JPH0799983B2 - Grafting robot - Google Patents

Description

Detailed Description of the Invention

[0001]

[Field of Industrial Application ] The present invention automatically creates rootstock seedlings and scion seedlings.
Especially for robots for producing grafted seedlings that are supplied and grafted to
The present invention relates to a seedling carrier.

[0002]

[0003]

2. Description of the Related Art Conventional robots for producing grafted seedlings are known, for example, as disclosed in Japanese Utility Model Publication No. 3-27933 and Japanese Utility Model Publication No. 4-49935. The grafting robot described in the above publication has three seedling seedlings arranged in advance in seedling support holes radially provided on the outer periphery of the disk stand and three scion seedlings arranged in the disk stand having the same structure.
While rotating it by 60 degrees, adjoin the disk stand and
The seedlings are transferred to fixed hands provided on the rootstock processing disk portion and the scion processing disk portion that rotate by 60 degrees one by one, and the cutting devices are placed at positions where each seedling processing disk portion is rotated by a predetermined angle. It is a device that cuts rootstock seedlings and scion seedlings with each other, rotates these seedlings by a predetermined angle to rotate and convey them to a position where the rootstock and the scion can be joined, and joins the rootstock and the scion with a clip. .

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to further improve the conventional grafting robot and provide a grafting robot that is easy to use. More specifically, it is an object of the present invention to provide a seedling transfer device for a grafting robot with excellent operability.

[0005]

The above objects of the present invention can be achieved by the following constitutions. That is, the rootstock seedlings arranged in the rootstock supply section and the scion seedlings arranged in the scion supply section are rotatably conveyed to respective cutting positions by the respective seedling conveying devices,
In a grafting robot that rotates and conveys each cut seedling and scion seedling to the joining position with each conveying device, the cutting position and joining position of each seedling can change the turning radius of each seedling The grafting robots are arranged on concentric circles having different radii with respect to the center of rotation of the transfer device.

The rootstock seedlings arranged in the rootstock supply section and the rootstock seedlings arranged in the rootstock supply section are rotatably transferred to respective cutting positions by respective seedling transfer devices, and the rootstock seedlings cut respectively. In a graft-carrying robot that further rotatably transports and scion seedlings to the joining position by each transport device, the scion transport device has a rotatable L-shaped arm for fixing the root of the scion, and The character-shaped arm is a grafting robot equipped with a scion root fixing hand that is fixed to a support member on the side of the scion carrier main body on the side opposite to the root part when the root of the scion seedling is fixed with respect to the rotation center of the arm. Or, the rootstock seedlings arranged in the rootstock supply section and the scion seedlings arranged in the scion supply section are conveyed to respective cutting positions by respective seedling conveying devices, and the respective rootstock seedlings are cut. The scion seedlings are further transported to the joining position by each transport device and contacted. In grafting robot, the backing guides guide pieces for the backing of the scion hypocotyl during scion hypocotyl cutting the scion carrying device is a grafting robot with a predetermined sweep angle.

[0007]

In the grafting robot of the present invention, the cutting position and the joining position are arranged on concentric circles having different diameters with respect to the center of rotation of each seedling conveying device. Then, each seedling is transported from the cutting position to the joining position with its turning radius, and each transport device extends at the joining position, so there is no need to provide a gap between the cutting surface and the cutting surface of the rootstock at the joining position. And there are no joining mistakes.

Further, since the L-shaped arm of the scion root fixing hand is fixed to the scion root fixing hand support member on the side opposite to the root portion when the root of the scion seedling is gripped, with respect to the center of rotation thereof. , The fixed position of the arm can be set high and the hypocotyl hypocotyl can be inserted all the way into the arm, which makes it possible to support seedlings with shorter hypocotyls.

In addition, since the hypocotyl does not bend or break after joining, it is required to cut as short as possible, so that the hand of the scion cotyledon or scion grasping part approaches the cutting point of the hypocotyl. Therefore, the center of rotation of the cutting device tends to be lowered, and the length of the hypocotyl cut surface tends to be shortened. Therefore, in the present invention, since the backing guide piece of the hypocotyl is provided with a receding angle when cutting the scion, the inclination allows the length of the hypocotyl cutting surface to be long.

[0010]

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

Clip bowl 7 of clip feeder 1
A clip guide rail 9 is provided from the outer circumference, and the graft portion 2 is adjacent to the tip end portion thereof. Further, the robot manipulators 10 and 11 and the seedling supply plates 13 and 14 for gripping and transporting the rootstock and the scion respectively are suspended on the top plate 15 (FIG. 3) of the graft part 2. Since all the movements are assembled to one top plate 15, the dimensional accuracy is improved. Further, the top plate 15 plays a role of a cover and a strength member of the grafting robot and prevents scattering of cutting scraps of the rootstock and the scion. An enlarged view of the grafted portion 2 portion of FIG. 1 is shown in FIG. The rootstock part 3 is composed of a rootstock seedling supply device 17, a rootstock seedling transfer device 18 and a rootstock cutting device 19, and the scion part 5 is also a scion seedling supply device 21 and a scion transfer device 22. , A scion cutting device 23.

The rootstock seedlings manually supplied to the rootstock seedling supply device 17 are transferred to the position (cutting position) of the rootstock cutting device 19 by the rootstock transfer device 18 rotating in the direction of arrow (a) in FIG. Then, the cutting device 19 rotates (see FIG. 4) to leave one cotyledon of the rootstock seedling by the cutting blade and cut off the other cotyledon portions. The rootstock cutting device 19 is a rotary cutter having a cutting blade attached to its tip, and rotates in the direction of arrow (c) in FIG. The rootstock, which has been cut and left one cotyledon, is conveyed in the direction of the arrow (B), and is joined to the scion by the joining device 25 at the joining unit 2.

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

In the conventionally known grafting robot, since the seedling conveying device for rotating and conveying does not have a telescopic mechanism, the cutting position and the joining position of the seedling are on the same circumference with respect to the rotation center of the conveying device. Therefore, it was necessary to provide a gap between the cut surfaces of the seedlings before joining so as not to interfere with each other when the scion and the rootstock are conveyed to the joining position. Therefore, in the conventional grafting robot, each cutting surface may be located outside the opening area where the grip portion of the clip is in an open state,
Occasionally, there was a joining error in the clip.

On the other hand, in the grafting robot of the present embodiment, as shown in FIG. 2, both the rootstock and the scion have the seedling supply position and the joining position of each robot manipulator 1.
The seedlings are arranged on concentric circles (A, C) with respect to the center of rotation of 0 and 11, but the cutting positions of the respective seedlings are arranged on concentric circles (B, D) having different diameters from the concentric circles. . Then, at the seedling supplying position or the joining position of each seedling, the transport arms 34 and 79 of the transport devices 18 and 22 (see FIGS. 5 and 10).
(See) has a structure that extends. Therefore, it is not necessary to provide a gap between the cut surface of the scion and the cut surface of the rootstock at the joint,
The cutting surface of the scion and the rootstock was not located outside the opening of the clip, and the joining error was eliminated.

As shown in FIG. 2, the top plate 15 to which the robot manipulators 10 and 11 are attached has two rear columns 16 and two front columns 112 (cutting devices 19 and 2).
It is also a pillar of 3). Since the space between the front columns 112 is narrower than that of the rear columns 16, when the seedling supplier supplies the seedlings from the front of the slant, the columns 112 do not get in the way, and the cutting blades can be easily replaced and cleaned. Become. The number of front columns 112 may be one instead of two.

Next, the stock supply device 17 and the carrier device 18
Explain. First, the stock supply device 17 will be described mainly with reference to FIGS. 2 and 3. The rootstock seedling supply plate 13 is composed of a holding portion 13b having a structure for receiving the rootstock at an angle that comes into contact with the rear surfaces of both cotyledons that are open in the direction opposite to the receiving groove 13a larger than the rootstock seedling embryo axis diameter. ing. Since the diameter of the receiving groove 13a is larger than the diameter of the cotyledon expansion base of the rootstock seedling, the cotyledon of the rootstock seedling is stably held by the holding portion 13b. In addition, the holding unit 1 has an angle to contact the back surface of the cotyledon.
Since 3b is provided, seedlings can be placed on the supply plate 13 in substantially the same direction without accurately setting the direction of the cotyledons when supplying the rootstock seedlings.

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

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

The stock transfer arm 34 also has a stock neck hanging piece 3 for holding a stock cotyledon deployment base 40 (see FIG. 6).
9, a cylindrical roller 41, a stock neck hanging piece support arm 45 for supporting them, and a neck hanging piece rotation actuator 46 attached to the lower surface of the support arm 45 for rotating the stock neck hanging piece 39 in the horizontal plane direction. Root neck hanging equipment 4
7 is provided. In addition, the rootstock transport arm support 30
There is also a rootstock cotyledon lifting rotary actuator 49 for lifting the rootstock cotyledons by vertically rotating the rootstock neck suspension 47 when joining the rootstock.

The operation air cylinders of the rootstock hypocotyl hand 37 and the rootstock fixing hand 38 at the tip of the rootstock transport arm 34 extruded to the position where the rootstock seedlings are set on the rootstock seedling supply plate 13 operate to operate the rootstock. Grasp the seedlings (Fig. 6). At this time, the cotyledon deployment base 40 is located above the hand 37 at a distance. At the same time as the operation of these hands 37, 38, the rotary actuator 29 for the stock transfer arm is also operated,
The rootstock seedling grasped at 38 is conveyed to the cutting position. At the cutting position, the hands 37 and 38 are turned off for a predetermined time,
At this time, the rootstock neck suspension piece 39 (which is located at the broken line in FIG. 5A when the seedstock is supplied to the rootstock seedling supply plate 13) has already come to the solid line position in FIG. The cotyledon expansion base 40 of the seedling is in a state of being supported by the neck suspension piece 39 (FIG. 5).
(B)). Immediately after this, the rootstock hypocotyl hand 37 and the rootstock fixing hand 38 grip the hypocotyl again, and the rootstock is gripped at the set cutting position in the hypocotyl direction.

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

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

Next, the brush section will be described in detail. First, the spike unit supplying 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 14c opened at the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is manually inserted into the groove 14c to support the scion seedling.

The scion seedlings supported by the scion seedling supply plate 14 are gripped by the scion conveying device 22 and sequentially conveyed to the cutting position and the joining position. FIG. 9 shows a detailed view of the scion transport device 22. FIG. 9A is a top view (illustration of the rotation actuator 73 for transporting scion described later is omitted), and FIG. 9B is a side view. In the scion conveying device 22, a scoop conveying rotary actuator 73 and a scion conveying arm support 75 below the actuator 73 are rotatably supported around the actuator rotating shaft 76. Hogi transport arm support 75
In addition, the scion conveying arm pushing cylinder 77 supported by the support 75, the scion conveying arm 79 which is expanded and contracted by the cylinder 77, and the scoop grasping portion 80 at the tip of the conveying arm 79.
Which is a part of the hob cotyledon presser hand 81 and the hob hypocotyl hand 8
3. A scion root fixing hand 84 is provided. Both hands 81 and 83 are controlled to be opened and closed by an air cylinder 89 provided in a hand support member 85 at the tip of the scion transport arm 79 so as to grip the scion. Hokiko leaf press hand 8
1 The inside is made of rubber so as not to damage the Hoki cotyledons. Only the scion hypocotyl hand 83 supports the scion at the scion feeding position, and the scion cotyledon holding hand 81 grasps the cotyledon at the cutting position so as not to interfere with the cutting of the hypocotyl part (see FIG. 10). ).

A supporting plate 87 for supporting the scion root fixing hand 84 is fixed to one side surface of the scion conveying arm 79. The scion root fixed hand 84 is provided with a rotary actuator 88 of a pneumatic drive type on the support plate 87 from the horizontal position to the vertical position so that the fixed hand arm 84a can rotate. This hot root fixing hand 84
And supports the hypocotyl in the vicinity of the scion root with the scissors, and when cutting the scion hypocotyl with the scion cutting device 23 at the cutting position, the hand 84 is rotated right below (see FIG. 11). Keep the roots out of the way.

The arm 84a of the scion root fixing hand 84 is L-shaped, and is attached to the scion root fixing hand support plate 87 on the side opposite to the root portion when the root of the scion seedling is gripped with respect to the rotation center of the arm 84a. It is fixed. Therefore, as shown in FIG. 12, in the case of the present embodiment, the scion hypocotyl part can be inserted further into the arm 84a than in the case where the arm of the root fixing hand of the conventional example is rod-shaped, and the hypocotyl of It became possible to handle short seedlings.

Further, since the root fixing hand supporting plate 87 is attached to the scion hand supporting member 85 so that the vertical position can be adjusted, the difference in the hypocotyl length between different varieties and lots exceeds the design allowable range. Also, the vertical position of the root fixing hand 84 of the scion can be set to an appropriate position. In this manner, the scion gripping portion is constituted by the scion cotyling hand 81, scion hypocotyl hand 83, scion root fixing hand 84, and the like.

The scoop transport arm 79 is pushed out by the transport arm pushing cylinder 77, and the pushing amount is adjusted by the pushing amount adjusting shim 91. Further, the backing guide 92 is fixed to the lower part of the scooping cylinder push-out cylinder 77, and when the scooping transport arm 79 comes to the retracted position, the guide piece 92a at the tip of the scooping guide 92 causes the scion embryo to emerge. The hypocotyl is lined when the axis is cut (see FIG. 11). When the backing guide 92 cuts the scion, the guide piece 92a supports the hypocotyl backing so that the cutting can be reliably performed by the cutter.

Since the hypocotyl does not bend or break after joining, the cuttings are required to be cut as short as possible. The center of rotation of the device is lowered. Therefore, the length of the cut surface of the hypocotyl tends to be short. However, in this embodiment, the receding angle α (FIG. 9) is attached to the backing guide piece 92a of the hypocotyl during cutting of the scion. At this time, the backing guide piece 92a of the hypocotyl is provided with a receding angle α, and the inclination makes it possible to obtain a long hypocotyl cut surface length.

The rotation direction of the scion cutting device 23 is as shown in FIGS. 1 and 11, and it 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 This is for the purpose of effectively holding down the guide piece 92a at the tip of the contact guide 92, and for preventing the shape of the acute-angled portion at the tip formed by cutting the hypocotyl from collapsing.

Next, the cutting device will be described with reference to FIG. Although the cutting device is provided in each of the root part 3 and the spike part 5, it has a mechanism common to both. FIG. 13 shows a cutting device on the base 3 side. FIG. 13A is a top view thereof (direction viewed from the top of the grafting robot),
FIG. 13B is a side view seen from the direction of arrow A in FIG. 13A (direction viewed from the side wall side of the grafting robot side of the grafting robot). The cutter driving motor 111 is supported by a column 112 oriented in the vertical direction, and a cutter arm 115 is attached to a rotary shaft 113 of the motor 111. A cutting blade 117 is attached to a cutting blade supporting piece 116 provided at the tip of the cutter arm 115 in a direction orthogonal to the arm 115.
Is attached. The attachment position of the cutting blade support piece 116 to the cutter arm 115 is adjusted by an adjusting tool such as an adjusting screw 119 provided on the cutter arm 115. In addition, the mounting height of the cutter driving motor 111 is adjusted by the support 11
It is performed with an adjusting tool such as the adjusting screw 120 provided on the No. 2.

As shown in FIG. 13, the cotyledons of seedlings (in the rotation locus of the cutting blade 117 before the cutting blade 117 hits the hypocotyl so that the cutter arm 115 does not interfere with the cutting of the hypocotyl ( A cotyledon lifting guide 122 for lifting a cotyledon to be cut off is provided. Note that FIG.
In the cutting device 23 of the cutting part shown in FIG.
It shows the state of coming on the same vertical plane as.

Further, as shown in FIG. 1, since the cutter driving motors 111 of the scion and the rootstock are faced to each other and the cutter arms 115 are arranged on the opposite sides of the motors 111, when the seedlings are transported. The cutter driving motor 111 does not interfere with the seedlings, which facilitates replacement and cleaning of the cutting blade.

Next, a clip supply device and a clip joining device are shown in FIGS. As shown in FIG. 1, the clip feeder 1 of the clip feeder is a clip bowl 7
Attach both ends of the handle 123a of the clip 123 (see FIGS. 14 and 15 and 16) to a vibration type parts feeder (vibration system NB-300: Mortron Co., Ltd.) having a spiral ascending path along the inner surface of the. A clip guide rail 9 composed of a vibration trough having a groove for guiding is connected, and a tip of the guide rail is connected to a clip hooking device 124 facing the graft part 2.

FIG. 14 shows a clip hooking device 124 (= clip joining device 2) connected to the clip guide rail 9.
5) is a top view of a main part, and FIGS. 15 and 16 are side views thereof. As shown in FIG. 14, the tip end of the guide rail 9 narrows the guide interval between both ends of the handle portion 123a of the clip 123 immediately before the joining of the rootstock and the scion of the graft portion 2 to hold the grip portion of the clip 123. A constriction guide rail 125 for opening 123b is connected. Here, when the clip 123 (FIG. 14A) 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. (FIG. 14 (b)), and the holding part 123b keeps the rootstock and the scion in a joined state.

The advance of the clip 123 is performed as follows in the procedure shown in FIGS. First, when the clip 123 supplied from the clip feeder unit 1 via the guide rail 9 comes to the position of the narrow guide rail 125 (FIG. 15).
(A)), the clip push-out cylinder 127 starts to operate, the metal clip push-out tool 128 fixedly supported by the cylinder 127 moves forward, and the clip 123 is placed on the constriction guide rail 125 (FIG. 15 (b)). ). At this time, the grip portion 123b of the clip 123 is opened, but since the clip opening / closing tool 126 operates here as shown in FIG. 14 (b), the clip 123 can tighten the graft.
At the same time, the clip pusher 128 advances to drop the graft (FIG. 16 (a)). As shown in the figure, the tip of the clip push-out tool 128 has the same shape as the upper corner of the clip gripping portion 123b, and since it has an inclined shape from this tip to the base, when the clip push-out cylinder 127 retracts, it is next narrowed. It is possible to get over the clip gripping portion 123b of the clip 123 supplied to the guide rail 125 (FIG. 16B). It should be noted that the sensor 1 for detecting the presence or absence of a clip is provided above the clip hanging device 124.
29 is provided, and when the clip 123 is no longer supplied, the operation is automatically stopped.

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

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

At this time, the cutting devices 19 and 23 of this embodiment are machines that rotate and use the cutting blade 117, and therefore have the following safety devices. First, foot switches (not shown) are provided on the rootstock side and the scion side. In this way, rootstock seedlings and scion seedlings are supplied by different people.
It is necessary to set to 3 and 14, and when any one of the two people wants to stop the robot, the robot can be stopped at any time. Further, since the front surface of the grafting unit 2 of the grafting robot is covered with a safety cover (not shown), the robot stops when the safety cover is opened.
Further, when the clip presence / absence sensor 129 (FIGS. 15 and 16) detects that the clip 123 has disappeared, the rootstock and the scion cannot be grafted.
However, in this case, when the clip 123 is set,
Work is continued with the reset switch. Clip 123
If the grafted robot is stopped except when it disappears, work of the grafted robot is restarted from the beginning. Regarding the time charts of the roots and spikes of the grafting robot of the present invention, a patent application by the present applicant (Japanese Patent Application No. 4-1615).
No. 12).

[0041]

EFFECTS OF THE INVENTION According to the present invention, each seedling is conveyed from the cutting position to the joining position at its turning radius, and each conveying device extends at the joining position. There is no need to provide a gap between them, so there is no mistake in joining. Further, since the arm of the scion root fixing hand has an L-shape, the fixing position of the arm to the scion root fixing hand support member can be increased, and it becomes possible to cope with seedlings having a shorter hypocotyl. Further, in the present invention, since the backing guide piece of the hypocotyl at the time of cutting the scion has a receding angle, it is possible to lengthen the hypocotyl cutting surface length by the inclination.

[Brief description of drawings]

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

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

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

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

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

FIG. 6 is a diagram of the root stock transporting apparatus in a state where it is received from the root stock feeding apparatus of the grafting robot according to the exemplary embodiment of the present invention.

FIG. 7 is a diagram showing the vicinity of a root carrier when the root graft of the grafting robot according to the embodiment of the present invention is cut.

FIG. 8 is a diagram of a rootstock transporting device at the time of joining seedlings of a grafting robot according to an embodiment of the present invention.

FIG. 9 is a diagram of a scion conveying device of a grafting robot according to an embodiment of the present invention.

FIG. 10 is a diagram of a scion conveying device before cutting scion seedlings of a grafting robot according to an embodiment of the present invention.

FIG. 11 is a diagram of the vicinity of a scion conveying device when cutting scions of the grafting robot according to the embodiment of the present invention.

FIG. 12: L of the scion root fixing hand of one embodiment of the present invention
It is a figure explaining the difference in the length of the hypocotyl for joining by the difference of the fixing method of the character arm and the conventional fixing method of the arm concerned.

FIG. 13 is a diagram of a cutting device for a grafting robot according to an embodiment of the present invention.

FIG. 14 is a top view of the clip hanging device of the grafting robot according to the embodiment of the present invention.

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

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

FIG. 17 is a diagram showing an operation sequence of the grafting robot according to the embodiment of the present invention.

[Explanation of symbols]

1 ... Clip feeder part, 2 ... Graft part, 3 ... Root part, 5
… Spike part, 6… joint part, 9… clip guide rail, 1
0 ... Rootstock robot manipulator, 11 ... Brush robot manipulator, 13 ... Rootstock supply plate, 14 ... Brush supply plate, 15 ... Top plate, 18 ... Rootstock conveying device, 19 ... Rootstock cutting device, 22 ... scion transport device, 23 ... scissor cutting device, 2
5 ... Clip joining device, 29 ... Rotation actuator for rootstock conveyance, 33 ... Rootstock transfer arm pushing cylinder, 34 ... Rootstock transfer arm, 35 ... Rootstock gripping part, 37 ... Rootstock hypocotyl hand, 38 ... Rootstock Fixed hand, 39 ... Root neck hanging piece, 41
... Cylindrical roller, 47 ... Neck hanging device, 49 ... Cotyledon lifting rotary actuator, 50 ... Rootstock cotyledon presser, 73 ... Scion conveying rotary actuator, 77 ... Scion conveying arm pushing cylinder, 79 ... Scion conveying arm, 80 ... Hoki gripping part, 8
1 ... Hoki cotyledon holding hand, 83 ... Hoki hypocotyl hand, 84
... Scion root fixing hand, 92 ... Backing guide, 96 ... Opening part, 117 ... Cutting blade, 123 ... Clip, 124 ... Clip hanging device, 125 ... Constriction guide rail, 126 ... Clip opening / closing tool, 127 ... Clip pushing cylinder, 1
28 ... Clip pushing tool

Claims (3)

[Claims] Claims: 1. The rootstock seedlings arranged in the rootstock supply section and the scion seedlings arranged in the scion supply section are rotatably conveyed to respective cutting positions by respective seedling conveying devices, and the respective pedestals are cut. In a grafting robot that rotates and transports tree seedlings and scion seedlings to the joining position with each transport device, the cutting position and the joining position of each seedling can be rotated by the turning radius of each seedling transport device. A grafting robot characterized by being arranged on concentric circles having different radii with respect to the center of conveyance. 2. The rootstocks that have been cut into the rootstock seedlings arranged in the rootstock supply section and the rootstock seedlings arranged in the spikelet supply section are conveyed to their respective cutting positions by respective seedling conveying devices. In a grafting robot that further transfers seedlings and scion seedlings to the splicing position by each transport device and joins them, the scion transport device is a rotatable L for fixing the root of the scion.
The L-shaped arm has a tip end, and the L-shaped arm is fixed to a supporting member on the side of the main body of the scion transporting device on the side opposite to the root part when the root of the scion seedling is fixed with respect to the rotation center of the arm. A grafting robot that has a scion root fixing hand. 3. The rootstocks that have been cut into rootstock seedlings arranged in the rootstock supply section and scion seedlings arranged in the scion supply section are transported to their respective cutting positions by respective seedling carrier devices. In a grafting robot that further transfers seedlings and scion seedlings to the splicing position with each transport device and joins them, a guide piece of a backing guide that backs the scion hypocotyl when cutting the scion hypocotyl of the scion transport device A grafted robot characterized by having a predetermined receding angle.