Further, the push-out amount adjusting shim 60 adjusts the push-out amount of the scion conveying arm 56 and the push-out cylinder 55 is pushed out by the conveyer arm pushing cylinder 55. A backing guide 61 is fixed to the lower part of the scooping arm extruding cylinder 55, and a bent piece at the tip thereof backs the hypocotyl when cutting the hypocotyl of the scion to ensure cutting of the hypocotyl. Can be done.

As the rootstock cutting device, as shown in FIG. 7, a cutting device 130 for cutting the rootstock hypocotyl may be provided together with the rootstock cotyledon cutting device 19. When adopting this configuration, one cotyledon of the rootstock is cut and the hypocotyl is cut at the same time. The cutting device 130 for cutting the rootstock hypocotyl is supported by the same support as the support of the cotyledon cutting device 19, and has the same mirror-symmetrical structure as the cotyledon cutting device 19. When the cutting device 130 is provided, only the rootstock hypocotyl hand 37 as shown in FIG. 7 is provided, and the rootstock hand is not provided, and the hypocotyl is cut by the cutting device 130. Further, when the rootstock transporting device 18 is provided with the embryo bearing 131, it becomes easy to implant the jointed seedlings into a transplant container described later. That is, as shown in the plan sectional view of the hypocotyl bearing 131 in FIG. 8, it is most suitable to cut the rootstock hypocotyl with the hypocotyl bearing 131 having a shape in which the hypocotyl does not escape to the front and rear and to the left and right when cutting the rootstock hypocotyl. Since the rootstock seedlings are reliably cut into a long length, it is easy to plant the joined seedlings in a transplant container. Conventionally, rootstock seedlings prepared before grafting were supplied to the grafting robot while being cut to an appropriate length. Although it was necessary to cut the hypocotyls evenly, it took a lot of man-hours. However, by providing the cutting device 130, such trouble can be omitted.

The clip feeder 1 and the joining device 25 will be described with reference to FIGS. 1, 2 and 9 (enlarged top view of the joining device 25 portion). Clip feeder section 1 (see Fig. 1)
Clip 63 to the vibrating parts feeder having a spiral ascending path along the inner surface of the clip bowl 7 (see FIG. 9).
A clip guide rail 9 formed of a vibrating trough formed with grooves for guiding both ends of the handle portion 63a is connected, and a clip joining device 25 facing the graft portion 2 is connected to the tip of the guide rail 9. The tip of this guide rail 9 narrows the guide interval between both ends of the handle portion 63a of the clip 63 just before the joining portion 6 of the graft 2 of the graft portion 2 and the constriction for opening the grip portion 63b of the clip 63. The guide rail 64 is connected. When the clip 63 (see FIG. 9A) that has advanced with the grip portion 63b opened reaches the joining position of the rootstock and the scion, the clip opening / closing tool 65 releases the bias of the handle portion 63a of the clip 63. By moving in the direction (FIG. 9 (b)), the gripping portion 63b can keep the rootstock and the scion in a joined state. After that, the joined seedlings are transferred to a transplanting device, which will be described in detail below, and cut into a tray.

FIG. 10 shows an overall view of the clip feeder 1, the joint 2, the transplanter 67 and the plug tray carrier 68 of the grafting robot of this embodiment. FIG. 10 is a side view of the grafting robot, which includes a clip feeder unit 1 and a graft unit 2.
(Consisting of the root part 3, the scion part 5 and the joint part 6 (see FIG. 1)) is arranged at the upper part, and below the clip feeder part 1 and the graft part 2, the joint seedling planting part 69 and both of them are arranged. The carry-in section 71 and the carry-out section 72 of the plug tray transport device 68 are arranged beside the supporting frame 73 of the grafting robot.
There is a transfer part 75 for transferring the clip-bonded seedlings to the planting part 69 on the front surface of the bonding device 25 in the grafting part 2, and the transplanting device 67 receives the clip-bonded seedlings at this transfer part 75 and immediately below The structure is such that it is transferred to the planting section 69. Then, a joint seedling is planted in each cell in the plug tray 76 sequentially loaded into the planting unit 69 from the plug tray loading unit 71, and the plug tray 76 with the seedlings planted is sequentially transported to the unloading unit 72. It has become.

Next, the transplant device 67 and the plug tray carry-in section 7
1 and the schematic configuration and function of the carry-out section 72 will be described. In the plug tray carry-in section 71, a plug tray 76 in which a plurality of cells 79 (see FIG. 11) are arranged in parallel as a set from a belt conveyor (not shown) on a rail 77 mounted on a support frame 73 is sequentially arranged. Since it is carried in, after carrying in the plug tray 76, the carry-in hook 80 arranged below the rail 77 at the entrance side of the carry-in portion 71 is projected onto the rail 77, and the carry-in hook 80 is attached to the side wall surface at the rear end of the plug tray 76. The plug tray 76 is sent to the planting section 69 by the carry-in cylinder 81 connected to the carry-in hook 80.
At this time, a belt conveyor (not shown) is used next to carry-in section 71.
In order to prevent the plug tray 76 sent to the above from pushing the plug tray 76 set in the planting section 69,
A mechanism is used in which the leading end of the plug tray 76 is temporarily stopped by a carry-in stopper 83 that can rotate.

The transplant device 67 includes a transfer section 75 and a transplant section 6.
9 is provided with a cylinder 84 that can move up and down and a horizontally movable arm 87 that is attached to a member 85 that is supported and fixed to the vertically moving cylinder 84.
At the tip of the arm 87, a pair of transplantation hands 88 for holding the hypocotyl of the jointed seedling and a soil pressing plate 89 are attached, and the arm 87 is provided with an actuator 91 for opening and closing the transplantation hand 88. With these members, the bonded seedlings can be planted in each of the plurality of cells 79 arranged in parallel in the plug tray 76. The support frame 73 of the planting section 69 has a base moving cylinder 9 movable in a direction orthogonal to the direction from the plug tray carry-in section 71 side to the carry-out section 72 side (direction perpendicular to the paper surface of FIG. 10).
2 and a plug tray, a base moving cylinder 93 that is movable in a direction from the loading portion 71 side to the unloading portion 72 side (the direction of the paper surface of FIG. 10) is provided. All the cells 79 of the plug tray 76 can be moved below the joined seedlings descending to a predetermined position of the planting section 69 by freely moving the 76 forward, backward, leftward and rightward. When the planting of the joined seedlings into all the cells 79 of the plug tray 76 of the planting section 69 is finished, the carry-out hook 95 capable of rotating hooks the side wall surface at the rear end of the plug tray 76 as shown in the drawing, The plug tray 76 is sent to the plug tray carry-out section 72 by sliding the carry-out cylinder 96 to which the carry-out hook 95 is attached.

FIG. 11 shows a graft carrier 1 for a grafting robot.
It is a figure which shows the principal part of the planting part 69 and the transfer part 75 seen from the 8 side. In the grafting part 2, the clip joining device 25, the stock transfer device 18, the stock cutting device 19, and the main part of the transfer part 75 are shown. In the rootstock transporting device 18, the rootstock hypocotyl hand 37 for gripping the rootstock hypocotyl and the rootstock hypocotyl fixture 38 ′ are visible. In the grafting robot shown in FIG. 11, since the rootstock obtained by cutting the rootstock of the rootstock in advance is supplied, the rootstock hypocotyl fixture 38 ′ has a structure different from that of the rootstock hand 38 shown in FIG. Note that the rootstock hypocotyl hand 3 is shown in FIG.
7 shows two side surfaces viewed from two directions orthogonal to each other. As shown in FIG. 11, the transplant device 67 includes a magnet type vertical moving cylinder 84, a magnet (not shown) slidably attached to a member 85 on the outer peripheral portion of the vertical moving cylinder 84, and a joint seedling attached to the magnet. It is composed of a pair of transplanting hands 88 for holding the hypocotyl, a soil pressing plate 89 for pressing the soil in the cell 79, a cutter 99 for cutting the hypocotyl of the bonded seedling, and the like. In the vertically moving cylinder 84, a magnet moves vertically by a magnetic member (not shown) that can move vertically in the cylinder by air pressure. A horizontal moving arm 87 that fixedly supports the transplanting hand 88 and the earth pressing plate 89 is provided in the bearing 100 so as to be slidable in the horizontal direction. The horizontally moving arm 87 slides along the bearing 100 when the transplant hand pushing cylinder 101 for pushing out the arm slides.

Here, the transplanting hand 88 has a tapered shape in which the connecting portion between the vertical portion and the horizontal portion is inclined, and the earth retaining plate 8 is provided.
The tip of 9 is also formed into an inclined taper shape so that the joined seedlings can be transplanted to the small cell 79. In addition, the rootstock seedling and the scion seedling are clip-joined by the joining device 25, and the hypocotyl portion of the seedling in a state in which the joined seedling is held by the rootstock hypocotyl hand 37 of the rootstock transporting device 18 is transplanted by the transplanting device 67. The transplantation hand 88 holds the rootstock hypocotyl hand 37 and then releases the rootstock hypocotyl hand 37 to transfer the joined seedlings to the transplantation device.
Further, in the present embodiment, as shown in FIG. 12, the loading portion 71, the unloading portion 72, the planting portion 69, the graft portion 2 and the clip feeder portion 1 of the plug tray are viewed on the substantially same straight line. By installing it so that two workers, a scion supplier and a root supplier, can work on both sides of the grafting robot, transport the plug tray without disturbing the seedling supplier. You can

[0019]

According to the present invention, since the opening angle of the pair of hands for gripping the rootstock portion is large, it can be sufficiently gripped even if the diameter of the rootstock portion is large, and the rootstock conveying device is The rootstock seedlings can be reliably received, and if the reception fails, the grafting productivity is improved without stopping the grafting robot.

[Brief description of drawings]

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

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

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

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

FIG. 5 is a schematic top view of a main part of the clip joining device for the grafting robot according to the embodiment of the present invention.

6 is a view seen from the direction of the arrow AA in FIG.

FIG. 7 is a side view of the rootstock cutting device of the grafting robot according to the embodiment of the present invention.

FIG. 8 is a plan cross-sectional view of the rootstock embryo bearing of the rootstock carrier of the grafting robot according to the embodiment of the present invention.

FIG. 9 is a schematic top view of a main part of the clip joining device for the grafting robot according to the embodiment of the present invention.

FIG. 10 is a schematic side view of the entire grafting robot according to an embodiment of the present invention.

FIG. 11 is a schematic side view of a grafting part and a planting part of the grafting robot according to the embodiment of the present invention.

FIG. 12 is a layout view of each component of the grafted seedling production system 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, 17… Rootstock seedling supply device, 18…
Root transport device, 19 ... Root cutting device, 37 ... Root hypocotyl hand, 38 ... Root root hand, 63 ... Clip, 67 ... Transplanting device, 68 ... Plug tray transporting device, 69 ... Planting section,
71 ... Carry-in section, 72 ... Carry-out section, 75 ... Transfer section, 76 ... Plug tray, 88 ... Transplanting hand, 89 ... Earth retaining plate, 13
0 ... Cutting device for cutting rootstock hypocotyl, 131 ... Embryo bearing

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Kenichi Nitta 1515 Tokumaru, Matsumae-cho, Iyo-gun, Ehime Prefecture Hit Engineering Co., Ltd.

Claims (1)

[Claims] 1. The rootstock seedlings arranged in the rootstock seedling supply device and the spikelet seedlings arranged in the rootstock seedling supply device are conveyed to respective cutting positions by the respective seedling conveying devices and cut into the respective cutting positions. In a grafting robot that further transports rootstock seedlings and scion seedlings to the bonding position with each transport device and joins them, the roots of the rootstock transport device can open and close to hold the rootstock hypocotyl pair. The hypocotyl hand and the tip of the hypocotyl hand are opened and closed to provide a pair of rootstock hands for gripping the rootstock, and the opening angle of the tip of the rootstock is the opening angle of the tip of the hypocotyl hand. A grafting robot characterized by being set larger than the angle.