JPH07250564A - Grafting robot - Google Patents

Abstract

PURPOSE:To provide a device stabilizing a release direction of a nursery plant after grafting by a grafting robot. CONSTITUTION:A take out arm 140 for a nursery plant is so constituted to be rotatable by a rotating actuator 141 supported on a frame 131 of a grafting robot and the arm 140 is equipped with a rotation shaft rotating vertically in a bent state. The tip of the actuator 141 has a shape which extends horizontally to be able to push around the lower part of a clip temporarily clipping a spliced nursery plant. At this time, the spliced nursery plant becomes horizontal during pushing by pushing the upper side of the center of gravity of the grafted nursery plant by the nursery plant take out arm 140, and can be fallen down upon a conveyer in the direction parallel to the conveyer, which is not shown here, for carrying the grafted nursery plant out. Further, when the nursery plant is fallen as described above, there is no backward falling down of the grafted nursery plant caused by hanging the clip on the arm 140 during rotation of the nursery plant take out arm 140.

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 and grafting rootstock seedlings and scion seedlings, and more particularly to clip joining rootstock seedlings and scion seedlings. It relates to the device.

[0002]

2. Description of the Related Art The inventors of the present invention previously improved the conventional grafting robot and invented a grafting robot that is easy to use, and filed a series of patent applications (Japanese Patent Application No. 4-16).
No. 1515, Japanese Patent Application No. 5-122549, etc.). Japanese Patent Application Nos. 4-161515 and 5 developed by the present inventors.
The grafting robot described in No. 122252 and the like joins the cut rootstock seedlings and scion seedlings at the joints with clips. As shown in FIG. 9, the clip 123
Is supplied from the vibrating clip guide rail 9 linearly extended from the vibrating clip feeder bowl 7 (see FIG. 1) to the clip hooking device 124 for joint seedlings fixed to the tip thereof. , This clip hanging device 1
At 24, the grip portion 123b of the clip 123 is forcibly opened by the clip opening / closing tool 126 (FIG. 9A). Since rootstock seedlings and scion seedlings (not shown) are supplied between the open handle portions 123b in a timely manner, the open state of the handle portion 123b is released (see FIG. 9).
(B)) The rootstock seedling and the scion seedling are integrated with a clip, and the joined state thereof can be maintained.

The forward movement of the clip 123 at this time is shown in FIG.
0, the procedure shown in FIG. 11 is performed as follows. First, when the clip 123 supplied from the clip feeder unit 1 (see FIG. 1) through the guide rail 9 reaches the position of the narrow guide rail 125 (FIG. 10A), the clip pushing cylinder 127 starts to operate, and The metal clip pusher 128, which is fixedly supported by the cylinder 127, advances to put the clip 123 on the narrow guide rail 125 (FIG. 10B). At this time, the grip portion 123b of the clip 123 is opened, but since the clip opening / closing tool 126 operates as shown in FIG. 9 (b) here, the clip 123 can tighten the graft, and at the same time, the clip pushing tool 12 can be tightened.
8 moves forward to drop the graft (FIG. 11 (a)).
As shown in the figure, the tip of the clip pushing tool 128 has the same shape as the upper corner of the clip gripping portion 123b, and since it has a shape inclined from the tip to the base,
When the clip push-out cylinder 127 is retracted, it can get over the clip gripping portion 123b of the clip 123 that is next supplied to the constriction guide rail 125 (FIG. 11).
(B)).

[0004]

In the conventional clip hooking device 124 developed by the inventor of the present invention, the clip push-out tool 128 advances to further push out the clip 123 after joining the seedlings to release the seedlings. At that time, Since there is no guide under the clip 123, there is a drawback that the releasing direction of the clipped seedlings varies. Therefore, an object of the present invention is to further improve the conventional grafting robot to provide a grafting robot that is easy to use. More specifically, it is an object of the present invention to provide a device for stabilizing the seedling release direction after joining a grafting robot.

[0005]

The above object of the present invention can be achieved by the following constitution. That is, in a grafting robot equipped with a clip joining device for joining rootstock seedlings and scion seedlings with a clip supplied from a clip feeder after cutting each of the rootstock seedlings and the scion seedlings, under the clip guide of the clip joining device. It is a grafting robot with a seedling picking arm that pushes the seedlings after joining to the side.

[0006]

[Function] After cutting the rootstock seedlings and the spikelet seedlings, the rootstock seedlings and the spikelet seedlings are joined by the clip joining device. The joined seedlings are pushed forward by the seedling pushing arm, so that the seedlings are discharged in the same direction, and no seedlings are discharged toward the dust chute.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. A top view of the grafting robot of the present embodiment is shown in FIG. 1 (a view with the top plate removed), and an enlarged view of that portion (grafting part) is shown in FIG.
A front view is shown in FIG. 3 and a side view is shown in FIG. The graft robot is composed of a clip feeder section 1 and a graft section 2, and the graft section 2 is composed of a root section 3, a scion section 5 and a joint section 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. Further, as shown in FIG. 3, the robot manipulators 10 and 11 and the seedling supply plate 13 for gripping and transporting the rootstock and the scion, respectively,
14 is suspended on the top plate 15 of the graft unit 2. Since all the movements are assembled to one top plate 15, the dimensional accuracy is improved. Further, the top plate 15 functions as a cover and a strength member of the grafting robot, and prevents scattering of cutting wastes of the rootstock and the scion.

Since the graft clip is repeatedly used several times, dust such as soil may be supplied to the bowl 7 of the clip feeder section 1, but this dust is clogged in the clip guide rail 9 and the supply error occurs. However, the portion 1a (see FIG. 1) where the misaligned clip is dropped during the aligning operation of the clip feeder unit 1 is made into a mesh shape, and only the dust is sifted from the mesh portion to automatically clip the clip. Can be cleaned cleanly. Also, a clip joining device 25 connected to the tip of the clip feeder unit 1
As shown in FIG. 3, the (clip hooking device 124) has rods 135 and 136 each of which can be independently adjusted and fixed in two directions, that is, the vertical direction and the horizontal direction. By finely adjusting the positional relationship between the tree set and the clips, it is possible to graft many items. Further, since the vibration type clip guide rail 9 is linearly provided from the vibration type clip feeder bowl 7 and the clip joining device 25 (clip hooking device 124) for the joined seedlings fixed to the tip portion thereof is arranged, a large amount can be obtained. Clips can be supplied without stopping the operation of the grafting robot. Further, the clip joining device 25 (clip hooking device 124) is fixed to the frame 131, and the clip guide rail 9 is slidably attached to the clip joining device 25 (clip hooking device 124). The vibration of No. 1 is not transmitted to the clip joining device 25 (clip hanging device 124). Then, the clip joining device 25 (clip hanging device 124)
By securely fixing the frame 131, the bonding rate can be stabilized.

FIG. 2 shows an enlarged view of the graft portion 2 portion of FIG. 1, and the root portion 3 includes the root seedling feeding device 17 and the root carrier device 1.
8 and the rootstock cutting device 19, and the scion part 5 also comprises a scion seedling supply device 21, a scion transfer device 22, and a scion cutting device 23. The rootstock seedlings manually supplied to the rootstock seedling supply device 17 are transferred to the position (cutting position) of the rootstock cutting device 19 by the rootstock transfer device 18 rotating in the direction of arrow (a) in FIG. Then, the cutting device 19 rotates (see FIG. 4), and one cotyledon of the rootstock seedling is left by the cutting blade, and the other cotyledon parts 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 the joining device 25 of the joining portion 6 at the graft portion 2 (see FIGS. 2 and 3).
(See) and spliced with Hoki. Similarly, the scion seedlings manually supplied to the scion seedling supply device 21 are scoop conveying device 2
The tissue above the hypocotyl portion is conveyed by the scion cutting device 23 that is conveyed in the arrow (d) direction (see FIG. 1) by 2 and rotates in the arrow (f) direction (see FIGS. 1 and 4) at the cutting position. The hypocotyl part and the root part are partially cut off. Then, the scion having the cotyledon portion is conveyed in the direction of the arrow (e), and is joined to the rootstock and the grafting section 2 by the clip supplied from the clip feeder section 1, and the grafting operation is completed. Are dropped and collected.

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 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 Furthermore, as shown in the side view (FIG. 3) of the rootstock seedling supply plate 13 part, the receiving groove 13a of the rootstock seedling supply plate 13 is formed.
A movable gripping hand 13c for gripping the hypocotyl and an actuator (not shown) for driving the gripping hand 13c are provided on the lower side (see FIG. 2). The movable gripping hand 13c is rotated around the actuator-side base, and the hypocotyl can be clamped by the fixed gripping hand 13c 'fixed to one side of the receiving groove 13a.
The drive control of the actuator is performed by detecting that the rootstock seedling has been inserted into the receiving groove 13a by the actuator 13f of the microswitch 13e. Then, a sequencer (not shown) is operated by the input of the micro switch 13e to drive a valve (not shown), and the movable gripping hand 13c is driven by air pressure from a compressor (not shown). Therefore, the actuator 13f is arranged so as to cross the receiving groove 13a, and is attached rotatably around a rotation shaft (not shown) provided on the bottom surface of the microswitch 13e. Then, after the hypocotyl of the rootstock seedling is gripped by the movable gripping hand 13c and the fixed gripping hand 13c ', when the rootstock is pulled down manually, the cotyledon expansion base of the rootstock seedling is caught by the gripping hands 13c, 13c'. , The rootstock seedling is positioned at that position. The fixed gripping hand 13c '
Is fixed, the position of the hypocotyl part of the rootstock seedling that comes into contact with this is constant even if the thickness of the hypocotyl is different. And, the hypocotyl portion of the rootstock seedling that abuts the fixed gripping hand 13c ′ is the side that hits the cutting blade (not shown) of the cutter at the cutting position, and the hypocotyl is irrespective of the thickness of the hypocotyl at the cutting position, Always contact the cutting blade at a specific coordinate point.

The rootstock seedlings set on the rootstock seedling supply plate 13 are gripped by the rootstock carrying device 18 and sequentially carried to the cutting position and the joining position. A detailed view of the stock transporter 18 is shown in FIG. 5A is a top view and FIG. 5B is a side view (FIG. 5A is a view taken along the line AA in FIG. 5B). A root transporting rotary actuator 29 of the stock transporting device 18 is supported by the top plate 15, and a stock transporting arm support 30 is provided below the actuator 29 to support the rotary shaft 3 of the actuator.
It is rotatably supported around 1. The stock transfer arm support 30 includes a stock transfer arm pushing cylinder 33 supported by the support 30, a stock transfer arm 34 fixed to the cylinder 33, and a stock gripping portion 35 at the tip of the transfer arm 34. (A pair of rootstock hypocotyl hands 37, a pair of rootstock fixing hands 38, and a cylindrical roller 41) are provided. Both hands 37 and 38 are controlled to be opened and closed by an air cylinder provided in a box (not shown) of the stock transport arm 34 so as to grip the stock. The rootstock hypocotyl hand 37 is made of rubber so as not to damage the hypocotyl of the rootstock. Also, the root fixing hand 38 is used for the root root bowl 4.
3 (see FIG. 5 (b)) is made of a curved plate that holds the cylindrical side surface.

Further, the root carrier transport arm support 30 has a support arm 45 for lifting the root cotyledons by rotating the cylindrical roller 41 in the vertical direction at the time of joining with the spike, and a root cotyledon lifting rotary actuator. 49 are provided. The rootstock transport arm 34 extruded to the rootstock seedling set position on the rootstock seedling supply plate 13 is a rootstock hypocotyl hand 37 at the tip of the armstock transport arm 34.
The air cylinder operates to hold the rootstock seedlings. Hand 3
At the same time as the operation of 7, the rotary actuator 29 for the root carrier arm is also actuated to carry the root seedling held by the hand 37 to the cutting position. Further, at the time of joining with the scion, as shown in FIG. 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. The shield plate 37a that shields the vicinity of the root of the rootstock hypocotyl hand 37 fails to join the rootstock seedlings to the scion at the joining position, and the rootstock seedlings that have failed to join even if the hand 37 separates the rootstock seedlings. Does not bite into the root of the hypocotyl hand 37, and the rootstock seedlings that have failed to join are smoothly discharged from the rootstock carrier device portion.

Further, as shown in FIG. 6, the cotyledons to be left on the rootstock are lifted by the cylindrical roller 41 at the time of joining with the scion, but if the lifting state of the cotyledons to be left on the rootstock is maintained after joining, Even if there is a rootstock seedling that has failed to be joined, it will not bite into the root of the rootstock hypocotyl hand 37. Because, after the joining timing, the rootstock transport arm 34 is retracted, and the process proceeds to the return transport for gripping and transporting the next rootstock seedling, and the cotyledons of the rootstock seedling are pushed outward of the hypocotyl hand 37. This is because the rootstock gripping portion 35 moves in this state, and thus rootstock seedlings that have failed to be joined are easily discharged from the hypocotyl hand 37 and the possibility of carrying around is reduced.

Next, the brush section will be described in detail. First, the scion seedling supply device 21 will be described. As shown in FIG. 2, the scion seedling supply device 21 is provided with a scion seedling supply plate 14 having a scion receiving groove 14a opened at the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is manually inserted into 14a to support the scion seedling. The scion seedlings supported by the scion seedling supply plate 14 are grasped by the scion conveying device 22 and sequentially conveyed to the cutting position and the joining position. A detailed view of the scion transport device 22 is shown in FIG. 7. FIG. 7A is a top view, and FIG. 7B is a side view.
FIG. 7A is a view taken along the line AA of FIG. 7B. In the scion conveying device 22, a scoop conveying rotary actuator 73 and a scion conveying arm support 75 below the actuator 73 are rotatably supported around the actuator rotating shaft 76. The hoki transport arm support 75 includes the support 7
5, the scion transport arm pushing cylinder 77, the scion transport arm 79 which is expanded and contracted by the cylinder 77, and the scion grip support portion 81 and the scion at the tip of the transport arm 79. A hypocotyl hand 83 is provided.

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

The cutting 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 direction opposite to that of the root cutting device 19. The reason is that it is more advantageous to cut from the hypocotyl side to the cotyledon side when cutting a single cotyledon while leaving the hypocotyl at the time of rootstock cutting, whereas cutting the hypocotyl hypocotyl is Abutting guide 92 Guide piece 92 at the tip
This is for the effect of holding down a and for preventing the shape of the acute-angled portion at the tip of the hypocotyl from being cut. Further, the scion transport arm 79 is in the push-out position during transport of the scion from the supply position to the cutting position, and the arm 79 moves to the retracted position (FIG. 7B) during cutting. Furthermore, the backing guide 92 is an obstacle when joining the scion and the rootstock,
At that time, the transfer arm 79 is pushed out, and the hypocotyl hand 83
It is possible to prevent the backing guide 92 from interfering with the hand 83 and the like by projecting the etc.

When the scion gripping portion 80 such as the hypocotyl hand 83 has no elasticity and is fixed when the scion and the rootstock are joined,
A gap must be provided between the rootstock and the scion to prevent them from interfering with each other, but in order to perform clip joining, a mechanism for attracting each seedling separately is required when this gap is present. In addition, if the scion gripping portion 80 is fixed,
Since the seedling supply direction was limited to the tangential direction of the transportation circumference, left-handed people had difficulty supplying seedlings when supplying scion.
However, in the case of the present embodiment, since the scion gripping portion 80 is capable of expanding and contracting, the seedling pulling mechanism is not necessary and at the same time workability is improved regardless of the difference in dominant arm. In this way, by expanding and contracting the transfer arm 79, 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. 7C shows the backing guide 92 and the guide piece 92a viewed from the side of the scion cutting device 23, the guide piece 92a has a slit-shaped space through which the cutting blade of the scion cutting device 23 passes. The guide piece 92a is provided in a U shape. In this way, it is possible to prevent the hypocotyl on the lower side, which is cut off during cutting of the scion, from being pushed by the cutting blade and to escape, the hypocotyl is reliably cut, and the hypocotyl residual remains.

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. 8 shows a cutting device on the base 3 side. FIG. 8A is a top view thereof (direction viewed from the upper surface of the grafting robot), and FIG. 8B is a direction of arrow A in FIG. 8A (side wall side of the grafting robot on the side of the scion part). It is the side view seen from the (direction). The cutter driving motor 111 is supported by a column 112 oriented in the vertical direction, and the rotating shaft 1 of the motor 111 is supported.
A cutter arm 115 is attached to 13. A cutting blade 117 is attached to a cutting blade support piece 116 provided at the tip of the cutter arm 115 in a direction orthogonal to the arm 115. 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 the support 112.
This is performed with an adjusting tool such as the adjusting screw 120 provided on the. Also,
The cutter arm 115 is provided with a cotyledon lifting guide 122 for lifting cotyledons (cotyledons 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 as not to interfere with the cutting of the hypocotyl. It is provided.

Next, the clip supplying device and the clip joining device are shown in FIGS. 9 to 11, 12 and 13. As shown in FIG. 1, the clip feeder 1 of the clip feeder has a vibration type parts feeder (vibration system NB-300: having a spiral ascending path along the inner surface of the clip bowl 7).
A clip guide rail 9 composed of a vibrating trough having grooves for guiding both ends of a handle portion 123a of a clip 123 (see FIGS. 9 and 10) is connected to Mortron Co., Ltd., and the tip of the guide rail 9 is A clip hanging device 124 facing the graft portion 2 is connected. In FIG. 9, a clip hooking device 124 (=
FIG. 10 shows a top view of a main part of the clip joining device 25).
FIG. 11 shows a side view thereof. As shown in FIG. 9, the tip of the guide rail 9 narrows the guide interval between both ends of the handle 123a of the clip 123 immediately before the joint 6 of the graft 2 and the scion 6 (see FIG. 1). , Clip 12
A constriction guide rail 125 for opening the third grip 123b is connected. Here, when the clip 123 (FIG. 9 (a)) that has advanced with the grip portion 123b open reaches the joining position of the rootstock and the scion, the clip opening / closing tool 126 releases the bias of the handle portion 123a of the clip 123. 9 (b), the gripping portion 123b keeps the rootstock and the scion in a joined state.

The advance of the clip 123 is performed as follows in the procedure shown in FIGS. First, when the clip 123 supplied from the clip feeder unit 1 (see FIG. 1) through the guide rail 9 reaches the position of the narrow guide rail 125 (FIG. 10A), the clip push-out cylinder 127.
Starts, the metal clip pusher 128 fixedly supported by the cylinder 127 advances, and the clip 123 is placed on the narrow guide rail 125 (FIG. 10).
(B)). At this time, the grip portion 123b of the clip 123 is opened, but the clip opening / closing tool 126 is shown in FIG.
The clip 123 can fasten the graft. Further, if the clip 123 remains after the arm 140, which will be described later, operates, the next joining fails, so that the clip push-out tool 128 moves forward and the clip 1 moves.
23 is eliminated (FIG. 11 (a)). Clip pusher 12
The tip of 8 has the same shape as the upper corner of the clip gripping portion 123b as shown in the figure, and has a shape inclined from the tip to the base, so that when the clip push-out cylinder 127 is retracted, the narrow guide rail 125 is next. It is possible to get over the clip gripping portion 123b of the clip 123 supplied to the device (FIG. 11B). A sensor 129 for detecting the presence or absence of a clip is provided above the clip hooking device 124, and when the clip 123 is no longer supplied, the operation is automatically stopped. In this embodiment, the tip end portion of the clip guide rail 9 and the base frame 131 of the grafting robot (see FIG. 3).
The space S provided between the clip hooking device 124 (clip joining device 25) fixedly supported by the S (FIG. 9B).
A passage 133 (see FIG. 10 and FIG. 11) for discharging the foreign matter 132 and the like entrained in the clip 123 is provided below the. Therefore, even if the foreign matter and the broken portion of the clip entrained in the clip 123 that is reused many times enter the space S, they are easily discharged from the passage 133.
Foreign matter or the like is stopped inside, and this prevents the clip guide rail 9 and the clip hooking device 124 from abnormally vibrating.

FIG. 12 is a front view of the main part near the seedling take-out arm 140, and FIG. 13 is a side view of the main part. As shown in FIGS. 12 and 13, the seedling take-out arm 14
The armature 0 has a structure in which it can be rotated by a rotary actuator 141 supported by a graft robot frame 131, and the arm 140 has a rotary shaft 142 that is bent and rotates in the vertical direction. The tip of the actuator 141 is a clip 12 of the joint seedling temporarily fixed by a clip 123.
3 has a shape extending in the horizontal direction so that the vicinity of the lower side can be extruded. At this time, by pushing the upper side of the center of gravity of the grafted seedling with the seedling take-out arm 140, the seedling is turned sideways during the seedling extrusion as shown in FIG. Can be dropped into. In addition, as described above, when the seedling falls, the clip 123 is not caught by the arm 140 while the seedling take-out arm 140 is rotating, and the joined seedling does not fall behind.

In the conventional grafting robot, the clip pusher 128 (FIG. 11) was used to eject the seedlings forward, so that the jointed seedlings dropped from the root portion onto the belt conveyor, and the root soil was scattered. Although the jointed seedlings were mixed in different directions on the conveyor belt, the grafting robot according to the present embodiment was provided with the seedling takeout arm 140, and such a problem was solved. And since the jointed seedlings are forcibly discharged in parallel with the carry-out belt conveyor,
The collapse of the root soil has decreased. Moreover, the orientation of the seedlings on the carry-out belt conveyor became constant, and it became easier to pick up the seedlings at the end of the carry-out belt conveyor. At this time, the peripheral speed of the tip of the seedling take-out arm 140 is set to be higher than the drop speed of the joined seedlings, whereby the seedling take-out arm 140 is rotated so that the seedlings are horizontally oriented and discharged in parallel with the carry-out conveyor. Therefore, the soil at the roots of the bonded seedlings is less likely to be scattered, and the bonded seedlings are carried out side by side in the same direction on the conveyor. Further, since the seedling take-out arm 140 and the rotary actuator 141 are not provided on the rootstock transporting device 18 side but are arranged on the sprue transporting device 22 side, the rootstock roots and hypocotyls extend below the rootstock transporting device 18. However, these do not hinder the transportation.

A ring A of FIG. 12 shows a view of the tip of the seedling take-out arm 140 from below the grafting robot when the seedling take-out arm 140 is at the position shown in FIG.
Since the hypocotyl contact portion 140a at the tip of the seedling take-out arm 140 has a concave shape, it absorbs a slight lateral shift of the joined seedling and reliably releases it. Further, the hypocotyl contact portion conforms to the shape of the rootstock hypocotyl, and even if the seedling take-out arm 140 is strongly applied to the hypocotyl, there is no risk of damaging the hypocotyl. Further, the operation sequence of the grafting robot of the present embodiment is as disclosed in FIG. 14, 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. 15 and FIG. As disclosed in 16. The operation time chart of each device of the clip feeder unit 1 is shown in FIG.
As described in 7.

[0024]

According to the present invention, since the joined seedlings are pushed forward by the seedling pushing arm, the seedlings are discharged in a constant direction and can be taken out in a direction parallel to the carry-out conveyor, so that grafting work can be performed. Will be easier.

[Brief description of drawings]

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

FIG. 2 is a top view of a graft unit of a graft robot according to an embodiment of the present invention.

FIG. 3 is a front view of a graft unit of the graft robot according to the embodiment of the present invention.

FIG. 4 is a side view of a graft unit of the graft robot according to the embodiment of the present invention.

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

FIG. 6 is a diagram of a rootstock transporting device when the rootstock and the scion of the grafting robot according to the embodiment of the present invention are joined.

FIG. 7 is a diagram of a scion conveying device of a grafting robot according to an embodiment of the present invention.

FIG. 8 is a diagram of a cutting device for a grafting robot according to an embodiment of the present invention.

FIG. 9 is a top view of the clip hooking device of the grafting robot according to the embodiment of the present invention.

FIG. 10 is a side view of the clip hooking device of the grafting robot according to the embodiment of the present invention.

FIG. 11 is a side view of the clip hooking device of the grafting robot according to the embodiment of the present invention.

FIG. 12 is a front view of the main part in the vicinity of the seedling take-out arm of the grafting robot according to the embodiment of the present invention.

FIG. 13 is a side view of essential parts near the seedling take-out arm of the grafting robot according to the embodiment of the present invention. The figure which shows an operation sequence.

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

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

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

FIG. 17 is a diagram showing a time chart of the clip supply unit of the grafting robot according to the embodiment of the present invention.

[Explanation of symbols]

1 ... Clip feeder part, 2 ... Graft part, 3 ... Root part,
5 ... Hotch part, 6 ... Joint part, 9 ... Clip guide rail,
13 ... Rootstock seedling supply plate, 14 ... Scion seedling supply plate, 15 ... Top plate, 18 ... Rootstock conveying device, 19 ... Rootstock cutting device, 22 ...
Scoop transporting device, 23 ... Scissor cutting device, 25 ... Clip joining device, 123 ... Clip, 124 ... Clip hanging device, 125 ... Stenosis guide rail, 126 ... Clip opening / closing tool, 127 ... Clip pushing cylinder, 128 ... Clip pushing device Tool, 131 ... Grafting robot frame, 1
35 ... Vertical adjustment fixed rod, 136 ... Horizontal adjustment fixed rod, 140 ... Seedling extraction arm, 141 ... Rotating actuator

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Akihiko Onoda 1-40, Nisshin-cho, Omiya-shi, Saitama 2 Within the Institute for the Promotion of Specific Industrial Technology, Biological Systems (72) Ken Kobayashi 1-chome, Nisshin-cho, Omiya-shi, Saitama Address 2 Biological Specific Industrial Technology Research Promotion Organization

Claims (1)

[Claims] [Claim 1] After cutting the rootstock seedling and the scion seedling respectively,
In a grafting robot equipped with a clip joining device that joins rootstock seedlings and scion seedlings with a clip supplied from a clip feeder, a seedling take-out arm that pushes out the joined seedlings forward is placed below the clip guide of the clip joining device. A grafting robot that is characterized by what it has done.