JPH08242693A - Grafting robot - Google Patents

Abstract

PURPOSE: To provide a grafting robot having excellent handleability. CONSTITUTION: A stock transporting device 18 is equipped with at least a pair of hycopotyl gripping hands 37 and a pair of hycopotyl gripping auxiliary hands 39 and the shape of the passing face of a cutter blade 116 of a cutter 19 of the hycopotyl auxiliary hands 39 is made into approximately the same as the passage locus of the cutter blade to provide the objective grafting robot. The position determination of a seedling in cutting is prevented from readily becoming unstable and the hycopotyl is fixed. Since the cutting area is lessened and grafting performances between a scion and a stock are deteriorated when the cutting angle of the hycopotyl is an obtuse angle, the most excellent taking activity is obtained when the hycopotyl is cut at 25-30 deg. inclination angle from the vertical line.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art The inventors of the present invention have made a series of patent applications to develop a grafting robot having excellent operability (Japanese Patent Application No. 4-161515 and Japanese Patent Application No. 6-308962).
I went. 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.

[0003]

There is room for improvement in the operability of the graft robot developed by the present inventors. In particular, in the rootstock carrier device and the scion carrier device, there is a defect that the hypocotyl grip of each seedling is not good and the cutting position is not constant, and there is room for improvement in the bonding rate. Therefore, an object of the present invention is to provide a grafting robot having excellent operability and an improved joining rate.

[0004]

The above objects of the present invention can be achieved by the following constitutions. That is, the rootstock seedlings arranged in the rootstock seedling supply device and the spikelet seedlings arranged in the rootstock seedling supply device are transported to their respective cutting positions by the respective seedling carrier devices, and the respective rootstock seedlings are cut. In a grafting robot that further transports and scion seedlings to the splicing position by each transporting device, the rootstock transporting device and the scion transporting device are provided with at least a pair of hypocotyl gripping hands and a pair of hypocotyl auxiliary hands. A grafting robot in which the shape of the cutter blade passage surface of the cutting device of the hypocotyl-assisted hand is substantially the same as the shape of the cutter blade passage locus. Preferably, the shape of the cutter blade passage surface of the hypocotyl assisting hand is approximately 25 to 3 with respect to the vertical line.
The tilt angle is 0 °.

[0005]

[Function] Since the shape of the cutter blade passing surface of the hypocotyl assisting hand of the rootstock conveying device and the scion conveying device is made substantially the same as the cutter blade passing locus of the cutting device, for example, for grasping the hypocotyl of a scion seedling 5, the cutting angle is constant during cutting, the position of the cutting surface does not change, and the cutting surfaces of the rootstock and the scion are aligned well. When the cutting angle of the hypocotyl is obtuse, the cutting area becomes small and the joining performance with the rootstock deteriorates.
The best survival performance is obtained when the hypocotyl is cut at an inclination angle of -30 °.

[0006]

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

Clip bowl 7 of clip feeder section 1
A clip guide rail 9 is provided from the outer circumference, and the graft portion 2 is adjacent to the tip end portion thereof. Further, the respective transport devices 18 and 24 for gripping and transporting the rootstock and the scion are suspended on the top plate 15 (FIG. 3) of the graft unit 2. An enlarged view of the grafting part 2 portion shown in FIG. 1 is shown in FIG. 2. The rooting part 3 is composed of a rootstock seedling supplying device 17, a rootstock conveying device 18 and a rootstock cutting device 19, and the root part 5 Similarly, it also comprises a scion seedling supply device 21, a scion transfer device 22, and a scion cutting device 23.

The rootstock seedlings manually supplied to the rootstock seedling feeder 17 are held by the hands 76 and 77. The rootstock seedlings gripped by the hands 76 and 77 are indicated by arrows (a) in FIG.
Is conveyed to the position (cutting position) of the rootstock cutting device 19 by the rootstock carrier device 18 that rotates in the direction of, and the cutting device 19 rotates to cut off the hypocotyl of the rootstock seedling obliquely by the cutter blade. . The rootstock cutting device 19 is a rotary cutter having a cutter blade attached to its tip, and rotates in the direction of arrow (c) in FIGS. 1 and 4. The cut rootstock is an arrow (b)
Device 25 of the joint portion 6 conveyed in the direction
(See FIG. 2 and FIG. 3) It is joined to the scion.

Similarly, the scion seedling supplying device 2 is manually operated.
The scion seedlings supplied to the scion seedling supply plate 14 of No. 1 are conveyed in the arrow (d) direction (see FIG. 1) by the scion conveying device 22,
A part of the hypocotyl part and the root part are cut off by leaving the tissue above the hypocotyl part by the scion cutting device 23 rotating in the arrow (f) direction (see FIGS. 1 and 4) at the cutting position. And
The scion having the cotyledon portion is conveyed in the direction of the arrow (e), is joined to the rootstock at the graft part 2 by the clip supplied from the clip feeder part 1, and the joined seedling is transplanted into a pot by an appropriate method.

Next, the rootstock seedling supply device 17 and the rootstock transport device 18 will be described. First, the rootstock seedling supply device 17 will be described. A front view of the rootstock seedling supply device 17 and the rootstock transport device 18 is shown in FIG. The rootstock seedling supply device 17 of this embodiment includes a rootstock seedling hypocotyl gripping hand 76, a cotyledon removal hand 77, and a hypocotyl gripping hand cylinder 76a for opening and closing the pair of hands 76.
And a pair of cotyledon removal hand cylinders 77a for opening and closing the hand 77 and an elevating cylinder 80 for vertically moving the hand 77, and an upper hypocotyl regulating plate 78a below the rootstock seedling cotyledon removal hand 77. Hypocotyl grasping hand 7
A lower hypocotyl regulating plate 78b is provided below 6, and a hypocotyl raising plate 82 fixed to one side of the hand 77 is also provided.

The pair of rootstock seedling hypocotyl gripping hands 76 are for gripping the hypocotyls near the root pot of the rootstock seedlings manually supplied, and the pair of cotyledon removal hands 77 are for holding the hypocotyls after gripping the hypocotyls. By raising and lowering the hand 77 in the vertical direction, cotyledons that obstruct the cutting are removed. Further, a pair of seedling detection sensors 81 are arranged between the hypocotyl grasping hand 76 and the cotyledon removal hand 77. For example, when the rootstock seedlings of the Solanaceae are supplied, even if the rootstock seedlings are thin, The grafting robot itself can confirm whether or not the tree seedling is gripped by the hands 76 and 77 of the supply device 17.

Here, FIG. 7 (FIG. 7A is a side view of the grafting robot, and FIG.
(B) is a view of the cotyledon removal hand part and the hypocotyl regulating plate part viewed from the seedling insertion direction, and FIG. 8 (FIG. 8 (a) is a view of the cotyledon removal hand part viewed from above, FIG. 8 (b)). The features of the present embodiment will be described with reference to FIG. 9 and a perspective view of the upper hypocotyl regulating plate and the lower hypocotyl regulating plate when the rootstock is supplied. FIG. 9 is a view showing a state in which the hypocotyl-raising plate raises seedlings.

The rootstock seedling feeding device 17 includes a rootstock seedling hypocotyl gripping hand 76, a cotyledon removal hand 77, and a hypocotyl hand cylinder 76a for opening and closing the pair of hands 76, and a cotyledon removal hand cylinder for opening and closing the pair of hands 77. There is a lifting cylinder 80 for moving the 77a and the hand 77 in the vertical direction via the cylinder mounting plate 77b (see FIG. 7). In addition, there is a pair of upper hypocotyl regulating plate 78a and lower hypocotyl regulating plate 78b. The hypocotyl-raising plate 82 arranged so as to bridge the cotyledon removal hand 77 and fixed to one side of the hand 77.
Is also provided. Further, it is detected that rootstock seedlings have been supplied to the upper hypocotyl regulating plate 78a, and both hands 76, 77 are detected.
A rootstock seedling detection sensor 81 for controlling the drive of the above is provided.

The pair of rootstock seedling gripping hands 76 are for gripping the hypocotyls near the root pot of the rootstock seedlings manually supplied, and the pair of cotyledon removal hands 77 are for holding the hypocotyls after gripping the hypocotyls. By moving the 77 up and down, the cotyledons that obstruct the cutting are removed. The tips of the pair of rootstock seedling hypocotyl gripping hands 76 and the pair of cotyledon removal hands 77 are opened, and after accepting the hypocotyl of rootstock seedlings between the pair of hands 76, 77, they are closed and gripped, and then The cotyledon removal hand 77 slides the rootstock seedling in the vertical direction to fix and support the hypocotyl in the vertical direction. This cotyledon removal hand 7
The vertical movement of 7 is performed by the elevating cylinder 80, but a hand groove (not shown) for gripping the hypocotyl is provided inside the hand 77 for sliding while holding the hypocotyl. Is also good. The circle formed when the hand groove holds the hypocotyl should be approximately the same as the hypocotyl diameter of the rootstock seedling. Then, when the cotyledon removal hand 77 receives the rootstock seedling, the hypocotyl of the rootstock seedling can be reliably gripped by the hand groove. In addition, since the cotyledon removal hand 77 is slid after gripping the rootstock seedling, the hypocotyl gripping hand 76 and the cotyledon removal hand 7 are placed at the position where they are transferred to the rootstock transport device 18.
Unnecessary cotyledons on the hypocotyl between 7 are scraped off, and a sufficient space A (see FIG. 7) is formed between both hands 76 and 77, and at this part, the hypocotyl grasping hand 37 of the rootstock carrier 18 is formed.
Can securely grasp the hypocotyl, and at the same time, can be smoothly cut by the cutting device 19.

With the basket, if the gripping pressures of the hypocotyl gripping hand 76 and the cotyledon removal hand 77 are made different, and the gripping pressure of the cotyledon removal hand 77 is made smaller than the gripping pressure of the hypocotyl gripping hand 76. Even if the cotyledon removal hand 77 is slid vertically, the gripping position of the rootstock seedling by the hypocotyl gripping hand 76 does not move. Therefore, the cutting position of the rootstock seedling can always be made constant. Also, cotyledon removal hand 7
By adjusting the gripping pressure of 7, so as not to damage the hypocotyl,
Unnecessary cotyledons can be removed.

If the rootstock seedlings manually supplied to the rootstock seedling feeding device 17 are tilted or if the rootstock seedlings are soft and do not stand upright, the seedlings bend when the cotyledon removal hand 77 moves up and down, and the rootstocks are transported. When the seedlings are grasped by the device, they become slanted, and the cutting height at the time of cutting the rootstock seedlings varies, which causes a defective joint. Therefore, in the present embodiment, the cotyledon removal hand 77
The cotyledon removal hand 7 is provided with the hypocotyl-raising plate 82 at a position which is attached to one of the roots of the seedlings, and which is located on the back side of the seedling supply side and almost in contact with the hypocotyl of the rootstock.
When 7 is raised, the hypocotyl-raising plate 82 can be used to correct the inclination of the rootstock to raise the hypocotyl straight and improve the gripping performance and cutting performance of the rootstock seedling. Also,
Similarly, the hypocotyl-raising plate 82 can also correct the inclination of the soft seedling. Furthermore, since the hypocotyl-raising plate 82 hits when the rootstock seedlings are supplied to the supply device 17, the insertion work becomes easy. The lower hypocotyl regulating plate 78b is shown in FIG.
As shown in FIG. 8 (b), the upper hypocotyl regulating plate 78a has the same structure as that shown in FIG. 8 (b) because it has a groove in the central portion of the tip portion that serves as a hypocotyl contact surface during rootstock seedling insertion. As described above, the seedlings are supplied to the supply device 17.

Further, in order to surely remove the cotyledons when the cotyledons are removed by the cotyledon removal hand 77, a cotyledon removal nozzle 73 may be provided at an appropriate portion of the rootstock cotyledon removal hand 77 as shown in FIG. good. Thus, when the rootstock cotyledon removal hand 77 rises to remove the cotyledons, the removed cotyledons remain on the hand 77, and the rootstock seedlings are received by the rootstock hypocotyl grasping hand 37 of the rootstock transport device 18. When handing over, problems such as remaining cotyledons biting into the hand 37 and cotyledons entering the joint surface with the scion during joining will not occur. The cotyledon removal nozzle 73 may be fixed to the top plate 15 (see FIG. 6) or the like so as to blow off the removed cotyledons.

The pair of gripping hands 67 (see FIG. 3) is provided in the scion seedling supplying device 21, and although not shown, the gripping hands 67 are also controlled to be opened and closed by an air actuator. Rootstock seedlings and sapling seedlings are rootstock seedling supply device 17
And the scion seedling supply device 21 are transferred from the seedling holding hand to the rootstock transport device 18 and the scion transport device 22, respectively.

Next, the stock transfer device 18 and the stock cutting device 1
9 will be described mainly with reference to FIGS. 3, 10, and 11. FIG. 10 is a side view of the cutting device 19 and the stock transporting device 18 on the stock part 3 side as viewed from the side wall direction of the graft robot on the stock part side. In addition, as shown in FIG. 11 (FIG. 11A is a view from above the grafting robot, and FIG. 11B is a view from the side of the grafting robot), the rootstock hypocotyl auxiliary hand 39 also has a rootstock hypocotyl. A notch 39a is provided on the gripping surface in the longitudinal direction of the hypocotyl.

The stock transfer rotary actuator 29 of the stock transfer device 18 is supported by the top plate 15, and a stock transfer arm support 30 is provided below the actuator 29 so as to be rotatable about the actuator rotation shaft 31. It is supported.
The stock transfer arm support 30 includes a stock transfer arm push-out cylinder 33 supported by the support 30 and a cylinder 33.
The root-carrying arm 34 fixed to the root and the root-holding portion (a pair of root-hypocotyl-holding hand 37 and root-root root holding hand 38) at the tip of the carrying arm 34 are provided. The hand 3
Opening and closing of 7, 38 are controlled by air cylinders 37a, 38a so as to hold the rootstock. The rootstock embryo axis gripping hand 37 and the rootstock root pot gripping hand 38 at the tip of the rootstock transport arm 34 extruded to the rootstock seedling setting position of the rootstock seedling supply device 17 are actuated so that the both hands 37, 38 are the bases. Grab a tree 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.

A pair of rootstock hypocotyl auxiliary hands 39 are supported by a support plate 40 fixed to the rootstock transport arm support 30 and opened and closed by an air cylinder (not shown) in an actuator 41. Hand 7 of rootstock seedling feeder 17
6, 77 (refer to FIG. 6), the rootstock transporting arm 34 extruded to the position of the rootstock seedling and the rootstock hypocotyl gripping hand 37 and the rootstock root gripping hand 38 at the tip end of the rootstock transport arm 34 operate to operate the both hands 37. , 38 grips the rootstock seedling.

Simultaneously with the operation of the rootstock embryo shaft gripping hand 37 and the rootstock root gripping hand 38, the rootstock transfer rotary actuator 29 is also operated to transfer the rootstock seedlings gripped by the hands 37 and 38 to the cutting position. . At the cutting position, the rootstock transport arm 34 is retracted, and at that time, the rootstock hypocotyl auxiliary hand 39 holds the hypocotyl.

The shape of the cutter blade passage surface of the rootstock hypocotyl auxiliary hand 39 is such that it contacts the rotation locus of the cutter blade 116 of the rootstock cutting device 19 during rootstock cutting, which makes the positioning of seedlings unstable during cutting. To prevent it from becoming liable to grow and fix the hypocotyl. Preferably, the shape of the cutter blade passage surface is inclined at an angle of approximately 25 to 30 ° with respect to the vertical line. If the cutting angle of the hypocotyl is obtuse, the cutting area becomes small, and the joining performance of the clip 123 (see FIG. 14) described later with the rootstock becomes poor. The best survival performance is obtained when cutting. Therefore, it is necessary to install the rotation axis of the cutter arm 115 so that the rotation locus of the cutter arm 115 of the rootstock cutting device 19 follows the shape of the cutter blade passage surface of the rootstock germ axis auxiliary hand 39. Further, as shown in FIG. 11, if a groove 39a is provided on each of the hypocotyl abutment surfaces of the pair of rootstock hypocotyl auxiliary hands 39, the holding force at the time of cutting is further increased.

Further, in order to ensure gripping of the rootstock hypocotyl (stem), the pair of hypocotyl gripping hands 37 are notched in the longitudinal axis of the rootstock hypocotyl and the hypocotyl thickness direction, respectively. (Not shown) is provided. The notch of the hypocotyl grasping hand 37 can prevent 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.
Further, below the hypocotyl gripping hand 37, there is a pair of root pot gripping hands 38 having a pair of gripping surfaces along the side surface of the rootstock for gripping a heavy root pot.

Next, the rootstock cutting device 19 will be described with reference to FIG. The cutting devices 19 and 23 are provided in the root part 3 and the scion part 5, respectively, but they have a mechanism common to both. Cutter drive cylinder 99 (Fig. 12
(Refer to FIG. 3) is supported by a column 112 oriented in the vertical direction, and a cutter arm 115 is attached to a rotation shaft 113 thereof. A supporting portion 117 of a cutter blade 116 having a cutting locus in a direction orthogonal to the arm 115 is attached to the tip of the cutter arm 115. The attachment position of the cutter blade support 117 to the cutter arm 115 is adjusted with an adjusting tool such as an adjusting bolt 118 provided on the cutter arm 115. Further, the adjustment of the mounting height of the cutter driving motor 114 is performed by an adjusting tool including a screw 119 provided on the column 112 and an adjusting plate 120 having a long hole.

The cutter arm 115 has a rootstock retainer 121 for pressing the hypocotyl of the rootstock seedling in the rotation locus of the cutter blade 116 against the rootstock transport device 18 side before the cutter blade 116 hits the rootstock. Is provided. Further, a sponge case 110 that houses a sponge, which is a cleaning device for cleaning the cutter blade 116, is also provided.

In the present embodiment, the cutting devices 19 and 23 are described as rotating type, but in the present invention, as described in the patent application invention (Japanese Patent Application No. 6-241324) of the present applicant,
It may be configured. That is, although not shown, the rootstock cutting devices 19 and 23 are the support 112 of the grafting robot base.
A parallelogram-shaped cutter bracket attached to a machine with a cutter blade fixed to one side provided in a direction inclined with respect to the vertical direction
It is also possible to use a type in which the hypocotyl portion of the rootstock seedling or the scion seedling is cut at the time of the rotation conveyance of 2. Also, the rootstock cutting device 1
The cutter blades 9 and 23 may be slidable so that the hypocotyl portion of the rootstock seedling or the scion seedling may be cut when the transporting devices 18 and 22 are rotationally transported.

Next, the scion conveying device 22 and scion cutting device 23
Explain. As shown in FIG. 3, FIG. 12, and FIG. 13, the scion transport device 22 includes a scion transport rotary actuator 51 and a scion transport arm support 5 below the actuator 51.
2 is rotatably supported about the actuator rotation shaft 53. The scion transfer arm support 52 includes a scoop transfer arm push-out cylinder 55 supported by the support 52.
A scion transfer arm 56 that is expanded and contracted by the cylinder 55 and a scion germ shaft gripping hand 59 are provided at the tip of the transfer arm 56. 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 air cylinder 62 is provided at the tip of an arm 61 provided below the scion transport arm support 52, and the hypocotyl assisting hand 64 is used by the air cylinder 62 for the hypocotyl when cutting the hypocotyl hypocotyl. Can be surely supported and the hypocotyl can be surely cut. Also, the hypocotyl auxiliary hand 64
The shape of the passage surface of the cutter blade of No. 1 is such that the cutter blade 96 of the cutting device 23 comes into contact with the rotation path of the cutting blade 23 when cutting the cuttings, and as shown in FIG.
A groove 64a is provided on the hypocotyl abutment surface to prevent the positioning of the seedling from becoming unstable during cutting and to fix the hypocotyl. Preferably, the shape of the cutter blade passage surface is approximately 25 to 3 with respect to the vertical line.
The tilt angle is 0 °. If the cutting angle of the hypocotyl is obtuse, the cutting area becomes small and the joining performance with the rootstock becomes poor. Therefore, when the hypocotyl is cut at the inclination angle of 25 to 30 °, the survival performance is the best. .

Therefore, it is necessary to install the rotation axis of the cutter arm 94 so that the rotation locus of the cutter arm 95 of the scion cutting device 23 follows the shape of the cutter blade passage surface of the scion germ shaft gripping hand 59. .

The scion cutting device 23 is also the rootstock cutting device 1.
It has a structure similar to that of 9, and includes a rotating shaft 93 of a cutter driving motor, a cutter arm 94, a cutter blade support 95,
Cutter blade 96, cutter blade adjusting screw 97, slot 98,
There are an adjusting screw 99, a cleaning device 100 for the cutter blade 96, and the like. Further, the cutter arm 94 is provided for removing the cotyledons (cotyledons to be cut off) of the seedling in the rotation locus of the cutter blade 96 before the cutter blade 96 hits the hypocotyl so as not to interfere with the cutting of the hypocotyl. A roller 101 is provided.

In the grafting robot of this embodiment, when the automatic operation is completed, both cutter blades 116 and 96 of the rootstock cutting device 19 and the scion cutting device 23 are put into the cleaning pots of the respective cutter cleaning devices 110 and 100 for cleaning. However, in addition to that, both the cutter blades 116 and 96 are also cleaned when the scion and rootstock seedlings are not detected by the grafting robot.

The reason why the cutter blades 116 and 96 are washed not only when the automatic operation is finished but also when the scion seedlings and rootstock seedlings are not detected is that the seedlings are not supplied during the grafting work and the cutting blades are being cut. If the grafting robot up to now is in a stopped state, the sap of the seedlings adheres to the cutter blades 116, 96, and the sharpness of the cutter blades 116, 96 becomes poor, so prevent this and always clean the cutter blades 116, 96. At the same time, the life of the product is kept long. The cutter blade 96 of the scion cutting device 23 is adapted to enter the cleaning pot after being lowered from the upper position shown in FIG. 12 to a position where the lower cutter cleaning device 100 is present.

In the present embodiment, the cutting devices 19 and 23 have been described as rotating type, but in the present invention, as described in the patent application invention of the present applicant (Japanese Patent Application No. 6-241324),
It may be configured. That is, although not shown, the rootstock cutting devices 19 and 23 are provided on one side provided in a direction inclined with respect to the vertical direction of the parallelogram-shaped cutter bracket attached to the support of the graft robot base. A type in which a blade is fixed and a hypocotyl portion of a rootstock seedling or a scion seedling is cut when the transporting devices 18, 22 are rotationally transported may be used. Further, the rootstock cutting devices 19 and 2
Conveying device 1 in which the cutting blade portion of 3 is slidable
You may use the type which cut | disconnects the hypocotyl part of rootstock seedlings or scion seedlings at the time of rotation conveyance of 8 and 22.

Next, FIG. 14 shows a clip supply device and a clip joining device. The clip feeder portion 1 (see FIG. 1) of the clip feeding device has grooves for guiding both ends of the handle portion 123a of the clip 123 in a vibrating parts feeder having a spiral rising path along the inner surface of the clip bowl 7. Clip guide rail 9 consisting of a vibrating trough
Is connected, and the tip of the guide rail 9 is connected to a clip hooking device 124 facing the graft portion 2. FIG. 14 shows a top view of a main part of the crib hooking device 124 (= clip joining device 25) connected to the clip guide rail 9.

As shown in FIG. 14, this guide rail 9
The front end of the clip 123 narrows the guide interval between both ends of the handle portion 123a of the clip 123 immediately before the joining portion 6 of the graft portion 2 and the scion 6 (see FIG. 1), and the grip portion 12 of the clip 123 is formed.
A constriction guide rail 125 for opening 3b is connected. Here, when the clip 123 (FIG. 14 (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 123 to move.
The grip portion 123a is moved in a direction to release the bias of the handle portion 123a (FIG. 14 (b)), and the gripping portion 123b keeps the rootstock and the scion in a joined state.

Further, the operation sequence of the grafting robot of this embodiment is as disclosed in FIG. 15, and the operation time chart of each device of the root part 3 and the spike part 5 of the grafting robot of the present invention is shown in FIG. 16 and FIG. 17.

Further, since the grafting robot of the present embodiment has a compact package specification, the temperature inside the grafting robot rises due to a heat source such as a compressor or a dryer for driving each driving part such as a hypocotyl hand. . Therefore, there is a possibility that the temperature may exceed 40 ° C, which is the limit temperature of the compressor.
As shown in 8, the grafting robot body has two intake ports 1
30 and an exhaust fan 131 are provided to most efficiently lower the temperature inside the grafting robot, improve the heat removal performance of the grafting robot, and protect the critical temperature of the compressor.

[0039]

According to the present invention, since the shape of the passage surface of the cutter blade of the hypocotyl auxiliary hand is in contact with the rotation locus of the cutter blade of the cutting device at the time of cutting the hypocotyl, positioning of the seedling at the time of cutting To prevent instability, fix the hypocotyl, reduce the cutting area of the hypocotyl, improve the performance of joining with the rootstock, and improve the survival performance of the graft.

[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 an enlarged view of a hypocotyl-cut portion of a scion seedling by a grafting robot according to an embodiment of the present invention.

FIG. 6 is a view of the grafting robot of the grafting robot of one embodiment of the present invention as seen from the front of the grafting robot of the rooting conveyor device.

FIG. 7 is a partial side view of the rootstock seedling feeding device centering on the rootstock gripping portion of the grafting robot of one embodiment of the present invention (FIG. 7).
(A)), the AA line | wire view of FIG. 7 (a) (FIG.7 (b)).

FIG. 8 is a view of a part of the rootstock seedling feeding device of the grafting robot of one embodiment of the present invention as seen from above (FIG. 8A) and a perspective view of the hypocotyl regulating plate portion (FIG. 8B). ).

FIG. 9 is a diagram showing how the hypocotyl-raising plate of the rootstock seedling feeding device of the grafting robot of one embodiment of the present invention raises seedlings.

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

11 is a bottom view (FIG. 11 (a)) and a side view (FIG. 11 (b)) of the rootstock hypocotyl auxiliary hand of FIG.

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

13 is a bottom view (FIG. 13 (a)) and a side view (FIG. 13 (b)) of the scion hypocotyl auxiliary hand of FIG.

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

FIG. 15 is a diagram showing an operation sequence of the grafting robot according to the embodiment of the present invention.

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

FIG. 17 is a diagram showing a time chart of the scion part of the grafting robot according to the embodiment of the present invention.

FIG. 18 is a diagram illustrating an intake port and an exhaust fan of the grafting robot body 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
5 ... Top plate, 17 ... Rootstock seedling feeding device, 18 ... Rootstock conveying device, 19 ... Rootstock cutting device, 21 ... Hot root seedling feeding device, 22
... scion conveying device, 23 ... scissor cutting device, 39 ... rootstock hypocotyl auxiliary hand, 59 ... scion hypocotyl grasping hand

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takahiro Ogoshi No. 1 Hachikura, Tobe-cho, Iyo-gun, Ehime Prefecture

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 grafting robot that further transports rootstock seedlings and scion seedlings to the joining position by each transport device and joins them, at least one pair of hypocotyl gripping hands and one pair of hypocotyl assists for the rootstock transport device and the scion transport device. A grafting robot, characterized in that a hand is provided, and the shape of the cutter blade passing surface of the cutting device of the hypocotyl-assisted hand is substantially the same as the shape of the cutter blade passing path.