JPH08103162A - Grafting robot for family solanaceae - Google Patents

Abstract

PURPOSE: To provide a readily handleable grafting robot having a cutter capable of surely cutting a hard hypocotyl of the family Solanaceae. CONSTITUTION: This grafting robot for a plant belonging to the family Solanaceae is obtained by fixing a cutter blade 45 to one side of a parallelogrammatic cutter bracket 43 attached to a support 26 of a grafting robot substrate, thereby providing a stock cutter 19, installing the side of the cutter bracket 43 to which the cutter blade 45 is attached in the direction tilted from the vertical directions, forming the lower half of the side to which the cutter blade 45 of the cutter bracket 43 is attached into a notched state and attaching the cutter blade 45 to the interior thereof. Since the cutter blade 45 is fixed to a prescribed position, the cutting position is accurately obtained even in the hard hypocotyl of the plant belonging to the family Solanaceae and the regulation of the cutting position is facilitated. Since no time is required for moving the cutter blade 45 according to the constitution, the whole treating time can be shortened.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art The inventors of the present invention have made a series of patent applications (Japanese Patent Application No. 4-161515 and Japanese Patent Application No. 5-194828) in order to develop a grafting robot having excellent operability as an alternative to the grafting robot. ) Was done. The grafting robot developed by the present inventors cuts the rootstock seedlings and scion seedlings arranged in the seedling feeding device with respective cutting devices, and clips the cut scion and rootstocks with these joining devices by clipping. It is a device for joining and is a grafting robot that automatically performs these operations. When trying to use the grafting robot developed by the present inventors for grafting a Solanaceae plant, the Solanaceae plant is harder than, for example, a Cucurbitaceae plant, so that the hypocotyl (stem) of the rootstock seedling is particularly gripped. However, it was slippery, and it was difficult to determine the cutting position of the rootstock seedlings before cutting. Therefore, the height of the seedlings after being grafted was not uniform. Therefore, the present inventor has improved the gripping hand of the rootstock seedling of the rootstock transporting device to develop a user-friendly eggplant family grafting robot and applied for a patent (Japanese Patent Application No. 6-168).
503).

[0003]

There is room for improvement in the mechanism of cutting the hypocotyls of rootstock seedlings and scion seedlings by the grafting robot for solanaceous plants. That is, it has become easier for the present inventor to improve the gripping hand of the rootstock seedling of the rootstock transporting device in particular to determine the cutting position of the hypocotyl (stem) of the hard Solanaceae plant at a predetermined position. For the side, the conventional grafting robot invented by the present inventor was used. An object of the present invention is to provide a grafting robot equipped with a cutting device which is easy to use and can surely cut hard hypocotyls of solanaceae.

[0004]

The above objects of the present invention can be achieved by the following constitutions. That is, the rootstock seedlings arranged in the rootstock seedling supply device and the spikelet seedlings arranged in the rootstock seedling supply device are transported to their respective cutting positions by the respective seedling carrier devices, and the respective rootstock seedlings are cut. In a solanaceous grafting robot that further conveys and joins the scion seedlings to the joining position with each of the transport devices, while the rootstock and the rootstock grasped by the rootstock transport device and the scion transport device are being transported, The rootstock cutting device and the scion cutting device are solanaceous grafting robots configured to be cut by the respective cutting devices fixed to the base portion of the grafting robot.

[0005]

With the above construction of the present invention, since the cutting device is fixed at a predetermined position, the cutting position can be accurately obtained and the cutting position can be easily adjusted even on the hypocotyl of a hard Solanaceae plant. Further, in the above configuration, since there is no time to move the cutting device, the total processing time can be shortened.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. First, an outline of a grafting robot that automatically joins rootstock and scion seedlings will be described. A top view of the grafting robot of this embodiment is shown in FIG. 1 (a view with the top plate removed), an enlarged view of that part (grafting part) is shown in FIG. 2, a front view is shown in FIG. 3, and a side view is shown in FIG. . As shown in FIG. 1, the mechanism for producing joint seedlings of the grafting robot of this embodiment comprises a clip feeder section 1 and a graft section 2, and the graft section 2 comprises a root section 3, a spike section 5 and a joint section 6. Has become. 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, 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. An enlarged view of the grafting part 2 portion shown in FIG. 1 is shown in FIG. 2. The root part 3 includes a root seedling feeding device 17, a root carrier device 18, and a root cutting device 1.
9 and the scion part 5 is also a scion seedling supply device 2
1, a scion conveying device 22 and a scion cutting device 23.

[0007] The rootstock hypocotyl is manually supplied to the receiving groove 13a (see Fig. 2) of the rootstock seedling supply plate 13 of the rootstock seedling supply device 17 which is larger than the rootstock seedling hypocotyl diameter. This rootstock seedling is transported to the position (cutting position) of the rootstock cutting device 19 by the rootstock transport device 18 rotating in the direction of the arrow (a) in FIG. 1, where the cutter blade of the cutting device 19 rootstock. Cut off the hypocotyl of the seedling diagonally. The rootstock cutting device 19 is a cutter having a cutter blade attached to the tip thereof, and is fixed to the graft robot base, and is fixed while the rootstock conveying device is being conveyed from the arrow (a) to the arrow (b). It is cut by the cutter blade of the rootstock cutting device 19. The cut rootstock is conveyed in the direction of the arrow (B), and is joined to the scion by the joining device 25 (see FIGS. 2 and 3) of the joining portion 6 at the graft portion 2. Further, similarly, the scion seedling supply plate 14 of the scion seedling supply device 21 is manually operated.
The scion seedlings supplied to the scissors are conveyed in the direction of arrow (d) (see FIG. 1) by the scion conveying device 22, and by the scion cutting device 23 fixed to the grafting robot base at the cutting position, during the conveyance, Leaving the tissue above the hypocotyl part,
Some hypocotyls and roots are cut off. Then, the scion having the cotyledon portion is conveyed in the direction of the arrow (c), is joined with the clip supplied from the clip feeder portion 1 in the rootstock and the graft portion 2, and the joined seedling is transplanted into a pot by an appropriate method. It

The root carrier 18 and the scion carrier 22 will now be briefly described mainly with reference to FIG. A root transporting rotary actuator 29 of the stock transporting device 18 is supported by the top plate 15, and a stock transporting arm support 30 is provided below the actuator 29 to support the rotary shaft 3 of the actuator.
It is rotatably supported around 1. The stock carrying arm support 30 has a stock carrying arm pushing cylinder 33 supported by the support 30, a stock carrying arm 34 fixed to the cylinder 33, and a stock gripping part at the tip of the carrying arm 34 ( A pair of rootstock hypocotyl gripping hands 37 and rootstock root pot gripping hands 38) are provided. The hands 37 and 38 are controlled to be opened and closed by an air cylinder (not shown) so as to grip the rootstock. Further, the pair of rootstock hypocotyl-fixing hands 39 is an air cylinder (not shown) in an actuator 41 supported by a support plate 40 fixed to the rootstock transport arm support 30.
It is opened and closed by. The rootstock embryo axis gripping hand 37 and the rootstock root pot gripping hand 38 at the tip of the rootstock transport arm 34 extruded to the position of the rootstock seedling on the rootstock seedling supply plate 13 are actuated so that the both hands 37, 38 are Hold rootstock seedlings. At the same time as the operation of the rootstock embryo axis gripping hand 37 and the rootstock root pot gripping hand 38, the rootstock transport rotary actuator 29 also operates to transport the rootstock seedlings gripped by the hands 37 and 38 to the cutting position. At the cutting position, the rootstock transport arm 34 retracts, and at that time, the rootstock hypocotyl-fixing hand 39 holds the hypocotyl.

FIG. 5 (a) shows a partial side view of the rootstock seedling feeding device 17 and the rootstock transporting device 18 centering on the rootstock gripping part. The rootstock transporting device 18 is the rootstock seedling feeding device 17 part. Shows the condition when they came to receive rootstock seedlings. 5B shows a plan view in which the tip of the root pot holding hand 38 is closed, and FIG. 5C shows a plan view in which the tip of the hand 38 is open. Further, FIG. 6 shows a perspective view of the rootstock hypocotyl holding surface in the circle A of FIG. 5 of the rootstock hypocotyl hand 37. In addition, FIG.
The arrow view seen from the arrow B direction of FIG. As shown in FIG. 6, notches 37a and 37b are provided on the rootstock hypocotyl grasping surfaces of the pair of hypocotyl grasping hands 37 in the hypocotyl longitudinal direction and the hypocotyl thickness direction, respectively, to securely grasp the hypocotyl (stem). And Further, a pair of root pot holding hands 38 provided with a pair of holding surfaces 38a having a shape along the side surface of the rootstock are provided below the hypocotyl holding hands 37. Notch 37 of hypocotyl grasping hand 37 shown in FIG.
a and 37b are for preventing the hypocotyl (stem) of the Solanaceae plant, which is harder than that of the Cucurbitaceae, from slipping on the grasping surface of the hypocotyl grasping hand 37. In addition, when supplying seedlings with cell-molded seedlings, hypocotyls (stems) are used because the root pot in which the rootstock is planted is heavy.
It is necessary to ensure that the pair of gripping surfaces 38a having a shape along the rootstock side surface of the rootpot gripping hand 38 of the rootpot gripping hand 38 is secured.
The pair of root bowl gripping hands 38 provided with can securely grip.

As shown in FIG. 7, the pair of gripping surfaces 38a of the root pot gripping hand 38 is inclined so as to follow the trapezoidal rootstock root pot, and the gripping width of the hypocotyl (stem) is widened. Since the tip portion is partially provided with the bent portion 38c on the inner side,
The root canal pot can be gripped more reliably. In addition, a rootstock root support member 16 that supports the bottom surface of the rootstock root pot when the rootstock tailored to the cell-formed seedling is supplied onto the seedling supply plate 13 is provided in the rootstock seedling supply device 17, and the rootstock is supplied from the bottom surface of the rootstock root pot. The length to the position where the hypocotyl was cut was set to be constant. In the grafting robot of the Cucurbitaceae, the root of the cotyledon cotyledon was used as the positioning reference in the vertical direction of the hypocotyl, but in the case of the Solanaceae plant, it is not necessary to leave the cotyledon on the rootstock, so as in this example, the rootstock The support member 16 can be used to position the rootstock hypocotyl in the up-down direction, and the root pot can be used as a graft in the up-down direction.

In this way, the height of the grafted seedlings after grafting is substantially constant, and grafted seedlings of uniform height can be obtained. In addition, since the height of the seedlings after grafting can be reduced even if the rootstock seedlings are long-sufficient, it is possible to increase the house area utilization efficiency by densely planting the rootstock seedlings. Furthermore, the rootstock seedlings are hypocotyls (stems) in the center of the rootstock root pot.
Therefore, if the root pot is supported by hanging it from the rootstock seedling supply plate 13, the rootstock pot is tilted, and the hypocotyl grasping hand 37 of the rootstock transport device 18 causes the rootstock hypocotyl (stem). ) May be difficult to grip, but if the rootstock pot is placed on the rootstock support member 16, the hypocotyl (stem) is reliably gripped. At this time, if a fixing long hole is provided in the support piece 16a of the rootstock support member 16 and the vertical position thereof can be adjusted by the bolts 16b, the grafting position (rootstock embryo axis depending on the growth state of the rootstock seedling). The cutting position) can be adjusted. In addition, when supplying cell seedlings of different sizes, the grafting position (cutting root hypocotyl cutting position) can be adjusted. In this way, a short and solid grafted seedling can be produced even if the original seedling for grafting is subordinated. In addition, since cell-shaped seedlings have no root damage, the survival rate does not decrease even if no cotyledon is left on the rootstock.

Further, as shown in FIG. 8, a member 16 'for vertically positioning may be provided on the upper surface of the rootstock pot for making cell seedlings. In this case, the height of the seedlings after grafting can be made uniform. Also, the height of the seedlings after the grafting can be adjusted to be low even if the rootstock is a subordinate length. Furthermore, hypocotyl (stem)
Therefore, the hypocotyl grasping hand 37 can accurately grasp the rootstock seedling. In this embodiment, the root bowl holding hand 38
At the tip of the gripping surface 38a of the flat surface 38b and the bent portion 3
8c were provided alternately to ensure the gripping of the rootstock pot. This is because the hypocotyl (stem) of the Solanaceae plants is harder than that of the Cucurbitaceae, so the whole seedling is prevented from moving in the cutting direction when cutting. Is effective. Further, since the flat surface portion 38b and the bent portion 38c are alternately provided at the tip portion of the grip surface 38a, the bent portion 38c
It is possible to prevent the root bite from breaking into the root pot by strongly cutting into the root pot. Further, a bent portion 38c is provided on the gripping surface 38a of the root bowl gripping hand 38, and at the same time, the gripping surface 38a is inclined along the inclination of the root bowl by an angle α (see FIG. 7) to ensure the fixation of the root bowl. did. Therefore, the seedlings are not displaced when the hypocotyl (stem) is cut, and it is possible to grip even an inverted conical root pot such as a root pot of a cell-shaped seedling. Further, even if the inverted conical root pot is grasped on both sides by the cooperation with the bent portion 38c,
You won't get out of the way.

Further, as shown in FIGS. 5 (b) and 5 (c), a long hole 38d is provided at the fulcrum portion for opening and closing the root pot holding hand 38 to increase the degree of freedom of the fulcrum portion, and Even if there was a slight difference in the shape of the root pot, the root pot gripping hand 38 was made to follow the root pot. Therefore, even if a root pot with a slightly different shape is gripped by the root pot gripping hand 38, it can be gripped along the side surface of the root pot, so that the root pot can be securely gripped without being broken. Moreover, when the root plant of the Solanaceae rootstock is not made into a cell-forming seedling, the rootstock support member 16 or the member 16 'for positioning in the vertical direction is not used, and the cotyledon of the original seedling for the rootstock of the Solanaceae rootstock Before feeding the upper part to the grafting robot, a grafting method may be adopted as shown in FIG. 9 in which it is cut in advance and supplied to the rootstock seedling supply plate 13. In the case of solanaceous plants, the thickness of the stem does not adapt to mechanical bonding unless the number of leaves is 3 or more, but in this state the seedlings are large and the speed cannot be increased when they are transported by machine. By doing so, it is possible to increase the transport speed in the stock transport device 18.
According to this method, the size of the grafted seedling is not a problem, so that it is possible to extend the seedling raising period of the rootstock seedling and increase the thickness of the hypocotyl (stem), so that the mechanical joining rate is also improved.

Next, the scion seedling conveying device 22 will be described. As shown in FIG. 3, the scion seedling conveying device 22 includes a scion conveying rotary actuator 51 and a scion conveying arm support 52 below the actuator 51, which is the actuator rotating shaft 53.
It is rotatably supported around. The scion transport arm support 52 has a scoop transport arm pushing cylinder 55 supported by the scaffold 52, a scion transport arm 56 that is expanded and contracted by the cylinder 55, and a scion germ axis at the tip of the transport arm 56. A gripping hand 59 is provided. The hand 59 is controlled to be opened and closed by an actuator (not shown) provided at the tip of the scion conveying arm 56 so as to grip the scion. Further, the push-out amount adjusting shim 60 adjusts the push-out amount of the scion conveying arm 56 and the push-out cylinder 55 is pushed out by the conveyer arm pushing cylinder 55. An actuator 62 is provided at the tip of an arm 61 provided below the scion transport arm support 52, and an air cylinder (not shown) of the actuator 62 causes the hypocotyl-fixing hand 64 to cut the scoop hypocotyl. The hypocotyl can be surely supported and the hypocotyl can be surely cut.

Next, the stock transporting device 18 and the stock cutting device 19 of the present invention will be described with reference to FIGS. FIG. 10 shows a front view of the grafting robot, and FIG. 11 shows a side view of the grafting robot. The rootstock cutting device 19 has a cutter blade 45 on one side of a parallelogram-shaped cutter bracket 43 attached to the post 26 of the grafting robot base.
Is fixed. The side of the cutter bracket 43 to which the cutter blade 45 is attached is provided in a direction inclined with respect to the vertical direction. The lower half of the side of the cutter bracket 43 to which the cutter blade 45 is attached is cut out (see FIG. 11), and the cutter blade 45 is attached to the recessed portion. With the above configuration, the cutter blade 45
Is fixed at a predetermined position, the cutting position of the hypocotyl of a hard Solanaceae plant can be accurately obtained, and the cutting position can be easily adjusted. Further, in the above configuration, the cutter blade 45
The whole processing time can be shortened because no time is required to move. Further, since the cut scraps of the cut hypocotyls slide down on the cutter brackets 43 arranged in an oblique direction, the cut scraps can be easily processed without scattering.

Further, when the cutter bracket 43 is supported on the support pillar 26 of the base of the grafting robot, a mechanism for moving the position of the cutter blade 45 in the direction along the attachment surface of the cutter blade 45 of the cutter bracket 43 is provided. It was
The mechanism is composed of a cutter bracket 43 vertically in two stages.
Two elongated holes 43a having a longitudinal direction are provided along the attachment surface of the cutter blade 45, and the cutter bracket 43 is screwed to the support column 26 with the elongated holes 43a. The movable range of the long hole 43a is the movable range of the cutter blade 45.
In this way, the cutter blade 45 that is only partially used at the time of cutting can be moved along the hypocotyl cutting surface, the entire surface of the cutter blade 45 can be used evenly, and the time until the cutter blade 45 can be replaced can be lengthened. . Further, the inclined surface of the cutter bracket 43 serves as a guide path for cutting waste of the rootstock seedlings cut by the cutter blade 45. Therefore, it is possible to prevent the cut waste after cutting from falling on the transport path for the rootstock seedlings and obstructing the transport.

Further, in this embodiment, as shown in FIG.
Both the rootstock cutting device 19 and the scion cutting device 23 are integrally configured with a cutter bracket 43 that fixes a cutter blade 45 for cutting hypocotyls, and the cutter bracket 43 is adjusted to move up and down on the support column 26. So that
It was attached to the column by a screw type vertical adjustment mechanism 17. FIG. 12 shows the rootstock cutting device 19 seen from the front of the grafting robot.
FIG. 13 shows the rootstock cutting device 19 and the scion cutting device 23 as seen from the side of the grafting robot on the scion side. Since the cutting positions of the hypocotyls of the rootstock and the scion are mutually determined, as described above, by integrally forming members such as the cutter bracket 43 for fixing the cutter blade 45, the rootstock and the scion The accuracy of the joining position can be improved.
In addition, since the adjustment can be performed while maintaining the mutual position of the rootstock and the scion even when adjusting the joining position, it is possible to reduce the adjustment man-hours.

Further, as shown in FIG. 14 (a) (enlarged view of the cutter blade 45 viewed from the front of the grafting robot), when cutting the hypocotyl (stem) of a solanaceous plant, an elliptical cut surface of the hypocotyl The root carrier device 18 and the scion carrier device 22 are gripped so that the cutter blade 45 enters from the direction of the shortest diameter. This is because the hypocotyls of solanaceous plants are hard and the bark was likely to remain at the acute angle portion when cut from the major axis direction, but the bark was removed by cutting from the minor axis direction. Further, since the cutting resistance at the time of cutting the hypocotyl is even over the entire hypocotyl contact surface, the flatness of the cutting surface is improved. When the hypocotyl (stem) is cut in the direction of arrow A in FIG. 14 (b) (side view of the cut portion of the hypocotyl), the thickness of the hypocotyl changes as the cutting progresses, so the flatness of the cut surface is It becomes worse and the skin tends to remain at the end of cutting.

Further, as shown in FIGS. 15 and 16 (FIG. 15 is a partial front view of the grafting robot, FIG. 16 is a partial side view of the grafting robot), the hypocotyl grasping hand 3 of the rootstock carrier 18 is shown.
7, a hypocotyl positioning member 42 may be provided side by side. When the rootstock hypocotyl is bent, the hypocotyl grasping hand 37 cannot accurately grasp the hypocotyl, and therefore the positioning member 42 for position regulation is provided. Similarly, FIGS. 17 and 18 (FIG. 17 is a partial side view of the grafting robot, and FIG. 18 is a partial front view of the grafting robot).
As shown in FIG.
Alternatively, a hypocotyl positioning member 65 may be provided below the scion hypocotyl gripping hand 59. This is because the solanaceous scion has a center of gravity on the upper part of the hypocotyl-gripping hand 59, and during transportation, the upper part of the scion falls to the outside of the circumference of the transportation due to centrifugal force. This is because the inclining member 65 is provided at the position of the hypocotyl portion that inclines inward, and the scion hypocotyl is vertically supported by the scion transporting device 22 during transportation.

Further, as shown in FIG. 10, a cutter blade 45 is arranged so as to come into contact with the cutter bracket 43 so as to have a shape of a hypocotyl-fixing hand 39 for fixing the hypocotyl after the rootstock is cut by the rootstock carrier 18. The shape was set along the diagonal direction. Thus, when cutting a solanaceous plant having a hard hypocotyl, if the fixation by the hypocotyl grasping hand 37 of the rootstock carrier 18 is uncertain or the cutter blade 45 becomes uncut,
Although there was a problem that the hypocotyl cutting position was displaced, by fixing the hypocotyl along the hypocotyl cutting position where it is cut in an oblique direction, the hypocotyl cutting position can be stabilized. In addition, when carrying with a root pot attached like a cell-molded seedling, if the root pot is heavy and the hypocotyl gripped is hard, it may come off from the hypocotyl holding hand 37 during transportation. Gripping hand 3
By fixing the rootstock hypocotyl in at least two places, 7 and the hypocotyl fixing hand 39, the fixation was secured.

Similarly, as shown in FIGS. 17 and 18, a hypocotyl-fixing hand 64 is also provided below the hypocotyl-gripping hand 59 in the scion transporting device 22 and the lower surface of the scissors-bracket 43 has a cutter bracket 43 after cutting the scion. So that the cutter blade 45 is arranged so as to be in contact with. In the case of solanaceous plants, the length of the part to be cut from the root to the first true leaf is short, and at the time of grafting, the true leaves are heavy with 3-4 pieces, and the upper part is heavy, so the positioning of the seedlings during cutting is unstable. This is because the hypocotyl is fixed along the locus of the cutter blade 45 because it is likely to occur. Also, as in the case of the rootstock, the scion hypocotyl of the Solanaceae plant is hard, so if the fixation is uncertain or the cutter blade 45 cannot be cut, the cutting position shifts, so the hypocotyl is securely fixed. It becomes possible.

Next, FIG. 19 shows a clip supply device and a clip joining device. As shown in FIG. 1, the clip feeder unit 1 of the clip feeder is a vibrating parts feeder (vibration system NB-300: Mortron Co., Ltd.) having a spiral ascending path along the inner surface of the clip bowl 7 and a clip 123. (Refer to FIG. 19) A clip guide rail 9 formed of a vibrating trough formed with grooves for guiding both ends of the handle portion 123a is connected, and a tip of the guide rail 9 is connected to a clip hooking device 124 facing the graft portion 2. are doing. FIG. 19 shows a top view of a main part of the crib hooking device 124 (= clip joining device 25) connected to the clip guide rail 9. As shown in FIG. 19, the tip of the guide rail 9 has a joint 6 (see FIG.
Immediately before the above), the guide intervals at both ends of the handle portion 123a of the clip 123 are narrowed, and the grip portion 1 of the clip 123 is
A constriction guide rail 125 for opening 23b is connected. Here, when the clip 123 (FIG. 19A) that has advanced with the grip portion 123b opened reaches the joining position of the rootstock and the scion, the clip opening / closing tool 126 causes the clip 12 to open.
The grip portion 123b is moved to a direction in which the bias of the handle portion 123a of No. 3 is released (FIG. 19B), and the gripping portion 123b keeps the rootstock and the scion in a joined state. Further, the operation sequence of the grafting robot of the present embodiment is as disclosed in FIG. 20, 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. 21 and FIG. 22 as disclosed.

[0023]

According to the present invention, since the cutter blade is fixed to the graft robot base, the cutting position of the hypocotyl of the Solanaceae plant can be accurately obtained and the cutting position can be adjusted easily.

[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 partial side view (FIG. 5 (a)) of the rootstock seedling feeding device and the rootstock transporting device, focusing on the rootstock gripping portion of the grafting robot of one embodiment of the present invention, showing the tip of the root pot gripping hand. A plan view in a closed state (FIG. 5B) and a plan view in a state in which a tip of a root pot holding hand is opened (FIG. 5C).

6 is a perspective view of a rootstock hypocotyl gripping surface in a circle A of FIG.

7 is a view seen from the direction of arrow B in FIG.

FIG. 8 is a diagram in which a member for vertically positioning is provided on the upper surface of the rootstock pot in the rootstock seedling feeding device, centering on the rootstock gripping portion of the grafting robot of one embodiment of the present invention.

FIG. 9 is a diagram illustrating that the grafting robot according to one embodiment of the present invention cuts a portion above the cotyledon of the original seedling for rootstock seedlings of the Solanaceae rootstock in advance and supplies it to the rootstock seedling supply plate.

FIG. 10 is a side view of the rootstock cutting device and the transportation device of the grafting robot according to the embodiment of the present invention.

FIG. 11 is a front view of the rootstock cutting device and the transportation device of the grafting robot according to the embodiment of the present invention.

FIG. 12 is a front view of the rootstock cutting device and the scion cutting device of the grafting robot according to the embodiment of the present invention.

13 is a diagram of the cutting device of FIG. 12 viewed from the side of the robot.

FIG. 14 is a diagram illustrating a state in which the hypocotyl is cut by the grafting robot cutting device according to the embodiment of the present invention.

FIG. 15 is a front view of the vicinity of a root carrier of the grafting robot according to the embodiment of the present invention.

FIG. 16 is a side view of the rootstock transporting device and cutting device of the grafting robot according to the embodiment of the present invention.

FIG. 17 is a side view of the grafting robot of the embodiment of the present invention in the vicinity of the scion conveying device and cutting device.

FIG. 18 is a front view of the vicinity of the scion conveying device and cutting device of the grafting robot according to the embodiment of the present invention.

FIG. 19 is a top view of the clip hanging device of the grafting robot according to the embodiment of the present invention.

FIG. 20 is a diagram showing an operation sequence of the grafting robot according to the embodiment of the present invention.

FIG. 21 is a diagram showing a time chart of the root part of the grafting robot according to the embodiment of the present invention.

FIG. 22 is a view showing a time chart of the scion part 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
3 ... Rootstock seedling supply plate, 14 ... Scion seedling supply plate, 15 ... Top plate,
16 ... Root support member, 16 '... Vertical positioning member, 17 ... Rootstock seedling supply device, 18 ... Root carrier device, 1
9 ... Rootstock cutting device, 22 ... Spike carrier device, 23 ... Spike cutting device, 25 ... Clip joining device, 37 ... Rootstock hypocotyl grasping hand, 38 ... Rootstock root pot grasping hand, 39 ... Rootstock hypocotyl Fixed hand, 42 ... Positioning member, 43 ... Cutter bracket, 45 ... Cutter blade, 59 ... Hoki hypocotyl grasping hand,
64 ... Hoki hypocotyl fixing hand, 65 ... Positioning member

Claims (1)

[Claims] 1. The rootstock seedlings arranged in the rootstock seedling supply device and the spikelet seedlings arranged in the rootstock seedling supply device are conveyed to respective cutting positions by the respective seedling conveying devices and cut into the respective cutting positions. In a solanaceous grafting robot that further conveys rootstock seedlings and scion seedlings to the joining position with their respective transport devices, the rootstock and spikelets gripped by the rootstock transport device and the scion transport device are transported. A solanaceous grafting robot characterized in that the rootstock cutting device and the scion cutting device are cut along the way by respective cutting devices fixed to the base portion of the grafting robot.