JPH08103164A - 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 to one side of a cutter bracket 43 attached to a support 26 of a grafting robot substrate obliquely from the vertical directions, thereby providing a stock cutter 19, cutting a hypocotyl with a cutter blade 45 at a position where the cutter 19 is arranged in the course of rotation and conveyance of a stock held by a stock conveyor 18 and forming slits 39a capable of passing the cutter blade of the stock cutter 19 therethrough in hypocotyl fixing hands 39. When the plant belonging to the family Solanaceae having the hard hypocotyl is cut, holding is uncertain by fixing the hypocotyl only with hypocotyl holding hands 37 of the stock conveyor 18 or the cutter blade is blunted. Since both ends of the hypocotyl to be cut are fixed by the hypocotyl fixing hands 39, the cutting of the hypocotyl is ensured with the slits 39a to eliminate a remaining uncut hypocotyl.

Description

Detailed Description of the Invention

[0001]

[Detailed Description of the Invention]

[0002]

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.

[0003]

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).

[0004]

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.

[0005]

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 transports and scion the seedlings and scion seedlings to the joining position with each transporting device, a cutter of the rootstock cutting device fixed to the grafting robot base body with a pair of hypocotyl-fixing hands of the rootstock transporting device It is a solanaceous grafting robot with a slit through which a blade passes.

[0006]

According to the present invention, since the cutter blade of the rootstock cutting device is fixed to the graft robot base, the cutting position of the hypocotyl of the Solanaceae can be accurately obtained, and the pair of rootstock transporting devices Since the cutter blade is configured to pass through the slit of the hypocotyl-fixing hand, even a hard hypocotyl (stem) such as Solanaceae can be reliably grasped, and the cutting position of the hypocotyl can be adjusted accurately.

[0007]

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.

The rootstock hypocotyl is manually supplied to the receiving groove 13a (see FIG. 2) having a diameter larger than the rootstock seedling hypocotyl diameter of the rootstock seedling feeding plate 13 of the rootstock seedling feeding device 17. This rootstock seedling is 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 air cylinders (not shown) of the rootstock embryo axis gripping hand 37 and the rootstock root pot gripping hand 38 at the tip of the rootstock transport arm 34 pushed out to the position of the rootstock seedling on the rootstock seedling supply plate 13 are activated. Both the hands 37, 38
Grips the rootstock seedling. 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, a pair of gripping surfaces 38a of the root pot gripping hand 38 are inclined so as to follow a 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.

Thus, 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 a fulcrum portion for opening and closing the root pot holding hand 38 to increase the degree of freedom of the fulcrum portion, thereby making it possible to obtain a cell molding seedling. 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 cotyledons of the original seedling for the rootstock of the Solanaceae rootstock are not used. 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 hand grip 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.

10 and 11 (FIG. 10 is a view as seen from the front of the grafting robot, FIG. 11 is a view as seen from the side of the grafting robot) of the rooting conveyor device 18 and the root cutting device 19 of the present invention. Such a configuration may be used. 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 has a side surface inclined with respect to the cutting direction of the hypocotyl, and the cutter blade 45 is attached to that portion (see FIG. 10).

With the above structure, the cutter blade 45 is fixed at a predetermined position, so that the cutting position of a hard hypocotyl of the Solanaceae can be accurately obtained and the cutting position can be easily adjusted. Further, in the above configuration, the time for moving the cutter blade 45 is not necessary, so that the overall processing time can be shortened. In addition, since the cut debris of the cut hypocotyl (stem) slides down on the cutter bracket 43 arranged diagonally, it is easy to treat the cut debris without scattering. Further, in the vicinity of the rootstock hypocotyl fixing hand 39, at the time of cutting the hypocotyl, an elastic seedling fixing tool 44 is brought into contact with the cut-off part of the hypocotyl.
Since the hypocotyl is provided, it is also possible to fix the hypocotyl at the portion to be cut off, and it is possible to prevent the hypocotyl from escaping when the hypocotyl is cut and causing a shift in the cutting position. Further, as shown in FIG. 10, the cutter blade 45 is fixed by being inclined by an angle α with respect to the hypocotyl cutting direction, so that the hypocotyl is prevented from escaping due to an impact when cutting a hard hypocotyl of the Solanaceae family, The cutting position is stable and the cutting load is constant, so the cutting surface is smooth.

Further, as shown in FIG. 11, 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 transporting device 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 misaligned, the hypocotyl cutting position could be stabilized by fixing the hypocotyl along the hypocotyl cutting position where the hypocotyl is cut diagonally. In addition, when carrying with a root pot like a cell-molded seedling, if the root pot is heavy and the hypocotyl grasped is hard, it may come off from the hypocotyl grasping hand 37 during transportation. By fixing the rootstock hypocotyl at at least two places, the hand 37 and the hypocotyl-fixing hand 39, the fixation was ensured. Further, as shown in FIG. 11, a hypocotyl positioning member 42 may be provided alongside the hypocotyl grasping hand 37 of the rootstock transporting device 18. 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.

As shown in FIGS. 12 and 13 (FIG. 12 is a front view of the grafting robot, FIG. 13 is a side view of the grafting robot), the cutter blade 45 of the rootstock cutting device 19 is circular. The arc-shaped portion may be extended from the cutter bracket 43.
By using such a circular cutter blade 45, it is possible to prevent the hypocotyl from escaping due to an impact at the time of cutting the hard eggplant hypocotyl, thereby stabilizing the cutting position and preventing uncut portions. Further, the cutter blade 45 may be freely rotatable around its center as a fulcrum. By doing so, the cutter blade 45 is rotationally moved for each cutting, and the cutter blade 4 is moved to change the cutting position.
5 has a longer life. Further, in a cutting mechanism in which a circular cutter blade 45 is rotatably installed with its center as a fulcrum, the cleaning tank 4 is so arranged that a part of the cutter blade 45 is always immersed.
7 is provided below the cutter bracket 43. Cleaning tank 47
Thus, the cutter blade 45 can be sequentially cleaned by utilizing the rotation of the cutter blade 45 due to the cutting load. Further, since 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, the cutting waste after cutting falls on the transportation path of the rootstock seedlings, which is an obstacle to the transportation. Can be prevented.

Further, in this embodiment, both the rootstock cutting device 19 and the scion cutting device 23 have a cutter blade 4 for cutting hypocotyls.
Cutter bracket 43 for fixing 5 is integrally configured,
The cutter bracket 43 was attached to the column by a screw type vertical adjustment mechanism so that the vertical movement of the cutter bracket 43 could be adjusted. FIG. 14 shows the rootstock cutting device 19 and the scion cutting device 23 viewed from the front of the grafting robot, and FIG. 15 shows the rootstock cutting device 19 and the scion cutting device 23 viewed from the side of the grafting robot. Since the cutting positions of the hypocotyls of the rootstock and the scion are mutually determined, the accuracy of the joining position of the rootstock and the scion can be improved by integrally forming the member for fixing the cutter blade 45 as described above. Can be achieved. Also,
Even when adjusting the joining position, it is possible to reduce the adjustment man-hours because the adjustment can be performed while maintaining the mutual positions of the rootstock and the scion.

As shown in FIGS. 16 and 17 (FIG. 16 is a partial side view of the grafting robot, and FIG. 17 is a partial front view of the grafting robot), the scion conveying device 22 also has a hypocotyl grasping hand 59.
The hypocotyl-fixing hand 64 is provided on the lower side, and the lower surface thereof has a shape along the diagonal direction in which the cutter blade 45 is arranged so as to come into contact with the cutter bracket 43 after cutting the scion.
This is because in the case of solanaceous plants, the length of the cut portion from the root to the first true leaf is short, and at the time of grafting, the true leaf is 3-4.
This is because, since the number of sheets and the upper part are heavy, the positioning of seedlings tends to be unstable during cutting, and thus the hypocotyl is fixed along the locus of the cutter blade 45. Also, as in the case of the rootstock, the hypocotyl of the solanaceous plant is hard, so if the fixation is uncertain or the cutter blade 45 cannot be cut, the cutting position will shift, so it is possible to fix the hypocotyl securely. It will be possible.

Next, the rootstock conveying device 18 and the rootstock cutting device 19
18 shows a side view of another embodiment of the above, and FIG. 19 shows a side view of the scion conveying device 22 and the scion cutting device 23.
The rootstock cutting device 19 is one in which a cutter blade 45 is fixed obliquely to the vertical direction on one side surface of a cutter bracket 43 attached to the post 26 of the grafting robot base. The hypocotyl is cut by the cutter blade 45 at the position where the cutting device 19 is arranged while the tree is being rotationally conveyed, and the slit 3 through which the cutter blade 45 of the rootstock cutting device 19 can pass through the hypocotyl-fixing hand 39.
The provision of 9a is characteristic in the case of FIG. When cutting a solanaceous plant having a hard hypocotyl, fixing the hypocotyl only by the hypocotyl grasping hand 37 of the rootstock transporting device 18 makes the grasp uncertain or the cutter blade cannot be cut, but the hypocotyl is fixed. Since the hand 39 fixes both sides of the hypocotyl to be cut, the hypocotyl is surely cut by the slit 39a and no uncut portion is left. Similarly, as shown in FIG. 19, the slit 6 is also provided in the scion hypocotyl-fixing hand 64 of the scion transport device 22.
There is 4a. Since the cutter blade 45 is fixed at a predetermined position by the configuration of each of the above-described embodiments of the present invention, even a hard hypocotyl of the Solanaceae can accurately obtain its cutting position, and the cutting position can be easily adjusted. . Further, in the above configuration, since there is no time to move the cutter blade 45, the entire processing time can be shortened. 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. In addition, the inclined surface of the cutter bracket 43 has a cutter blade 45.
It serves as a guideway for cutting waste of rootstock seedlings cut in. Therefore, it is possible to prevent the cut waste after cutting from dropping on the transport path of the rootstock seedling and obstructing the transport.

Further, as shown in FIG. 20 (a) (enlarged view of the cutter blade 45 viewed from the front of the grafting robot), when the hypocotyl of the Solanaceae plant is cut, the cross section of the ellipse of the hypocotyl in the minor axis direction. The rootstock and the scion are gripped by the transport device so that the cutter blade 45 enters from the bottom. 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 cutting from the direction of arrow A in FIG. 20 (b) (side view of the cut surface of the hypocotyl), the thickness of the hypocotyl changes as the cutting progresses, resulting in poor flatness of the cut surface and The skin is likely to remain. In addition, a member 42 is provided along with the hypocotyl grasping hand 37 of the rootstock transporting device 18 to position the hypocotyl.
(See FIG. 11), the position can be regulated when the rootstock hypocotyl is bent. Similarly, FIGS.
As shown in FIG. 7, a hypocotyl positioning member 65 may be provided below the scion hypocotyl grasping hand 59 in addition to the hypocotyl grasping hand 59 of the scion conveying device. Since the solanaceous scion has a center of gravity at the upper part of the hypocotyl-gripping hand 59, the upper part of the scion falls to the outside of the circumference of the transportation due to centrifugal force during its transportation. This is because the positioning member 65 is provided at the position of the hypocotyl part that falls inward so as to support the scion hypocotyl in the vertical direction by the scion transfer device 22 during transfer.

Next, FIG. 21 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. (See FIG. 21) A clip guide rail 9 made of a vibration 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. 21 shows a top view of the main parts of the crib hooking device 124 (= clip joining device 25) connected to the clip guide rail 9. As shown in FIG. 21, the tip of the guide rail 9 has a joining portion 6 of the graft portion 2 and a joining portion 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. 21 (a)) 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 move.
The handle part 123a of No. 3 is moved in a direction to release the bias (FIG. 21B), and the gripping part 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. 22, and regarding the operation time chart of each device of the root part 3 and the scoop part 5 of the grafting robot of the present invention, FIG. 23 and FIG. As disclosed in 24.

[0025]

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

[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 front view of the rootstock cutting device and the vicinity of the transfer device of the grafting robot according to the embodiment of the present invention.

FIG. 11 is a side view of the rootstock cutting device and the vicinity of the transfer 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 vicinity of the transfer device of the grafting robot according to the embodiment of the present invention.

FIG. 13 is a side view of the rootstock cutting device and the vicinity of the transfer device of the grafting robot according to the embodiment of the present invention.

FIG. 14 is a front view of a root cutting device and a scion cutting device of the grafting robot according to the embodiment of the present invention.

FIG. 15 is a view showing a root cutting device and a scion cutting device as seen from the side of a grafting robot according to an embodiment of the present invention.

FIG. 16 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. 17 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. 18 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. 19 is a side view of a scion conveying device and a cutting device of the grafting robot according to the embodiment of the present invention.

FIG. 20 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. 21 is a top view of the clip hanging device of the grafting robot according to the embodiment of the present invention.

FIG. 22 is a diagram showing an operation sequence of the grafting robot according to the embodiment of the present invention.

FIG. 23 is a diagram showing a time chart of the root part of the grafting robot according to the embodiment of the present invention.

FIG. 24 is a diagram 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, 18 ... Root transport device, 19 ... Root cutting device, 22
... scion conveying device, 23 ... scion cutting device, 25 ... clip joining device, 37 ... rootstock hypocotyl gripping hand, 38 ... rootstock root pot gripping hand, 39 ... rootstock hypocotyl fixing hand, 39a ... slit, 42 ... Positioning member, 59 ... Hand of scion hypocotyl holding, 64 ... Hand of scion hypocotyl fixing, 64a ... Slit, 6
5 ... 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 transports rootstock seedlings and scion seedlings to the bonding position with each transport device and joins them, a platform fixed to the base part of the grafting robot by a pair of hypocotyl-fixing hands of the rootstock transport device. A solanaceous grafting robot characterized by having a slit through which the cutter blade of the wood cutting device passes.