JPH07236362A - Conveyor for tray for pot used in transplanting grafted nursery plant - Google Patents

Abstract

PURPOSE:To provide an apparatus capable of automatically carrying in and taking out a tray carrying previously earthed pots from a robot discharging part in transplanting grafted nursery plants. CONSTITUTION:This conveyor is capable of successively transferring each tray 15 carrying pots 13 from a stocker 2 housing the tray onto a motor roller conveyor 4 in the former stage, conveying the tray to a discharging part 11 of a grafting robot 10 with the conveyor 4, completing the planting of grafted nursery plants in the pots 13, then conveying the tray 15 to a lifter 6 with a motor roller conveyor 5 in the latter stage, delivering the received tray 15 to a shelf 30 of a pot takeout truck 8 with the lifter 6, at this time, lifting the tray 15 to a height of the shelf 30 without carrying the tray 15 of the pot takeout truck 8 with the lifter 6, placing the prescribed tray 15 on the shelf 30 with the pot takeout truck 8 and subsequently conveying the tray to an acclimatizing and growing device for the graft not shown in the figure.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention automatically transplants grafted seedlings supplied from a grafting robot into pots in trays that are successively transported to the transplantation position, and automatically inserts the grafted seedling pots into the tray. The present invention relates to a transfer device for a grafted seedling transplant pot tray that is carried out on a multistage shelf.

[0002]

BACKGROUND OF THE INVENTION The present inventors have proposed a grafting robot for automatically supplying / cutting / grafting rootstock seedlings and scion seedlings and a transplanting device for transplanting seedlings automatically grafted by the grafting robot into a soil pot. We have also conducted research and development on a device for acclimatizing and raising transplanted grafted seedlings, and have filed a series of patent applications.

[0003]

The grafting robot developed by the inventors of the present invention cuts the rootstock seedlings and the scion seedlings arranged in the seedling supply device with respective cutting devices, and cuts the scion and the stand. It is a device that joins wood by clips with these joining devices. However, a device for automatically loading and unloading a previously soiled pot for transplanting seedlings grafted by a grafting robot into and out of the grafting robot has not been developed yet. Therefore, an object of the present invention is to provide a device for automatically carrying in and carrying out a pot that has been previously soiled into a grafting robot discharge section when transplanting grafted seedlings. Another object of the present invention is to establish a grafting system with reduced manpower work.

[0004]

The above objects of the present invention can be achieved by the following constitutions. That is, a stocker that accommodates a plurality of trays in which pots preliminarily filled with soil are stored and can move the shelves vertically and horizontally, and a stocker at a position near the bottom dead center when the shelves of the stocker are lowered. Of the bottom tray of the grafting robot, and conveys the grafted seedlings in the direction in which the grafting seedling discharging section of the grafting robot is located, and a rear stage conveyor that conveys the tray on which the grafted seedlings are placed to the pot discharge area, and the latter stage A lifter capable of receiving a tray conveyed from a conveyor, detecting the discharge position of the tray, and conveying the tray to the discharge position, and a lifter capable of raising and lowering the tray, and being movable to a tray moving position on the lifter for receiving the tray. It is a graft tray transfer pot tray transport device including a pot unloader provided with a plurality of shelves.

[0005]

According to the present invention, from a tray feeder that stores a plurality of trays each having a plurality of pots preliminarily placed in soil, the tray is moved to a stocker that can store the trays in a plurality of stages, and the stockers are temporarily stocked. I'll do it. Next, the stocker is composed of a tray elevating device and a horizontal tray conveying device provided at the bottom of the stocker.The tray elevating device elevates and lowers the tray while placing the tray on an elevating conveyor such as a chain conveyor. The lower tray is configured to be lowered to near the bottom dead center of the stocker, and the horizontal tray transport device receives the tray from the lifting device near the bottom dead center and conveys the tray to the orthogonal converter. Can be composed of Further, the delivery of the tray, for example, a method of arranging the pre-stage conveyor so as to convey the tray in the same horizontal plane as the horizontal tray transport device of the stocker or the same horizontal plane as the horizontal tray transport device of the stocker. It can be performed by an orthogonal converter equipped with a transport device that transports the tray in a direction orthogonal to the horizontal tray transport device.

When the orthogonal converter is used, the tray received by the converter changes its conveying direction to the grafting robot discharge section. For that purpose, it is desirable that the conveying device of the orthogonal converter is composed of a conveyor. Further, the orthogonal converter is arranged, for example, at a position overlapping with the pre-stage conveyor, and the transport device portion can be moved up and down at the position, and the tray received from the stocker at the ascending position is transferred to the pre-stage conveyor at the descending position. You can It is desirable to provide a tray stopper near the grafting robot discharge part of the pre-stage conveyor so that the tray conveyed to the grafting robot discharge part stands by. Further, grafted seedlings are transplanted into the pots in the trays that have been conveyed by the pre-stage conveyor by the grafting robot discharge section manually or by an automatic transplanter, and when the grafted seedlings are planted in all the pots in one tray, The tray is delivered to the latter stage conveyor manually or automatically. A stopper may be provided at a position adjacent to the lifter of the latter-stage conveyor so as to make the tray stand by until preparations for receiving the tray on the lifter and pot unloader side are completed.

The lifter arranged adjacent to the rear conveyor comprises, for example, a transfer conveyor which can be conveyed in the same direction as the rear conveyor, and an elevating conveyor for elevating the transfer conveyor. Therefore, the lifter can lift the tray received by the lifter to a position corresponding to the upper shelf from the bottom of the plurality of shelves provided in the pot carry-out machine. Then, by driving the transfer conveyor of the lifter, the tray can be sent to the shelf of the corresponding stage. At this time, one of the methods is to detect the position of each shelf of the pot carry-out machine by a sensor provided at a height corresponding to each shelf of the lifter. When the pot unloader has a plurality of rows of shelves, a sensor is provided on the lifter or the pot unloader to match the position of the row of shelves that should receive the tray of the pot unloader with the tray delivery position of the transfer conveyor of the lifter. It is necessary. In addition, it is necessary to provide a space for placing a single tray on the transfer conveyor of the lifter, and it is necessary to temporarily stop the driving of the transfer conveyor when the trays are transferred into the space. This is done with the sensor provided at the location. In the present invention, a plurality of sensors are provided for drive control of the conveyor, etc., but these sensors are optical sensors such as photocells, mechanical sensors such as limit switches, and magnetic sensors such as proximity switches. Etc. can be used. In addition, a pot unloader having a predetermined number of trays mounted on shelves is transported to the graft acclimation and growth device.

[0008]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view and FIG. 2 is a side view of the entire carrier device for the tray for grafted seedling transplanting pots for automatically loading and unloading the soiled pots of this embodiment into the grafting robot discharge section. As shown in FIGS. 1 and 2, a transfer device for a graft graft transplant pot tray includes a pot supply cart 1, a stocker 2, an orthogonal converter 3, a front motor roller conveyor 4, a rear motor roller conveyor 5, a lifter 6, and a carriage movement. A conveyor 7 and a pot unloading carriage 8 are provided. A grafted seedling discharging section 11 of the grafting robot 10 is adjacent to the front motor roller conveyor 4, the rear motor roller conveyor 5, and an intermediate portion. Further, FIGS. 3 and 4 are enlarged views of the stocker 2 and the orthogonal converter 3, and FIGS. 5 and 6 are enlarged views of the front-stage motor roller conveyor 4 and the rear-stage motor roller conveyor 5, respectively.
FIG. 8 shows the lifter 6, the carriage moving conveyor 7, and the pot unloading carriage 8, respectively. A control device that controls the drive of each drive unit of the present device is not shown.

The outline of the operation of the transfer device for the grafted seedling transplant pot tray of this embodiment is as follows. First, a tray 15 on which a plurality of pots 13 previously put in soil are placed.
Is transferred from the pot supply cart 1 storing a plurality of stages to a stocker 2 capable of storing trays 15 in a plurality of stages, and is temporarily stocked in the stocker 2. Then, when the grafting seedlings are discharged from the grafting robot 10 installed on one side surface of the pre-stage motor roller conveyor 4, the stocker 2, the orthogonal converter 3, and the pre-stage motor roller conveyor 4 start driving to move the stocker. The tray 15 on which the pots 13 are sequentially placed from 2 is transferred to the pre-stage motor roller conveyor 4 via the orthogonal converter 3, and the planting operator of the grafted seedlings or the automatic transplanter is arranged on the pre-stage motor roller conveyor 4. Is transported to the position where One tray 15
When the grafted seedlings have been planted in all the pots 13 inside, the tray 15 is conveyed to the lifter 6 by the rear-stage motor roller conveyor 5. The lifter 6 sends the received tray 15 to the shelf 30 of the pot unloading carriage 8 (see FIGS. 7 and 8). At this time, the lifter 6 reaches the height of the shelf 30 on which the tray 15 of the pot unloading carriage 8 is not placed. 6
Lifts tray 15. After the tray 15 is placed on the shelf 30, the pot unloading cart 8 is conveyed to a graft acclimation and growth device (not shown).

Next, the structure and operation of each device will be described. The operation of the transfer device for the graft graft transplant pot tray of this embodiment is shown in the flow charts of FIGS. 9 to 13. As shown in FIG. 2, the pot supply cart 1 is provided with a multi-stage tray storage rack 16 in the vertical direction, and stores a tray 15 on which a plurality of soil pots 13 are placed on each rack 16. The stocker 2 can also accommodate a plurality of trays in the vertical direction. However, the storage of the tray 15 in the stocker 2 is performed by supporting the tray 15 between the lugs 18 of the pair of chain conveyors 17 (see FIGS. 3 and 4), and moves up and down in accordance with the operation of the chain conveyor 17. be able to. The chain conveyor 17 is driven by a motor M1 mounted on the top plate of the stocker 2. When the tray 15 is placed on the tray storage rack 16 of the predetermined stage of the pot supply cart 1, the pot supply cart 1 is moved to the tray 15 loading side of the stocker 2 as shown by the arrow in FIG. The tray 15 of the stocker 2 and the chain conveyor 17 of the stocker 2 which is at the same height as the tray 15.
It is pushed out manually between the lugs 18 of FIG. The trays 15 of all the pot supply carts 1 are moved to the stocker 2 side.
A stocker roller conveyor 21 is provided in the lowermost part of the stocker 2 in the horizontal direction, and an orthogonal converter 3 is arranged at an end of the stocker roller conveyor 21 in the tray 15 transport direction. When the lowermost tray 15 supported between the lugs 18 of the stocker chain conveyor 17 comes down near the bottom dead center, the driving of the chain conveyor 17 is stopped and the roller conveyor 21 is driven by a motor (not shown). And conveys it to the orthogonal converter 3. Detection of the top dead center of the uppermost tray 15 due to the rise of the stocker chain conveyor 17 is detected by a pair of photoelectric tube type sensors S1 provided on the side walls of the stocker 2, and the bottom dead of the lowermost tray 15 due to the lowering of the chain conveyor 17 is detected. The point detection is performed by a pair of photoelectric tube type sensors S2 located directly above the stocker roller conveyor 21, and each conveyor 1
Drive control of 7 and 21 is performed.

Further, the orthogonal converter 3 is arranged at the end of the pre-stage motor roller conveyor 4, and the pair of chain conveyors 22 capable of carrying the tray 15 in the same direction as the roller conveyor 21 of the stocker 2 and the chain conveyor 22. It is composed of a drive motor M3 for the chain conveyor 22 and a motor M4 for raising and lowering the orthogonal converter. The tray 15 conveyed by the roller conveyor 21 of the stocker 2 is transferred to the orthogonal converter chain conveyor 22 in operation, and the chain conveyor 22 stops at a predetermined position. When the chain conveyor 22 is stopped, the motor M4 for raising and lowering the orthogonal converter 3 is driven to lower the orthogonal converter 3, and the tray 15 on the chain conveyor 22 is transferred to the preceding motor roller conveyor 4. Completion of transfer of the tray 15 to the orthogonal converter chain conveyor 22 and transfer of the tray from the chain conveyor 22 to the preceding motor roller conveyor 4 are performed by the roller 2 of the preceding motor roller conveyor 4.
It is detected by the sensor S3 arranged between the three. Further, the detection of the bottom dead center when the orthogonal converter 3 descends and the detection of the top dead center when the orthogonal converter 3 ascends are detected by the sensors S4 and S5 provided on the side wall of the stocker 2, respectively.

Next is the pre-stage motor roller conveyor 4, which is a stocker 2 and a grafting robot 1.
It is arranged between the grafted seedling discharging section 11 of 0 and the rear stage motor roller conveyor 5 arranged between the grafted seedling discharging section 11 and the lifter 6 and is driven and controlled by a motor in a roller (not shown). When the tray 15 is sent by the pre-stage motor roller conveyor 4 to a predetermined position in the vicinity of the grafted seedling discharging section 11 of the grafting robot 10, the pre-stage motor roller conveyor 4 is stopped, and the worker or the automatic transplanter is moved to the tray 1.
The grafted seedlings are transplanted to a predetermined pot 13 in No. 5. When the grafted seedlings have been transplanted, the tray 15 is placed on the rear-stage motor roller conveyor 5 to start driving the conveyor 5.
Then, the tray 15 is conveyed to the position immediately before the lifter 6 by driving the rear motor roller conveyor 5. Completion of conveyance of the tray 15 by the front motor roller conveyor 4 to the vicinity of the arrangement position of the transplant operator or the automatic transplanter is detected by a pair of sensors S6 (see FIG. 5) attached to the side surface of the front motor roller conveyor 4, and the rear motor is conveyed. Completion of transport of the tray 15 to the position immediately before the lifter 6 by the roller conveyor 5 is detected by a pair of sensors S7 attached to the end side surface of the rear motor roller conveyor 5. Further, a stopper 25 for stopping the tip of the tray 15 immediately before the lifter 6 is provided so as to be able to be taken in and out of the tray 15 transport area of the rear motor roller conveyor 5. The motor M7 is used to move the stopper 25 in and out, and the sensors S9 and S8 detect the condition of the stopper 25 being taken in and out (outgoing and returning).

The lifter 6 has a belt or a chain 26 (see FIG. 7) in the same conveying direction as the latter-stage motor roller conveyor 5.
(Refer to FIG. 8) and the lifter transfer conveyor 27 for driving the lifter transfer conveyor 27, the lifter transfer conveyor 27 for moving the lifter transfer conveyor 27 up and down, and these conveyors 27, 29.
It is composed of driving motors M8, M9 and the like. Then, when the tray 15 received from the latter-stage motor roller conveyor 5 on the lifter transfer conveyor 27 reaches a predetermined position, the lifter transfer conveyor 27 is stopped, and the entire lifter transfer conveyor 27 is lifted by the lifter lifting conveyor 29 so that the pot unloading carriage 8 is empty. It is lifted to the position of the mounting shelf 30. Receipt of the tray 15 by the lifter transfer conveyor 27 of the lifter 6 is detected by a pair of sensors S10 provided at the end of the lifter transfer conveyor 27 on the rear stage motor roller conveyor 5 side, and the tray 15 is completely transferred to the lifter transfer conveyor 27. This is detected by a pair of sensors S11 provided at the end of the lifter transfer conveyor 27 on the side of the pot unloading carriage 8.

The pot unloading carriage 8 is placed on a pair of rails 32 so as to be movable in a direction orthogonal to the tray 15 conveying direction of the lifter transfer conveyor 27 of the lifter 6, and the carriage 8 is parallel to the rails 32. Can be moved on the rail 32 by the carriage moving conveyor 7 for moving the. Since the pot carry-out carriage 8 and the carriage moving conveyor 7 are engaged with each other by the hook 36 of the carriage 8 and the receiving member 37 of the carriage moving conveyor 7, the pot carry-out carriage 8 can be moved on the rail 32 by the carriage moving conveyor 7. . Further, the pot unloading carriage 8 of the present embodiment has a structure provided with shelves 30 on which five trays 15 in the vertical direction and five rows in the horizontal direction can be placed.
From the lifter 6, first, the trays 15 are sequentially placed on the uppermost stage from the lowermost shelf 30 in the endmost row in the horizontal direction, and then the trays 15 are sequentially placed on the plural stages of shelves 30 in the next row. However, this placing order is adopted only in this embodiment, and the tray 15 may be placed on the shelf 30 in any order.

In order to place the tray 15 on the lifter transfer conveyor 27 of the lifter 6 on the pot unloading carriage 8, it is necessary to stop the pot unloading carriage 8 at a predetermined horizontal position. First, the carriage 8 is moved by the carriage moving conveyor 7, and a plurality of positioning pins 33 provided for each row of the shelves 30 are provided at predetermined positions on the side surface of the carriage 8 so that the carriage 8 is moved.
The carriage moving conveyor 7 is stopped by the detection by the sensor S19 attached to the. Then, in order to prevent the dolly 8 from moving at that position, the pot unloading dolly positioning stopper 34 provided on the side surface of the lifter transfer conveyor 27 is taken out and engaged with the dolly 8. Then, the tray 1 is placed on the lowermost shelf 30 in a predetermined row of the pot unloading carriage 8.
When the sensor S12 provided on the side surface of the lifter transfer conveyor 27 detects that insertion of 5 has been completed, the lifter transfer conveyor 27 is temporarily stopped. Then, the lifter lifter transfer conveyer 27 receives the new tray 15 from the rear motor roller conveyer 5, and the lifter transfer conveyer 27 is lifted by the lifter lift conveyer 29 while the lifter transfer conveyer 27 is stopped. Raise to position 30 on shelf. Then, the lifter transfer conveyor 27 is operated again to insert the tray 15 into the second shelf 30 of the carriage 8. Thereafter, the lifter transfer conveyor 27 is once lowered to the bottom dead center by the lifter lifting conveyor 29 to receive the new tray 15 from the rear motor roller conveyor 5, and the lifter 6 is moved to the position of the third shelf 30 of the pot unloading carriage 8. The transfer conveyor 27 is raised and the tray 15 is inserted into the third shelf 30 of the carriage 8. In this way, if necessary, the pot unloading cart 8
The operation of inserting the tray 15 up to the shelf 30 of the fifth stage is repeated.

At this time, the bottom dead center of the lifter 6 is detected by the sensor S13 provided on the side wall of the lifter 6. Further, the second to fifth shelf positions of the pot unloading carriage 8 by the lifter 6 are sensors S14 to S17 provided at positions corresponding to the respective tiers of the carriage 8 provided on the lifter 6 side.
(S16 not shown). Also, the pot unloading cart 8
The sensor S2 detects whether the positioning stopper 34 comes out or returns.
1 and S20. After the trays 15 are inserted into the shelves 30 on the same row of the pot unloading carriage 8 in a predetermined row (the tray 15 can be inserted up to the fifth tier in this embodiment).
The positioning stopper 34 is returned and the cart moving conveyor 7 is operated. The position of the next row of the shelves 30 of the dolly 8 is recognized by detecting the pin 33 provided on the pot carrying-out dolly 8 by the sensor S19, and the stopper 34 is located at that position.
To stop the pot unloading carriage 8. After that, the tray 15 is inserted in order from the first-stage shelf 30 of the pot unloading cart 8 according to the procedure described above. For safety, the lifter 6 is provided with a lifter top dead center detection sensor S18.

When the tray 15 is completely inserted into the predetermined shelf 30 of the pot unloading truck 8, the next pot unloading truck 8 is fed. The pot unloading cart 8 loaded with all the trays 15 is released from the positioning stopper 34 and can be manually or automatically moved to a predetermined acclimation and growth device. In the present embodiment, an example in which the orthogonal converter 3 is used has been described, but the present invention does not necessarily use the orthogonal converter 3, and tray transfer from the stocker 2 is performed by, for example, the horizontal tray transfer device of the stocker. A method of arranging the pre-stage conveyor so as to convey the tray in the same horizontal plane and in the same direction may be adopted. In addition, when the number of shelves 30 of the pot unloading carriage 8 or the number of grafted seedlings to be transplanted is small and it is not necessary to insert the tray 15 into all the upper shelves 30 of the pot unloading carriage 8, the flowchart of FIG. In the step of detecting the shelves 30 in the second to fourth stages in the above, the number of stages of the shelves 30 can be changed to a small number of stages of four or less, that is, two stages or two and three stages. In the above-mentioned embodiment, the transfer device for the tray on which a plurality of pots are placed has been described, but the present invention is not limited to this, and can be applied to a device for transferring a pot for planting each grafted seedling without using the tray.

[0018]

According to the present invention, since the pot and tray carrying work other than the work for planting grafted seedlings can be carried out automatically, it is possible to establish a grafting system with reduced manual labor.

[Brief description of drawings]

FIG. 1 is a plan view of the entire transfer device for a grafted seedling transplant pot tray for automatically carrying in and out a soiled pot to and from a grafting robot discharge unit according to an embodiment of the present invention.

FIG. 2 is a side view of the transfer device for the grafted seedling transplant pot tray of FIG.

FIG. 3 is an enlarged plan view of the stocker and the orthogonal conversion machine of the transfer device for the graft transplant seedling pot tray of FIG. 1.

FIG. 4 is an enlarged side view of the stocker and the orthogonal conversion machine of the transfer device for the graft transplant seedling pot tray of FIG. 1.

5 is an enlarged plan view of a front-stage motor roller conveyor and a rear-stage motor roller conveyor of the transfer device for the grafted seedling transplant pot tray of FIG. 1. FIG.

6 is an enlarged side view of a pre-stage motor roller conveyor and a post-stage motor roller conveyor of the transfer device for the grafted seedling transplant pot tray of FIG. 1. FIG.

FIG. 7 is an enlarged plan view of a lifter, a carriage moving conveyor, and a pot unloading carriage of the transfer device for the graft graft transplant pot tray of FIG. 1.

8 is an enlarged side view of a lifter, a carriage moving conveyor, and a pot unloading carriage of the transfer device for the grafted seedling transplant pot tray of FIG. 1. FIG.

9 is a flowchart showing the operation of the transfer device for the graft transplant seedling pot tray of FIG. 1. FIG.

10 is a flowchart showing the operation of the transfer device for the graft transplant seedling pot tray of FIG. 1. FIG.

FIG. 11 is a flowchart showing the operation of the transfer device for the graft graft transplant pot tray of FIG. 1;

FIG. 12 is a flowchart showing the operation of the transfer device for the graft graft transplant pot tray of FIG. 1.

FIG. 13 is a flowchart showing the operation of the transfer device for the graft graft transplant pot tray of FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Pot supply cart, 2 ... Stocker, 3 ... Orthogonal conversion machine, 4 ... Front motor roller conveyor, 5 ... Rear motor roller conveyor, 6 ... Lifter, 7 ... Cart moving conveyor,
8 ... Pot carry-out cart, 10 ... Grafting robot, 11 ... Graft seedling discharging section, 13 ... Pot, 15 ... Tray, 16 ... Shelf of pot feeding cart, 17 ... Chain conveyor, 18 ... Rugs, 21 ... Stocker roller conveyor, 22 ... Chain conveyor, 25 ... Stopper, 27 ... Lifter transfer conveyor, 29 ... Lifter lifting conveyor, 30 ... Pot carry-out carriage shelf, 32 ... Rail, 33 ... Pot carry-out carriage positioning pin, 34 ... Pot carry-out carriage positioning stopper

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[Procedure amendment]

[Submission date] March 22, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction content]

At this time, the bottom dead center of the lifter 6 is detected by the sensor S13 provided on the side wall of the lifter 6. Further, the second to fifth shelf positions of the pot unloading carriage 8 by the lifter 6 are sensors S14 to S17 provided at positions corresponding to the respective tiers of the carriage 8 provided on the lifter 6 side.
(S16 not shown). Also, the pot unloading cart 8
The sensor S2 detects whether the positioning stopper 34 comes out or returns.
1 and S20. After the trays 15 are inserted into the shelves 30 on the same row of the pot unloading carriage 8 in a predetermined row (the tray 15 can be inserted up to the fifth tier in this embodiment).
The positioning stopper 34 is returned and the cart moving conveyor 7 is operated. Position of the column of the shelf 30 of the next of said carriage 8 is recognized by the pin 33 provided on the pot unloading carriage 8 is detected by the sensor S19, stops the position depot Tsu preparative unloading carriage 8, the stopper 34 Take out the sensor S21
The position is detected by, and then the tray 15 is inserted in order from the first shelf 30 of the pot unloading cart 8 according to the procedure described above. For safety, the lifter 6 is provided with a lifter top dead center detection sensor S18.

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 7

[Correction method] Change

[Correction content]

[Figure 7]

[Procedure 3]

[Document name to be corrected] Drawing

[Correction target item name] Figure 8

[Correction method] Change

[Correction content]

[Figure 8]

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Haruki Otsuki Inventor Haruki Otsuki 560 Aoki, Ina-cho, Tsukuba-gun, Ibaraki Research & Development Department, Iseki Agricultural Machinery Co., Ltd. Agricultural Machinery Co., Ltd. (72) Inventor Masatsuka Suzuki, 1-40, Nisshin-cho, Omiya-shi, Saitama 2 Within Research Organization for Promotion of Specified Industrial Technology of Biological Systems (72) Akihiko Onoda 1-chome, Nisshin-cho, Omiya, Saitama 2 Within the Biological Specified Industrial Technology Research Promotion Organization (72) Ken Kobayashi 1-40-40 Nisshin-cho, Omiya-shi, Saitama Prefecture Within the Biological Specified Industrial Technology Research Promotion Organization (72) Inventor Teshiro Chinen Nishi, Hanyu City Saitama Prefecture 2-21-10 Kaneko Agricultural Machinery Co., Ltd. (72) Inventor Takeo Ando 2-21-10 Nishi, Hanyu City, Saitama Prefecture Kaneko Agricultural Machinery Co., Ltd. (72) Invention Shigeo Kawada 2-21-10 Nishi, Hanyu City, Saitama Prefecture Kaneko Agricultural Machinery Co., Ltd.

Claims (1)

[Claims] 1. A stocker capable of accommodating a plurality of trays on which pots preliminarily filled with soil are placed, and capable of moving the shelves vertically and horizontally, and near the bottom dead center when the shelves of the stocker descend. At the position, it receives the tray at the bottom of the stocker and conveys it in the direction of the graft graft seedling discharge part of the grafting robot, and the rear stage conveyor that conveys the tray on which the grafted seedlings are placed to the discharge area. Receive the tray conveyed from the latter stage conveyor,
A lifter capable of detecting the discharge position of the tray and conveying the tray to the discharge position, and a pot unloader provided with a plurality of shelves movable to the tray moving position on the lifter for receiving the tray; An apparatus for transporting a tray for grafted seedling transplant pots, which is characterized in that: