JPH08154485A - Leaf-treating device in grafting device - Google Patents

Abstract

PURPOSE: To provide a leaf-treating device in a grafting device, provided with a raking device for upward moving a raking member to rake up the cotyledons of a treating seedling, capable of preventing an error operation due to the downward hanging of the cotyledons to improve the efficiency of the operation. CONSTITUTION: A grafting means is provided with a raking member 60 capable of surrounding a seedling for a scion, an air cylinder 61 for moving the raking member 60 in the direction for approaching or leaving the seedling 60, a rail 62 and a wire 63 for vertically moving the raking member 60, and an air chuck 49 for closing or opening the raking member 60. In a raking device 26, the raking member 60 is thus moved in the lateral direction so as to face the hypocotyl of the seedling for the scion, and the holding member is closed to support the hypocotyl. Further, the raking member 60 is upward moved to rake up the cotyledons of the treating seedling.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a leaf treatment device in a grafting device, and more specifically, cutting rootstock seedlings and scion seedlings to form rootstocks and spikelets. The present invention relates to a leaf treatment mechanism of an automated device that grafts scions and continuously produces grafted seedlings.

[0002]

2. Description of the Related Art A conventional grafting device is disclosed, for example, in Japanese Patent Laid-Open No. 6-
There is one described in Japanese Patent No. 38630. This grafting device includes a root stock tray conveyor serving as root stock stocking means and a root stock tray conveyor serving as root stock stocking means, and root stock serving as a root stock carrying means for root stock shells and ear stock shells from both tray conveyors. Shell conveyor and a shell take-out arm device that becomes a root supply means or a root supply means that is separately transferred to the ear shell shell conveyor that becomes a root transportation means, and the shell taken out on the root shell conveyor A rootstock cutting device that holds the lower part of the rootstock seedling of the rootstock shell and cuts the upper part, and a lower part that holds the upper part of the rootstock seedling of the earstock shell taken out on the earstock shell conveyor. And a scoop cutting device that grafts the cutting surface of this scion seedling to the cutting surface of the rootstock, and a clip fitting device that fits a clip to the connection part where the scion is connected to the rootstock. ,Before Equipped with a shell take-out device for taking out grafted seedlings fitted with clips onto the discharge tray conveyor at the downstream side of the stock shell conveyor, and a seedling detector for detecting the presence or absence of seedlings in each shell of each shell conveyor Is.

The rootstock shell and the scion shell are respectively conveyed by the stock tray conveyor or the scion tray conveyor. The rootstock shell and the scion shell transported to a predetermined position on each tray conveyor are taken out onto the stockshell conveyor and the scoop shell conveyor by respective shell take-out arm devices,
During each feeding, the upper part of the rootstock seedling is cut by the rootstock cutting device, and the lower part of the rootstock seedling is cut by the earcut cutting device. Then, the scion and the rootstock are connected to form a graft shell. After that, at the terminal end of the rootstock shell conveyor, it operates so that the grafted shells are taken out one by one onto the discharge tray conveyor by the shell take-out device.

[0004]

In such a conventional grafting device, the upper part of the seedling for rootstock is cut by the rootstock cutting device while sandwiching the lower part of the seedling for rootstock, and the upper part of the seedling for scion is cut. In addition to cutting the lower part while sandwiching it, the cutting part of this cut seedling for scion is linearly moved to the rootstock side to join the cut surface, and to scoop up the cotyledons and true leaves of the cut seedling. Since it does not have a scraping means, if the leaves of the seedling for the rootstock or the seedling for the scion hang downward, this leaf may be cut at the same time.

Further, since the hypocotyl of the seedling is clamped at one point during cutting work and grafting work of the rootstock seedling and the scion seedling, the posture of the seedling is disturbed during these operations, and the seedling posture is surely ensured. It may not be possible to graft.

Further, in the grafting treatment of the row trays that are continuously conveyed, the adjacent seedling pitches are generally narrow, so that, for example, the grafted seedling is used for the grafting work of the next seedling. There is a possibility that they may interfere with each other to cause a work error or that the joints of the seedlings that have been grafted may be separated.

The present invention has been made in order to solve the above problems, and prevents false detection of cotyledons due to the cotyledon of the seedlings hanging downward, and also holds the spikes of the seedlings for scion. It is an object of the present invention to provide a leaf treatment device in a grafting device that prevents damage to the cotyledons during transport and prevents interference with the grafting work by the seedlings that have been grafted to enable smooth work. .

[0008]

In order to achieve the above object, the present invention is directed to a scoop conveying means (6) for conveying scion seedlings stored in rows in a tray (14), and a tray. The rootstock transporting means (7) for transporting the rootstock seedlings stored in a row in (14 ′), and the ears cut from the rootstock seedling at the grafting processing position are used as the rootstock seedlings. In the grafting device (1), which comprises a grafting means (20) for connecting to the stand part from which the ears of the tree have been cut and removed, the grafting means (20)
Is a scraping member (60) formed by cutting hypocotyls of lower cotyledons of the scion seedling and the rootstock seedling and capable of enclosing the scion seedling or the rootstock seedling, and the scraping member. Lateral movement means (61) for moving (60) in the direction of approaching and separating from the seedling,
A vertical moving means (62, 63) for vertically moving the scraping member (60) and an opening / closing moving means (49) for opening / closing the scraping member (60) are provided. (60) moves laterally so as to face the hypocotyl of the scion seedling or rootstock seedling and closes so as to surround the hypocotyl, and further moves the scraping member (60) upward. Scraping means (26, 2) that moves to scrape at least the cotyledons
6 ') and are provided.

The scraping means (26, 26 ') is a scraping means for treated seedlings that acts on the seedlings for scion or seedlings for rootstock treated by the grafting means (20) at the treatment position. It is characterized by

The grafting means (20) is a cutting means (28) for cutting the cuttings for seedlings, and a gripping portion (103) holds the cut ears for holding the seedlings for rootstocks. And a transporting means (22) for transporting the cotyledon to the part, and a scraping means (26) for treated seedlings, which acts on the seedlings for scion, surrounds the hypocotyl with the scraping member (60) to remove cotyledons. Stop while raising
Then, with the carrying means (22) moved to a position capable of holding the spikes and the gripping portion (103) being closed,
It is characterized in that the scraping member (60) is moved upward so as to pass above the top of the scion seedling and retracted from the scion seedling.

The scraping means (26, 26 ') acts on the front seedling adjacent to the upstream side of the scion seedling or rootstock seedling treated by the grafting treatment means (20) at the treatment position. The front seedling scraping means (25, 25 ′) for scraping the leaves of the front seedling away from the seedling to be treated.

The above-mentioned seedling scraping means (25, 25 ')
Has a cotyledon raking member (51) and a true leaf raking member (50), the cotyledon raking member (51) surrounding the cotyledon of the front seedling, and the book. The leaf scraping member (50) stops its upward movement in a state of enclosing the true leaves of the front seedling, and then the cotyledon and true leaf scraping members (51, 50) are moved to the front seedling. It is characterized in that it moves upward so as to escape above the apex of the soybean and withdraws from the front seedling.

The present invention further comprises a scoop conveying means (6) for conveying the scion seedlings stored in a line in the tray (14),
A rootstock carrying means (7) for carrying rootstock seedlings stored in a row in a tray (14 '), and a head portion cut from the above-mentioned rootstock seedling at the grafting processing position for the rootstock. Cutting the ears of seedlings
In the grafting device (1), which comprises grafting means (20) connected to the removed base, the grafting means (20) is an embryo under a cotyledon in the scion seedling and rootstock seedling. The shaft is cut, and it is arranged on the downstream side of the transportation means (7) for the rootstock, and the grafting means (2)
0) to the treated seedlings that connect the ears to the stand,
A seedling gathering body (12) that separates the treated seedlings located on the downstream side.
6) and a moving means (72) for moving the seedling gathering body (126) to a position that does not hinder the transportation of the seedlings by the rootstock transporting means (7) and a position where the treated seedlings are separated from the treated seedlings. When,
It is characterized by comprising a seedling gathering means (121) having.

[0014]

With the above configuration, the grafting device (1) according to the present invention connects, at the grafting position, the ears cut from the sapling seedlings to the pedestal obtained by cutting and removing the ears of the rootstock seedlings. And a scraping means (26, 26 ') for scraping up the cotyledons of the scion seedling or the rootstock seedling upward.

The scraping means (26, 26 ') comprises a scraping member (60) capable of enclosing a seedling for rootstock or a seedling for rootstock, and a direction for bringing the scraping member (60) into and out of contact with the seedling. A horizontal moving means (61) for moving, a vertical moving means (62, 63) for vertically moving the scraping member (60), and an opening / closing moving means (4) for opening / closing the scraping member (60).
9) and. And the scraping member (60)
Moves laterally so as to face the hypocotyl of the scion seedling or the rootstock seedling, and subsequently, the gripping portion is closed to surround the hypocotyl, and the scraping member (60) is attached to the seedling. By moving it above the top, at least to scrape the cotyledons,
This prevents erroneous detection of the cotyledon position when the cotyledons of the scion seedling or rootstock seedling hang down.

The above-mentioned reference numerals in parentheses are for comparing the drawings and do not limit the structure of the present invention.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings when grafting tomato seedlings. In this example, as shown in FIGS. 26 and 27, the seedling pots 13 and 13 ′ in which the seedlings for rootstock and the rootstock were planted were carried to a grafting position, where the seedlings for rootstock and the rootstock were placed. 28, the lower part of the cotyledon position is cut, and as shown in FIG. 28, the ear part of the scion seedling is joined to the rootstock for grafting.

FIG. 1 is a diagram showing an embodiment of a grafting apparatus according to the present invention. In the figure, a grafting device 1 conveys stocked seedlings for scion to a grafting position, and a scoop conveyer 6 as a transporting means for scion, and conveys stocked seedlings for a grafting position. A rootstock transporting conveyor 7 as a rootstock carrying means, and a graft for connecting the ears cut from the sapling seedlings at the grafting processing position to the pedestal cut and removed from the rootstock seedlings. The processing means 20 and the control unit 10 for controlling the entire apparatus are provided.

In the above, as shown in FIG. 1, the scion stock part 2 and the stock stock part 3 have box-shaped stock part frames 11 and 11 ', and are used for scion seedlings and rootstock seedlings. A plurality of rows of trays 14 and 14 '(see FIG. 2) in which the stored seedling pots 13 and 13' are connected in a row are placed and stocked as a seedling raising box. From the stocked nursery boxes, the trays 14 and 14 ′ are carried out row by row by the scion supply conveyor 4 and the stock supply conveyor 5. The trays 14 and 14 ′ that have been carried out are temporarily stopped at the end portions of the scion supply conveyor 4 and the stock supply conveyor 5, where the scion transfer means 15 and the scion transfer means 1 are provided.
It is locked by a locking claw 6 (not shown) and is placed on the scion carrying conveyor 6 and the stock supply conveyor 7 along the carrying frame 17.

The empty nursery box after all the row-shaped trays 14 and 14 'have been taken out is arranged below the end portions of the scion feeding conveyor 4 and the rootstock feeding conveyor 5. It is dropped and collected in the nursery box storage units 18 and 19.

As shown in FIG. 2, the scion conveying conveyor 6 and the stock conveying conveyor 7 arranged in parallel with the scion conveying conveyor 6 are intermittently rotated by the rotation of motors 33, 33 'provided at the downstream ends thereof. It is driven and serves to convey the trays 14 and 14 'in which the scion seedlings and the rootstock seedlings are arranged in a row to the grafting processing position.

As shown in FIGS. 3 and 4, the scion conveyer 6 and the root conveyer 7 are auxiliary conveyors 36, for conveying the trays 14 and 14 'in a horizontal plane upstream thereof. 36 'is connected to the downstream side of the auxiliary conveyors 36, 36' and the lifting plates 30, 3 '
0'and at least three supporting plates, that is, inclined plates 31 and 31 'rotatably connected to the upstream and downstream sides of the elevating plates 30 and 30', support the upper side thereof. Then, by supplying and placing the trays 14 and 14 'storing the seedlings in rows on the auxiliary conveyors 36 and 36',
The trays 14 and 14 'are connected to the lift plates 30 and 30'.
It can be transferred to the side.

That is, the conveyors are elevated in a mountain shape by the elevating plates 30 and 30 'and the inclined plates 31 and 31' to convey the trays 14 and 14 ', and the auxiliary conveyor 36 having a horizontal plane is provided upstream of the conveyors. , 36 'are provided, the trays 14 and 14' can be automatically placed at any time regardless of the vertical movement of the conveyor, which is also advantageous in terms of time. Since there is no gap between the tray and the tray, there is no risk of the trays 14 and 14 falling over.

46 and 47 show the auxiliary conveyor 36,
FIG. 36 is a view showing the configuration of 36 ′, in which a drive shaft 150 and a driven shaft 151 are rotatably supported at both ends in the longitudinal direction of a frame 159, and the drive shaft 150 and the driven shaft 151 respectively support the drive shaft 150 and the driven shaft 151. A belt 154 is stretched between the pulley 152 and the driven pulley 153 to form auxiliary conveyors 36 and 36 '.

Conventionally, as shown in FIG. 48, the tension bolt 1 is attached to the boss 156 fixed to the driven shaft 151.
55 is welded and the driven shaft 151 and the boss 156 are fixed by a set screw 157.
The tension was applied to the belt 154 by pulling.
However, in this embodiment, as shown in FIG. 49, the driven shaft 1
The tension bolt 155 is screwed and fixed to the 51 and the boss 156 to reduce the number of parts. As a result, tension is applied to the belt 154 by rotating the nut 158.

The lifting plates 30 and 30 'are mounted on the cam 3 by the motors 34 and 34' provided at the lower portions thereof.
5, 35 'can be rotated and driven up and down, and by the rotation of the motors 34, 34', the scion carrying conveyor 6 and the stock carrying conveyor 7 can be moved up and down. The motors 34, 34 'and the cam 35,
35 'lowers the elevating plates 30, 30' by a predetermined amount to cut the seedlings at a predetermined position. Next, the motor 3
4, 34 'and cams 35, 35' raise the elevating plates 30, 30 'to the reference height position, and then drive the motors 33, 33' to drive the scion transport conveyor 6 and the rootstock transport conveyor 7. The transportation of the trays 14 and 14 'is started. In addition, each of the motors 33, 33 ', 34, 3
4'is controlled by the control unit 10 via the operation panel 12 (see FIG. 2).

The elevating plate 30 of the scion conveying conveyor 6 is supported slightly higher than the elevating plate 30 'of the stock conveying conveyor 7. This corresponds to the cutting positions of the seedlings for scion and rootstock being different.

As shown in FIG. 5, the auxiliary conveyor 3
The air blow nozzle 3 is provided on the downstream side of 6, 36 '.
8, 38 ′ and sensors 140, 140 ′ are attached, and the saplings conveyed by these sensors 140, 140 ′ are detected and the air blow nozzle 3
Air is blown toward the hypocotyls of the seedlings by 8, 38 ', and the culture soil particles attached to the downy hairs near the hypocotyls are removed cleanly.

Next, as shown in FIG. 6, a seedling pot containing the seedlings for rootstocks and the seedlings for rootstocks is provided on the side surface of the middle portion in the transport direction between the above-mentioned rootstock conveyors 6 and rootstock conveyors 7. 1
Photoelectric sensors 39, 39 'for detecting the trays 14, 14' in which 3, 13 'are arranged in a row are arranged, and for detecting the hypocotyls of the scion seedlings and the rootstock seedlings. Photoelectric sensors 40, 40 'are provided.

When the photoelectric sensors 40 and 40 'detect the hypocotyl within a predetermined range after the photoelectric sensors 39 and 39' detect the seedling pots 13 and 13 ', a motor for driving the conveyor is generated by the signal. It is controlled so that 33, 33 'are stopped and the scion transport conveyor 6 or the root transport conveyor 7 is stopped.

Here, FIG. 24 shows a control flowchart of the detecting operation by the photoelectric sensor, and the detecting operation of the hypocotyl will be described below based on this control flowchart.

In step 200, the scion transport conveyor 6 or the root transport conveyor 7 is activated, and step 20
1 by photoelectric sensor 39, 39 'row seedling tray 14,
When "no" of each of the pots 13 and 13 'in 14' is detected, the counter is reset in step 202. Then, in the next step 203, the seedling pot 13,
When 13 'is detected as "present", the output of the conveyor generator is pulsed in step 204, and the process proceeds to step 205. In step 205, it is determined whether the count pulse number is within a preset range. Here, the count pulse number being within the range of means that the detection point is within a predetermined range from the central position of the hypocotyl. Therefore, if Yes at Step 205, the routine proceeds to Step 206, where it is further judged whether or not the photoelectric sensors 40 and 40 'have detected the hypocotyl. If Yes, the process proceeds to step 207,
Stop conveyors 6 and 7.

On the other hand, if No in step 205, the routine proceeds to step 208, where it is judged whether or not the number of count pulses exceeds the range. Then, if Yes, the process proceeds to step 209, where it is further determined whether or not the count pulse number exceeds the range, and if Yes, the process returns to step 201. If No in step 208, the process returns to step 205.

As described above, when the hypocotyl is detected within a predetermined range from the center position of the hypocotyl, the scion transport conveyor 6 or the root transport conveyor 7 is stopped to prevent erroneous detection.

FIG. 25 is an explanatory diagram of a circuit for pulsing the motor generator output.

As shown in the figure, the motor generator 210
Output of the interface circuit 2 such as photo coupler
11 is converted and amplified by an amplifier 212, and its output is converted by an interface circuit 211 to obtain a sequencer output (214). This eliminates the need for a sensor and provides a pulse synchronized with the motor, which simplifies the calculation.

Next, as shown in FIGS. 2 and 29, the cotyledons of the scion seedlings and the seedlings of the rootstock are provided on the side surface of the middle portion of the scion conveying conveyor 6 and the rootstock conveying conveyor 7 in the conveying direction. Two pairs of laser sensors 41 and 41 'for detecting the position are provided so that the laser beams output from the respective light projecting portions intersect at the lower part of the cotyledon position. As a result, even if the laser light output from one light projecting unit is blocked by the true leaves of the seedlings in the adjacent seedling pots 13 and 13 ', it is detected by the laser light output from the other light projecting unit. In this case, the false detection is prevented because the cotyledon position is detected.

When the cotyledon position is detected, the detection signal is sent to the control unit 10, and the control unit 10 controls the operation panel 1
The motors 34, 34 ′ for raising and lowering the conveyor are rotated via 2, and the scion conveyor 6 or the root conveyor 7
The ascending / descending plates 30 and 30 'start descending.

In this embodiment, the row trays 14 and 1 are
Prior to the transportation of 4 ', when raising and lowering plates 30, 30' of the scion transporting conveyor 6 and the root transporting conveyor 7 are raised in advance, the transportation is started in this state, and the cotyledon position of the seedling is detected. The raising and lowering plates 30, 30 'are lowered, but this is for facilitating the detection of the cotyledons by the laser sensors 41, 41', and also for the inclined plate 31 when lowering the raising and lowering plates 30, 30 '. , 31 'to prevent the seedling pot from slipping and moving.

Next, the graft processing means 20 will be described.

As shown in FIG. 2, the graft processing means 20 is
It is arranged at an intermediate portion in the transport direction between the scion transport conveyor 6 and the stock transport conveyor 7, and is composed of the following four constituent parts. (1) Cutting means 21 as an auxiliary actuation means for cutting, which cuts the hypocotyl under the cotyledons in the seedling for cutting. (2) A transporting means 22 that holds the ears cut from the seedlings for scion and conveys them to the pedestals of the seedlings for rootstock. (3) Cutting means 23 as a rootstock auxiliary actuating means for cutting the hypocotyl under the cotyledons in the rootstock seedling. (4) Clip supply means 24 for supplying a clip to the base portion from which the ear portion of the rootstock seedling has been cut and removed.

These will be described below. (1) Cutting means 21 The cutting means 21 on the scion side is a front seedling scraping device 25 for scraping one (upstream) before the scion seedling to be cut in FIG. And a cutting seedling (treated seedling) scraping device 26 for scraping the cuttings for cuttings, a lower clamp device 27, and a cutter 28 for cuttings.

The front seedling scraping device 25 as a scraping means for scraping up the front seedlings is provided on the upstream side of the grafting processing position to remove the true leaves of the scion seedlings just before the cutting seedling (upstream side). This is for scraping upward so that the leaf of the front seedling is separated from the cut seedling so as not to obstruct the cotyledon detection of the cut seedling.

As shown in FIGS. 7 to 10, the front seedling scraping device 25 controls the opening and closing of a cotyledon scraping body 51 as a cotyledon scraping member and a rear portion of the cotyledon scraping body 51. An air chuck 56 and an air cylinder 52 are attached to the rear portion of the air chuck 56. A connecting bar 58 and an expansion cam body 57 are provided on the upper part of the cotyledon scraping body 51, and a true leaf scraping body 50 as a true leaf scraping member is slidably mounted along the connecting bar 58. There is. Therefore, the cotyledon scraping body 51 and the true leaf scraping body 50 can be moved in the front-back direction by the air cylinder 52, and when the true leaf scraping body 50 is in contact with the cotyledon scraping body 51, The expansion cam body 57 keeps it open.

The cotyledon scraping body 51 and the true leaf scraping body 50 are attached to the linear rail 53 via linear blocks 59 and 46 so as to be vertically movable. Wire 5 on body 51
4, 55 are attached, and the wires 54, 55 are connected to the cams in the cam group 70 described later via the rollers 47, 48. As a result, the front seedling scraping device 25
Is a state in which the cotyledon scraping body 51 surrounds the cotyledon of the front seedling,
In addition, the true leaf scraping body 50 temporarily stops moving upward while surrounding the true leaves of the front seedling, and then moves these so as to pass above the top of the front seedling and retracts from the front seedling. To do.

In this way, the seedlings are scraped up because the seedling pitch is narrow in the grafting process of continuous row trays, and the cotyledons and the true leaves of the seedlings before cutting are scraped up and the surroundings of the cut seedlings. This is because the space of is widened and reliable processing is performed.
Further, the cotyledon scraping body 51 and the true leaf scraping body 50 are used to temporarily stop the cotyledon or the true leaf while scraping the cotyledon in order to surely detect the cotyledon and to prevent interference with the cut seedlings. Is.

Next, the cutting seedling scraping device 26 as a scraping means for scraping the cutting seedling (treated seedling) has the same structure as the above-mentioned front seedling scraping device 25.

That is, as shown in FIGS. 11 and 12, the cutting seedling scraping device 26 has a scraping body 60 as a scraping member capable of enclosing the cutting seedlings, and a rear part of the scraping body 60. An air chuck 49 as an opening / closing moving means for opening / closing the scraping body 60 is attached, and an air cylinder 61 as a lateral moving means for moving the scraping body 60 in a direction of approaching and separating from the seedling. Is attached. This air cylinder 61
Is loosely fitted to a linear rail 62 as one of vertical moving means for moving the scraping body 60 in the vertical direction, and a wire 63 is attached to the scraping body 60. Cam group 7 via roller 64
It is connected to the cam in 0. As a result, the scraping body 60 is movable in the vertical direction along the linear rail 62, and its operation is to move forward and close so as to surround the hypocotyl as shown by the chain line in FIG. It moves up and stops in the state of scraping up its cotyledons, then moves upward so as to pass over the top of the seedling, then moves backward and descends.

The scraping of the cotyledons of the cut seedling by the scraping body 60 prevents erroneous detection due to cotyledon drooping when determining the cutting position by detecting the cotyledons by the laser sensor 41, and at the same time as described below. When the ear part is clamped by the clamper 103, the cotyledon is directed upward, so that the hypocotyl can be easily pinched and damage to the cotyledon can be prevented, and the cotyledon can be prevented from being cut accidentally. . Further, the reason why the scraping body 60 is temporarily stopped in a state where the cotyledons are scraped up is that it is necessary to scrape the scooping body to a certain height in order to change its posture with respect to the curved seedling.

FIG. 30 is a diagram showing the operations of scraping, clamping, and cutting the cut seedlings.

As shown in the figure, with the hypocotyl clamped by the lower clamp device 27, the scraping body 60 of the cutting seedling scraping device 26 advances to the hypocotyl under the cotyledon to surround the hypocotyl, Subsequently, with the gripping portion closed, the gripper is raised to an intermediate position (above the cotyledon position) and stopped while scraping up the cotyledon. Next, the upper clamper 103 and the true leaf spread preventing bar 104 of the transporting means 22, which will be described later, move forward, the upper clamper 103 closes its grip, and then the scraping body 60 is raised as shown by the chain line in the figure. Then, the cutting seedling cutter 28, which will be described later, moves forward to cut the hypocotyl by moving upward so as to pass above the top of the cut seedling.

Here, a cam group for carrying out the respective operations of the above-mentioned scion auxiliary operation means and rootstock auxiliary operation means at a predetermined timing will be described.

As shown in FIG. 13, this cam group 70 has
It is provided below the scion transport conveyor 6 and the stock transport conveyor 7 at the grafting processing position.

Then, as shown in FIG. 14, a cam group 71 for operating each device on the scion side and a cam group 72 for operating each device on the rootstock side are attached to the shafts 73 and 74, respectively. . These shafts 73 and 74 are connected by a timing belt 75 via gears, and the cam groups 71 and 72 are controlled by the rotation of one motor 76. Further, the clip supply means 24 is provided on the shaft 74 of the cam group 72 for operating each device on the rootstock side.
Also, a timing sensor 77 for controlling the operation timing of the graft processing means 20 is provided.

That is, in such a graft processing apparatus, the timing on the rootstock side is particularly important, but in the present embodiment, the timing sensor 77 is provided in a portion that has little influence on the elongation of the belt or the like. A reliable operation becomes possible.

FIG. 15 is a diagram for explaining the operation of one cam in the cam group 70. In the figure,
The rotation of the motor 76 causes the shafts 73 and 74 to rotate,
When the cams 78 and 79 rotate, the cam followers 80 and 81
The arms 82 and 83 rotate about the fulcrum shafts 84 and 85, respectively, and as a result, the wires 86 and 87 connected to one end of the arms 82 and 83 are pulled and the arms 8 and 83 are pulled.
2, 83 move up and down. This wire 86,87
The movement of the scraping body 50 and the like connected to the wires 86 and 87 is controlled to move up and down.

Next, the lower clamp device 27 will be described.

As shown in FIG. 11, the lower clamp device 27 is for holding the lower part of the hypocotyl of the scion seedling to be cut, and the chuck claws 90 which face each other in a state of being guided so as to be movable back and forth. Has 91. The rear portions of these chuck claws 90, 91 are connected to wires 92, 93, and are also connected to the cams in the cam group 70 via rollers 94, 95. Therefore, the opening and closing of the chuck claws 90 and 91 is controlled in accordance with the operation of this cam.

Next, the cutting cutter 28 will be described.

As shown in FIG. 2, this scion cutter 28 can be moved forward and backward by an air cylinder 29, and its forward movement cuts the hypocotyls of the cotyledon lower part of the scion seedling. The cutting position at this time is approximately 10 mm below the cotyledon position of the scion seedling by adjusting the height of the lifting plate 30 of the scion transport conveyor 6, and the cutting surface is the hypocotyl of the scion seedling. It is arranged so as to be cut obliquely at an angle of about 30 degrees (see FIG. 26). This is because when they are joined to the rootstock, the joining area is increased to increase the survival rate. (2) Conveying means 22 As shown in FIG. 16, the conveying means 22 holds the ears of the seedlings for the scion cut by the cutter 28 for the scion, and cuts them by the cutter 28 'for the rootstock described later. The upper clamper 103 serves as a pan gripping member that can be opened and closed so as to grip the pans, and serves to carry the roots to the roots of the rootstocks.
And a slide base 102 as a lateral moving means for moving the upper clamper 103 in the horizontal direction, and the upper clamper 103 from the scion conveyer conveyor 6 to the rootstock conveyer 7.
It is provided with a rotation base 101 as a swinging drive means for rotating about the vertical axis to move to.

That is, the rotating base 101 rotates about the rotating shaft 100, and the slide base 102 is placed on the upper part of the rotating base 101. This slide base 102 is
It is connected to a cam in the cam group 70 via 1 and a wire 106, and its movement is controlled in the horizontal direction by the rotation of the cam.
The slide base 102 includes a clamp base 113.
The upper clamper 103 is attached via the above, and a true leaf spread preventing bar 104 as a leaf pressing member is attached above the upper clamper 103.

The upper clamper 103 is horizontally operable by the slide base 102, and is vertically rotatable about a vertical rotation fulcrum 112 provided on the slide base 102. Further, an air cylinder 108 as a vertical moving means for vertically rotating the upper clamper 103 and the true leaf spread preventing bar 104 and an air cylinder 109 as an additional pushing means are attached to the upper portion of the slide base 102. The other end of the air cylinder 109 is attached to the clamp base 113 via a bracket 115.

A roller 114 as a trajectory correcting body is provided on the rotating base 101 so as to abut the clamp base 113. The roller 114 corrects the vertical rotation of the clamp base 113 by the air cylinder 108 so as to approach a vertically descending locus by moving the slide base 102. As a result, the spikes gripped by the upper clamper 103 are inserted into the clip 130 applied to the tip of the base portion by the air cylinder 108 from a substantially vertical direction so that the spikes can be smoothly inserted. There is.

As shown in FIG. 17, a rotary solenoid 105 is attached to the rear of the upper clamper 103, and the rotary solenoid 105 controls the opening and closing of the grip portion at the tip. Also, the true leaf spread prevention bar 10
An air chuck 107 is attached to the rear portion of the sheet No. 4, and the grip portion of the true leaf spreading prevention bar 104 is controlled to be opened and closed by the air chuck 107.

Next, the operation of the carrying means 22 will be described with reference to FIGS. 31 and 32.

The upper clamper 103 and the true leaf spread prevention bar 104 are horizontally movable by the slide base 102, and are horizontally moved from the side during cutting of the scion seedlings to prevent the true leaf spread. The upper part of the hypocotyl is grasped by the grasping part of the upper clamper 103 while preventing the expansion of the true leaf by the bar 104, the ear part is cut, and then the rotating base 101 is rotated while the ear part is grasped to rotate the rootstock. Move above position. Then, on the rootstock side, the one air cylinder 108 rotates the upper clamper 103 about the vertical rotation fulcrum 112, thereby inserting the spikes for the spike into the clip 130. The other air cylinder 10
In order to improve the survival rate of the graft, No. 9 further pushes the spike portion to the tip of the base portion with a predetermined pressure.

FIG. 33 shows the locus of insertion of the spikes into the clip 130 by the upper clamper 103.
In the present embodiment, when the spikes are inserted by the rotation of the upper clamper 103, the slide base 102 comes into contact with the trajectory correction roller 114 provided on one end side of the rotation base 101, so that the slide base 102 moves. The forward movement is blocked, and the clamp base 113 rotates about the vertical rotation fulcrum 112. For this reason, the tip of the spike is smoothly inserted into the clip 130 with a locus that is inserted from a substantially vertical direction as compared with the case shown in FIG. 34 in which the locus is not corrected. (3) Cutting means 23 As shown in FIG. 2, the cutting means 23 on the rootstock side is a front seedling scraping device 25 'for scraping one rootstock seedling before the rootstock seedling to be cut. , A cutting seedling scraping device 26 'for scraping a rootstock seedling to be cut, and a lower clamp device 27'
, Rootstock cutter 28 ', and tip clamp device 120
And a seedling gathering device 121.

However, except for the tip clamping device 120 and the seedling gathering device 121, the construction is the same as that of the cutting device 21 on the side of the spikes described above, so that the description thereof will be omitted.

The tip clamping device 120 is for grasping and ejecting the tip of the rootstock cut by the rootstock cutter 28 ', and the tip clamp part 1 as a gripping part at the tip.
22 and an air chuck 123 at the rear portion thereof, and the tip clamp portion 122 is provided by the air chuck 123.
Is controlled to open and close. Further, two air cylinders 124, 1 integrally fixed to the rear portion of the air chuck 123 are provided.
27, and the tip clamp portion 122 can be moved forward and backward by the air cylinder 124. Then, when cutting the seedlings for the rootstock, the lower clamp device 2
7'advance to clamp the hypocotyl under the cotyledon of the rootstock, and the tip clamp part 122 moves forward to grip the tip of the rootstock and cut the tip with the rootstock cutter 28 '.
In the operation of the tip clamp part 122 at this time, first, one air cylinder 127 extends and moves to the standby position, and in this state, the other air cylinder 124 extends and moves to the cutting position.

The cutting position of the rootstock seedlings by the rootstock cutter 28 'is determined by the lifting plate 3 of the rootstock conveyor 7.
By adjusting the height of 0 ', it is about 5 mm below the cotyledon position of the rootstock seedling, and its cutting surface is cut obliquely at an angle of about 30 degrees with respect to the hypocotyl of the rootstock seedling. (See FIG. 27). This is to increase the contact area with the scion seedling at the time of grafting to increase the survival rate.

After cutting the tips as described above, the air cylinders 124 and 127 contract at substantially the same time, whereby the tip clamp portion 122 retracts, and the cut tips are moved from the grafting position to the discharging position and discharged. Note that the cut tips are often not easily dropped even when the tip clamp portion 122 is unclamped, and it is necessary to take them out of the device, but if the stroke is lengthened, the air cylinder will protrude outward. In addition, it takes a long time. Therefore, the two air cylinders 12 are used in this embodiment.
By integrally connecting 4, 127, processing is performed in a short time. This makes it possible to reliably discharge the tips, and does not hinder the subsequent seedling treatment work.

Further, the cutting and discharging work of this rootling seedling is
This is performed while the transporting means 22 is processing the scion seedlings.

The seedling gathering device 121 is arranged on the downstream side of the stock transporting conveyor 7, and as shown in FIGS. 18 to 19, the seedling pot 13 ′ on which the grafting work has been completed is placed on the stock transporting conveyor 7. By forcibly moving the seedlings toward the advancing direction, it is to prevent them from interfering with the next seedling treatment. This seedling gathering device 121 is a seedling gathering body 12 for separating a treated seedling located on the downstream side of the treated seedling.
6 and a cam (72) connected via a rope as a moving means for moving the seedling gathering body 126 to a position where it does not hinder the transportation of the seedlings by the rootstock transport conveyor 7 and a position where the treated seedlings are separated from the treated seedlings. ) Is provided. The seedling gathering body 126 is rotatable along the groove 125 (see FIG. 2) and has an arc shape, and is connected to the cam (72) in the cam group 70 described above. The rotation is controlled as the cam rotates.

That is, it is most worrisome that the joints of grafted seedlings are separated, but in this embodiment, the seedling gathering body 126 is rotated from the lateral side to rotate the joints. While preventing separation, the leaves of the treated seedlings do not interfere with the seedlings being grafted. (4) Clip Supplying Means 24 The clip supplying means 24 supplies the clips 130 to the stand from which the spikes have been cut and removed. The clips 130 are seedlings for rootstocks as shown in FIG. A holder 141 having a predetermined length (for example, 13 mm), which is capable of containing the stand portion obtained by cutting and removing the ear part of the tree and the ear part cut from the scion seedling, and the length direction of the holding part 141. It has a slit 139 extending therethrough and a grip portion 142 for opening and closing the slit, which is provided on the back surface of the holding portion 141 so as to project at a predetermined angle.

As shown in FIG. 2, the clip supply means 24 has a parts feeder 131, and as shown in FIGS. 20 to 23, a clip supply gutter 132 for guiding the aligned clips 130 to the output side, and a clip 130. Gripping the grip portion 142 and holding the clip 130,
An opening / closing claw 136 capable of opening / closing the slit 139 is provided.

Further, a clip opening / closing mechanism 133 for moving the opening / closing claw 136 to a position facing the outlet of the clip supply gutter 132 and the base of the stock, and the clip supply gutter 1
A clip 13 is arranged at the outlet of 32 so as to be rotatable around a fulcrum 145 and closes the front of the opening / closing claw 136.
And a fall prevention guide 146 for preventing the fall of 0.

The fall prevention guide 146 is provided with the opening / closing claw 13
6 moves forward and presses the fall prevention guide 146, so that it rotates about the fulcrum 145 to the retracted position. Then, by retracting the opening / closing claw 136,
The next drop of the clip 130 is prevented. As a result, the clip 130 is allowed to naturally drop into the clip supply portion, and the clip 130 is securely held by the fall prevention guide 146.
Can be delivered.

The clip opening / closing mechanism 133 is movable back and forth by a linear block 137 and a linear rail 138, and the opening / closing claw 136 has an air cylinder 134.
By the expansion and contraction of, the fulcrum rotates about the fulcrum 147 and is controlled to open and close. Further, an air cylinder 135 is provided to linearly move the clip opening / closing mechanism 133 and the air cylinder 134 to the grafting processing position. Further, a clip retainer 144 rotatable by an air cylinder 143 is disposed on the side of the tip end portion of the clip opening / closing mechanism 133. The clip retainer 144 moves so as to close the slit 139 of the opened clip 130 from the outside when the clip 130 is applied to the base of the cut stock or when the cut ear is inserted into the clip 130. And serves to push the stand portion or the ear portion into the holding portion of the clip 130. This forces the clip 130
Since rootstocks and scions can be pushed inside, it is possible to adapt even to bent seedlings.

To attach the clip to the rootstock from which the spikes are cut, the clip 13 is moved forward by the air cylinder 134 with the slit 139 of the clip 130 opened.
Supply 0 to the tip of the rootstock. The clip opening and closing mechanism is inserted into the clip 130 with the tip open so that the spikes of the spikelets transferred by the transporting means 22 are joined so that the cutting slope of the base and the cutting slope of the spike join. The clip 130 is closed by 133 to join the rootstock and the scion.

FIG. 35 shows the relationship with the feeding position of the clip 130 with respect to the cutting edge of the seedling. It is applied to the tip of the. As a result, a large clamping force of the clip 130 is applied between the cutting surfaces of the scion and the rootstock to ensure the joining.

This is the end of the description of the graft processing means 20.

Next, the processing at the downstream end of the scion transport conveyor 6 and at the end of the stock transport conveyor 7 will be described.

As shown in FIG. 1, a free roller 37 is arranged at the downstream end of the spike-transporting conveyor 6 to cut the spikes, and the spikes on the spike-transporting conveyor 6 are cut. An array of trays 14 composed of a plurality of seedling pots 13 for storing seedlings can be stored and discharged in the scion tray storage box 8 by discharging and dropping from the scion conveying conveyor 6 by the free rollers 37.

By the way, conventionally, as shown in FIG. 50, when the tray 14 is directly dropped from the spike conveying conveyor 6, there is a problem that the tray 14 pulls the spike conveying conveyor 6 in the middle of dropping, so The discharge conveyor 160 was arranged on the downstream side of the wood conveying conveyor 6.

However, in this embodiment, as shown in FIG. 51, since the free rollers 37 are arranged on the downstream side of the scion conveying conveyor 6, when the central portion of the row tray 14 comes to the free rollers 37, As described above, the row trays 14 separate from the conveyor and slide down on the free rollers 37, so that the conventional problem of dragging the conveyor is solved. This eliminates the need for the conventional discharge conveyor 160 and simplifies the structure.

On the other hand, the end conveyor 42 is continuously arranged at the end of the stock transport conveyor 7, and the empty box stock part 43 is arranged on one side of the end conveyor 42 at right angles to the end conveyor 42. The stock of empty nursery boxes. Below this empty box stock section 43, one end side of a nursery box conveyor 44 that conveys empty seedling boxes is inserted and arranged.

The grafted seedling pots 13 ′ on the end conveyor 42 are transferred to an empty seedling raising box on the seedling raising conveyor 44 using the grafted seedling transfer frame 45.

The seedling raising box conveyor 44 is arranged so as to cross the lower side of the end conveyor 42 at right angles, and one end side is provided so that empty seedling raising boxes can be taken out from the empty box stock portion 43 one by one. Is inserted into the empty box stock portion 43, and the other end extends to the grafted seedling stock portion 9 side.

The grafted seedling stock section 9 has the same structure as the scion stock section 2 and the stock stock section 3.

Next, the operation of this embodiment will be described.

From the scion stock section 2 stocking scion seedlings, seedling raising boxes in which a plurality of rows of seedling pots 13 in which the scion seedlings are planted are placed are taken out one by one by the scion supply conveyor 4. From the seedling raising box stopped at the end of the scion feeding conveyor 4, the scion transfer means 15 takes out the row-shaped seedling trays 14 of scion seedlings one by one and places them on the scion conveying conveyor 6.

Similarly, a seedling pot 1 in which seedlings for seedlings are planted is also obtained from the stocking stock portion 3 which stocks seedlings for seedlings.
The seedling raising boxes on which a plurality of rows of 3'are placed are taken out one by one by the rootstock supplying conveyor 5, and the seedling seedlings are stopped by the rootstock transferring means 16 from the seedling growing boxes stopped at the rear end of the rootstock supplying conveyor 5. The row-shaped seedling trays 14 ′ are taken out one by one and placed on the root carrier conveyor 7.

The scion conveying conveyor 6 is intermittently driven to rotate by intermittent rotation of the motor 33, and when the row-shaped seedling tray 14 of scion seedlings is conveyed to the downstream side of the auxiliary conveyor 36, FIG. As in (a), the air blow nozzle 3
Air is blown onto the stem portion of the scion seedling by 8 to remove the mud attached to the stem portion. Then, lined seedling tray 1
4 transfers from the auxiliary conveyor 36 to the inclined plate 31 on the upstream side. Subsequently, the conveyor raising motor 34 is driven to rotate the cam 35, whereby the lifting plate 30 of the scion conveying conveyor 6 rises, and the row-shaped seedling tray 14 is upstream as shown in FIG. 36 (b). It is conveyed toward the elevating plate 30 while going up the side inclined plate 31. In this way, the row-shaped seedling tray 14 is conveyed to the processing position of the grafting processing means 20 arranged in the middle portion of the scion conveying conveyor 6.

When the row-shaped seedling tray 14 of the seedlings for spikes is transported to the grafting processing position in the middle thereof by the spike-transporting conveyor 6, as shown in FIG. 37 (a), the seedling pot of the row-shaped seedling tray 14 is transferred. The photoelectric sensor 39 for detecting the presence of the seedling 13 detects the stem, and the photoelectric sensor 40 detects the stem portion of the seedling for scion within a predetermined range after detecting the seedling pot 13. 6 is stopped.

Then, as shown in FIG. 37 (b), the lower clamp device 27 lightly grips the stem below the cotyledon of the detected seedling in the seedling pot 13 by the lower clamp device 27.
Next, as shown in FIG. 37 (c), the front seedling scraping device 25
And the cutting seedling scraping device 26 is advanced to grasp the stem below the cotyledon, and as shown in FIG. 37 (d), the scraping devices 25 and 26 are raised to raise the cutting seedlings and the cotyledons of the cutting seedlings. And scrape them upward and stop at the intermediate position.

Next, as shown in FIG. 38 (a), the motor 3
4 is driven and the cam 35 rotates, so that the elevating plate 30 of the scion conveying conveyor 6 starts to descend. As a result, the stem portion of the cutting scion seedlings has a lower clamp device 27.
The seedling pot 13 descends while sliding in the chuck claw.
Then, when the cotyledon of the cutting scion seedling is detected by the laser sensor 41 arranged on the side of the scion conveying conveyor 6, the lower clamp device 27 is further advanced as shown in FIG. 38 (b). This clamp is performed. Next, FIG. 38 (c)
As described above, the upper clamper 103 of the transporting means 22 moves forward to surround the lower part of the cotyledon, and the true leaf spread prevention bar 104 surrounds the periphery of the true leaf.

Next, as shown in FIG. 38 (d), after the grip portion of the upper clamper 103 is closed, as shown in FIG. 38 (e).
The cutting seedling scraping device 26 is raised so as to come out above the top of the seedling, and then retracted.

Next, as shown in FIG. 38 (f), the spike cutter 28 moves forward, cuts about 10 mm below the cotyledons of the spikelets, and moves backward (see FIG. 26). After that, FIG.
As shown in 9 (a), the upper clamper 103 moves backward while holding the cut seedlings. Next, as shown in FIG. 39 (b), the upper clamper 103 moves up and rotates toward the root. Then
As shown in FIG. 39 (c), the front seedling scraping device 25 rises and retracts. Further, as shown in FIG. 39 (d), the lower clamp device 27 is retracted, and as shown in FIG. 39 (e), the lifting plate 30 of the scion conveying conveyor 6 is raised.

Further, when the row seedling tray 14 'of the seedlings for rootstock is transported to the downstream side of the auxiliary conveyor 36' by the rootstock transport conveyor 7, the rootstock is fed by the air blow nozzle 38 'in the same manner as the spike line. Air is blown onto the stems of the seedlings to remove the mud attached to the stems (Fig. 40).
(A)). Then, the row-shaped seedling tray 14 'transfers from the auxiliary conveyor 36' to the inclined plate 31 'on the upstream side. continue,
The raising / lowering plate 30 ′ of the stock transport conveyor 7 rises, and the row-shaped seedling tray 14 ′ is conveyed toward the raising / lowering plate 30 ′ while going up the upstream side inclined plate 31 ′ (FIG. 40).
(B)). In this way, the row-shaped seedling tray 14 ′ is transported to the processing position of the grafting processing means 20 arranged in the middle of the rootstock transporting conveyor 7.

When the row seedling tray 14 'of seedlings for rootstock is transported to the grafting processing position in the middle thereof by the rootstock conveyor 7, the presence of the seedling pots 13' in the row seedling tray 14 'is detected. The photoelectric sensor 39 'detects this, and the photoelectric sensor 40' detects the stem portion of the rootstock seedling within a predetermined range after detecting the seedling pot 13 ',
The stock transport conveyor 7 is stopped (FIG. 41 (a)).

Next, the stem below the cotyledons of the seedling for seedling in the detected seedling pot 13 'is lightly gripped by the lower clamp device 27' in a semi-clamped state (FIG. 41 (b)). Next, the front seedling scraping device 25 'and the cutting seedling scraping device 2
6 ′ is advanced to grasp the stem below the cotyledon (FIG. 41).
(C)) Further, the scraping devices 25 'and 26' are further lifted to scrape the pre-cut seedlings and the cotyledons of the cut seedlings upward and stop them at intermediate positions (Fig. 41 (d)).

Next, as shown in FIG. 42 (a), the elevating plate 30 'of the stock transport conveyor 7 starts to descend, and the stem portion of the cutting stock seedling moves in the chuck claws of the lower clamp device 27'. The seedling pot 13 'descends while sliding. Then, the laser sensor 41 ′ arranged on the side of the stock transport conveyor 7
Thus, the cotyledon of the cutting rootstock seedling is detected. Next, as shown in FIG. 42 (b), the seedling gathering device 121 moves forward to move the grafted seedling pot 13 ′ to the downstream side. Next, as shown in FIG. 42 (c), the lower clamp device 27 'is further advanced to perform the main clamp. Next, as shown in FIG. 42 (d), the tip clamp device 120 moves forward to grasp the tip of the rootstock, and subsequently, as shown in FIG. 42 (e), the rootstock cutter 28 'advances. Cut about 5 mm below the cotyledon of the rootstock seedling (see FIG. 27). In addition, since the height of the stock transport conveyor 7 is set to be lower than that of the scion transport conveyor 5 by about 5 mm, the amount by which the stock transport conveyor 7 is lowered is substantially equal to the amount by which the spike transport conveyor 6 is lowered. It's done.

Next, as shown in FIG. 43 (a), the cutting seedling scraping device 26 'is raised and then retracted, and further, as shown in FIG. 43 (b), the cutting tip cutting device 120 cuts the table. Retreat while grasping the tip of the tree, and discharge at the specified position. Next, as shown in FIG. 43 (c), the clip opening / closing mechanism 1
33 moves forward, and the clip 130 is attached to the tip of the cut rootstock.
Place it in the open state. In addition, this clip 13
Since the length of 0 is about 13 mm (see FIG. 28), the rootstock is inserted up to about half the length.

Next, as shown in FIG. 44 (a), the upper clamper 103 holding the cut ear of the cuttings for cuttings moves forward, and as shown in FIG. 44 (b), the upper clamper 103 descends. The cutting surface of the scion seedling and the cutting surface of the rootstock are brought into contact with each other. Then, the clip 130 is closed (see FIG.
(C)), and the upper clamper 103 is further lowered and further pushed (FIG. 44 (d)). Next, as shown in FIG. 44 (e), the grip portion of the upper clamper 103 is opened, the upper clamper 103 retracts and rotates toward the spike line (FIG. 44 (f)), and the clip opening / closing mechanism 133 is opened. fall back.

Next, as shown in FIG. 45 (a), the front seedling scraping device 25 'is raised and retracted. Then, in FIG.
As shown in (b), the seedling gathering device 121 retracts, further, as shown in FIG. 45 (c), the lower clamp device 27 'retracts, and as shown in FIG. The elevating plate 30 'moves up.

Similarly, at the grafting processing position, the spikelets and rootstocks are repeatedly formed from the second and lower seedlings and rootstock seedlings in the row-shaped seedling pot, respectively, and the rootstocks are then spiked. Grafting is performed to form a row of grafted seedling pots.

Further, the row-shaped seedling tray 14 in which the scion portion on the scion conveying conveyor 6 has been cut is conveyed to the terminal end as it is by the scion conveying conveyor 6 and eliminated.

On the other hand, the row-shaped grafted seedling trays on the stock transfer conveyor 7 are transferred from the terminal end conveyor 42 to the seedling raising box conveyor 44, and after placing the seedling raising boxes on the grafted stock section 9,
The grafted stock portion 9 is humidified and heated to cure the grafted seedlings.

[0109]

As is apparent from the above description, according to the present invention, the scraping member surrounds the hypocotyl of the scion seedling or the rootstock seedling, closes the gripping portion, and moves further upward. Since the cotyledons are scraped up by the upper clamper, there is no risk of the cotyledons being crushed by the upper clamper or accidentally cut.
Further, it is possible to prevent erroneous detection of the cotyledon position due to the cotyledon hanging downward, and it is possible to reliably hold the cut cob by the upper clamper and carry it.

Further, the scraping means for treated seedlings is stopped in a state where the cotyledons of the treated seedlings are scraped up, and the transportation means holds the spikes and then moves them so as to slip out above the tops of the spikelets. Therefore, it is possible to correct the posture of the bent seedling and prevent the cotyledon or the true leaf from being wound around the scraping body.

Furthermore, the pre-seedling scraping means scrapes away the pre-seedling adjacent to the upstream side of the scion seedling or rootstock seedling to be treated, so that interference with the treated seedling can be prevented. it can.

This front seedling scraping means stops the upward movement of the scraping member in the state where it surrounds the cotyledons and the true leaves of the front seedling, and then allows it to slip above the top of the front seedling. It is possible to prevent erroneous detection of the cotyledon position of the above and prevent interference of the seedling with the treated seedling.

Further, since the seedling gathering body for separating the treated seedlings located on the downstream side of the treated seedlings from the treated seedlings is provided on the downstream side of the transportation means for the rootstock, separation of the joint portion of the treated seedlings is prevented. It is possible to prevent interference with the next grafting process.

[Brief description of drawings]

FIG. 1 is a plan view showing an entire seedling carrier according to the present invention.

FIG. 2 is a plan view of a graft processing means.

FIG. 3 is a plan view of a graft processing means.

FIG. 4 is a front view of FIG. 3;

FIG. 5 is a diagram showing an air blowing state by air blowing.

FIG. 6 is a side view of FIG.

FIG. 7 is a side view of the front seedling scraping device.

FIG. 8 is a plan view of a grip portion of the front seedling scraping device.

FIG. 9 is a diagram showing an operating state of the front seedling scraping device.

FIG. 10 is a diagram showing an operating state of the front seedling scraping device.

FIG. 11 is a side view of the cutting seedling scraping device.

FIG. 12 is a plan view of a grip portion of the cutting seedling scraping device.

FIG. 13 is a front view of the graft processing means.

FIG. 14 is a diagram showing an arrangement state of cam groups.

FIG. 15 is a diagram showing an operating state of a cam.

FIG. 16 is a diagram showing a configuration of a transportation means.

FIG. 17 is a plan view of an upper clamper.

FIG. 18 is a plan view of a seedling gathering section in the grafting processing means.

FIG. 19 is a front view of FIG. 18.

FIG. 20 is a front view showing a clip delivery state in the clip supply device.

21 is a side view of FIG. 20. FIG.

FIG. 22 is a plan view showing a clip delivery state in the clip supply device.

FIG. 23 is a view on arrow A in FIG. 22.

FIG. 24 is a diagram showing a control flowchart of a detection operation by a photoelectric sensor.

FIG. 25 is an explanatory diagram of a circuit for pulsing a motor generator output.

FIG. 26 is a view showing a scion seedling planted in a seedling pot.

FIG. 27 is a view showing a seedling for rootstock planted in a seedling pot.

FIG. 28 is a diagram showing a seedling pot that has been grafted.

FIG. 29 is a diagram showing a detected state of a cotyledon position.

FIG. 30 is a diagram showing a step of scraping, clamping and cutting treated seedlings.

FIG. 31 is a view showing an operating state of the upper clamper.

FIG. 32 is a view showing an operating state of the upper clamper.

FIG. 33 is a diagram showing a locus of insertion into a clip of a scion according to the present embodiment.

FIG. 34 is a diagram showing a locus of insertion into a clip of a scion according to a conventional example.

FIG. 35 is a diagram showing a mounting position of a clip with respect to a cut end.

FIG. 36A is a diagram showing a mud-removing step by air blowing. (B) is a figure which shows the state where the conveyor has started.

FIG. 37A is a diagram showing a seedling detection state by a photoelectric sensor. (B) is a figure showing a half clamp state by a lower clamp device. (C) is a figure which shows the scraping state of the processing seedling and front seedling by the scraping apparatus. (D)
[Fig. 6] is a diagram showing a scraped state of a treated seedling and a front seedling by a scraping device.

FIG. 38A is a diagram showing a cotyledon detection state by a laser sensor. (B) is a figure showing a main clamp state by a lower clamp device. (C)-(d) is a figure which shows the clamp state of the cotyledon and a true leaf by an upper clamper and a true leaf spread prevention bar. (E) is a figure which shows the scraping work of the treated seedling by the scraping device. (F) is
It is a figure which shows the cutting | disconnection state of a scion with a cutter.

FIG. 39 (a) is a diagram showing a state in which the upper clamper moves backward while holding the spikes. (B) is a figure which shows the state which an upper clamper raises and rotates. (C) is a figure which shows the state which a front seedling scraping apparatus raises and retreats.
(D) is a figure which shows the state which a lower clamp apparatus retreats. (E) is a figure which shows the state which a conveyor raises.

FIG. 40 (a) is a diagram showing a mud-removing step by air blowing. (B) is a figure which shows the state where the conveyor has started.

FIG. 41 (a) is a diagram showing a seedling detection state by a photoelectric sensor. (B) is a figure showing a half clamp state by a lower clamp device. (C) is a figure which shows the scraping state of the processing seedling and front seedling by the scraping apparatus. (D)
[Fig. 6] is a diagram showing a scraped state of a treated seedling and a front seedling by a scraping device.

FIG. 42 (a) is a diagram showing a cotyledon detection state by a laser sensor. (B) is a figure which shows the state which the seedling gathering apparatus has advanced. (C) is a figure which shows the main clamp state by a lower clamp apparatus. (D) is a figure which shows the state which the tip clamp apparatus moved forward and grasped | cutted the ear | edge which was grasped | ascertained. (E) is a figure which shows the cutting | disconnection state of a rootstock by a cutter.

FIG. 43 (a) is a diagram showing a scraping operation of a treated seedling by a scraping device. (B) is a figure which shows the state at the time of retracting the tip clamp device and unclamping. (C) is a figure which shows the state which the clip pressing mechanism has advanced.

FIG. 44 (a) is a diagram showing a state in which the upper clamper has advanced to above the cut stock. (B) is a diagram showing a state in which the upper clamper is lowered to bring the scion and the rootstock into contact with each other at the cut surface. (C) is a figure which shows the state which closed the clip. FIG. 6D is a diagram showing a state in which the upper clamper is lowered and further pushed. (E) is a figure which shows the state which made the upper clamper the unclamping state.
(F) is a diagram showing a state in which the upper clamper and the true leaf spread preventing bar retract and rotate. (G) is a figure which shows the state which a clip presser retreats.

FIG. 45 (a) is a diagram showing a state in which the front seedling scraping device is raised / retracted. (B) is a figure which shows the state which a seedling gathering apparatus retracts. (C) is a figure which shows the state which a lower clamp apparatus retreats. (D) is a figure which shows the state which a conveyor raises.

FIG. 46 is a plan view of an auxiliary conveyor.

FIG. 47 is a front view of the auxiliary conveyor.

FIG. 48 is a diagram showing a conventional example of a driven shaft portion in an auxiliary conveyor.

FIG. 49 is a diagram showing an example of a driven shaft portion in the auxiliary conveyor.

FIG. 50 is a diagram showing a conventional example in which a discharge conveyor is provided on the downstream side of a scion conveying conveyor.

FIG. 51 is a diagram showing an example in which a free roller is provided on the downstream side of the scion conveying conveyor.

[Explanation of symbols]

 1 Grafting Device 6 Scion Conveyor 7 Root Carrying Conveyor 10 Control Unit 12 Control Panel 13 Scion Seedling Pot 13 'Rootstock Seedling Pot 14 Scion Seedling Tray 14' Rootstock Seedling Tray 20 Grafting Treatment Means 21 Scion cutting means 22 Conveying means 23 Root cutting means 24 Clip feeding means 25 Front seedling scraping device 26 Cutting seedling scraping device 27, 27 'Lower clamp device 28 Scoop cutter 28' Rootstock cutter 30, 30 ' Lifting plate 31, 31 'Inclined plate 32, 32' Inclined plate 33, 33 'Motor 34, 34' Motor 35, 35 'Cam 38, 38' Air blow nozzle 39, 39 'Photoelectric sensor 40, 40' Photoelectric sensor 41, 41 '' Laser sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Tatsuo Tanimoto, Inoue 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. Hiroshima Research Institute (72) Hajime Okita, Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture 6-22 No. 6 Hiroshima Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Inventor Kenji Ito 667 Izumo-cho, Higashi Izumo-cho, Yatsuka-gun, Shimane Prefecture 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Mitsudai 3 Higashi-Izumo, Yatsutsu-gun, Shimane Town Oza 667 No. 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Osamu Akika Higashi Izumo, Yatsuka-gun, Shimane Prefecture Oji Aya 667 No. 1 Mitsubishi Agricultural Machinery Co., Ltd. Town 667 Isuyacho 667 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Koichi Yamamoto Higashi Izumo, Yatsuka-gun Shimane Prefecture In Agricultural Machinery Co., Ltd.

Claims (6)

[Claims] 1. A scoop conveying means for conveying scion seedlings stored in a row in a tray, a scoop conveying means for conveying rootstock seeds stored in a tray in a row, and a grafting position. In the grafting device, which comprises a grafting means for connecting the spiked portion cut from the scion seedling to a stand portion for cutting and removing the spiked portion of the rootstock seedling, the grafting treatment means Is a cutting member that cuts the hypocotyls of the lower cotyledons in the scion seedling and the rootstock seedling, and that can surround the scion seedling or the rootstock seedling, and the scraping member is the seedling And a moving means for moving the scraping member in the vertical direction, and an opening / closing moving means for opening and closing the scraping member. To move laterally so as to face the hypocotyl of the scion seedling or rootstock seedling and to surround the hypocotyl Actuated, further wafer processing apparatus in grafting and wherein the scraping means comprising raising the take at least the cotyledon by moving the 該掻 up member upward, to become equipped with. 2. The scraping means for treated seedlings, which acts on the seedlings for scion or rootstocks treated by the grafting means at the treatment position, according to claim 1. A leaf processing device in a grafting device. 3. The grafting processing means, a cutting means for cutting the cuttings for seedlings, and a conveying means for holding the cut cuttings by a gripping portion and carrying the cuttings for the rooting seedlings. The treatment seedling scraping means acting on the scion seedling is stopped in a state where the cotyledon is scraped up by surrounding the hypocotyl with the scraping member, and the transport means is the spike part. In a state where the scooping member is moved to a position capable of holding and the gripping portion is closed, the scraping member moves upward so as to come out above the top of the scion seedling, and retreats from the scion seedling. The leaf processing device in the grafting device according to claim 2. 4. The scraping means acts on the front seedling adjacent to the upstream side of the scion seedling or rootstock seedling to be treated by the grafting treatment means at the treatment position to remove the leaves of the seedling. ,
The leaf treatment device in the grafting device according to claim 1, which is a front seedling scraping unit that scrapes away from the seedling to be treated. 5. The front seedling scraping means includes a cotyledon scraping member and a true leaf scraping member, and the cotyledon scraping member surrounds the cotyledons of the front seedling, Further, the true leaf scraping member stops its upward movement in a state of enclosing the true leaf of the front seedling, and thereafter, the cotyledon and true leaf scraping members pass through above the top of the front seedling. The leaf treatment device in the grafting device according to claim 4, wherein the leaf treatment device moves upward and is retracted from the front seedling. 6. A scion transporting means for transporting the spikelet seedlings stored in rows on the tray, a rootstock transporting means for transporting the seedling seedlings stored in rows on the tray, and a grafting processing position. In the grafting device, which comprises a grafting means for connecting the spiked portion cut from the scion seedling to a stand portion for cutting and removing the spiked portion of the rootstock seedling, the grafting treatment means Is formed by cutting the hypocotyl of the lower cotyledon of the scion seedling and the rootstock seedling, and is arranged on the downstream side of the transport means for the rootstock. The treated seedlings to be connected to the seedling gathering body that separates the treated seedlings located on the downstream side; And a moving means for moving the seedlings to a position away from the treated seedlings. A leaf processing device in a characteristic grafting device.