JPH09205883A - Grafting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform excellent grafting operation for a rootstock and a scion by securely gripping the stem parts of the rootstock and scion on an upper and a lower grip hands and cutting them. SOLUTION: This device is equipped with seedling supply conveyance lines 2 and 3 where seedlings H and D are stood, a seedling gripping means 6 which grips the stem parts of the seedling H and D on the conveyance lines 2 and 3 with the upper and lower grip hands 13 and 14, and a seedling cutting means which cuts the specified parts of the gripped stem parts with a cutter 19 after gripping the stem parts of the seedlings. Then, when the seedlings are gripped with the grip hands 13 and 14, the opening width W1 of the upper hand 13 is made larger than the opening width W2 of the lower hand 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention cuts the stems of rootstock seedlings and scion seedlings, and joins the cut lower root stems and the upper root stems at the cutting points. A grafting device for fixing.

[0002]

In this seed grafting device, for example, when a rootstock and a scion seedling carried by a conveyor line move to a predetermined position, the stems of each seedling are gripped by a gripping mechanism. Then, there is a means in which the middle part of the lifting stem is cut with a cutter, and the lower side stem of the cut rootstock and the upper side stem of the scion are joined at the cut surface. When the rootstock and scion seedlings are gripped at a predetermined position by such means, it is not possible to properly grip a seedling with a bad seeding position or a bent seedling.

[0003]

SUMMARY OF THE INVENTION Therefore, the present invention provides a seedling supply / transport line on which seedlings are planted, and a seedling gripping means for gripping the stems of the seedlings on the transport line with upper and lower gripping hands.
A seedling cutting means for cutting a predetermined portion of the stem portion after gripping with a cutter is provided, and when the seedling is gripped by the gripping hand, the opening width of the upper hand is made larger than the opening width of the lower hand, for example, of the stem portion. Even if the seedling has a large bend and is misaligned from the center of the stem axis toward the top of the stalk, the upper and lower hands are surely gripped for accurate cutting.
This makes it possible to improve the efficiency of this grafting work with a very simple construction means.

Further, a seedling feeding and conveying line on which seedlings are planted, seedling holding means for holding the stem portion of the seedling on the conveying line with upper and lower gripping hands, and a predetermined portion of the stem portion after gripping is cut by a cutter. With a seedling cutting means for cutting, at the cutting position after the seedling is gripped by the gripping hand, the seedlings are pushed out into the upper hand by the accessory member of the cutter and pushed into the seedling, and even the seedling that could not be gripped by the upper hand in a bent posture, before cutting In addition, the pushing operation by utilizing the accessory member of the cutter enables the upper hand to securely grasp the seedling, thereby improving the efficiency of the grafting work.

Further, a seedling feeding and conveying line on which seedlings are planted, seedling holding means for holding the stem portion of the seedling on the conveying line with upper and lower gripping hands, and a predetermined portion of the stem portion after gripping is cut by a cutter. A seedling cutting means for cutting is provided, and seedling regulating members for regulating the posture of the seedling stem portion when the seedling is gripped by the gripping hand are provided between the upper and lower hands and at two locations on the upper side of the upper hand,
Even for poorly-positioned seedlings that are difficult to grip with the upper hand, the seedling restraining members that are placed in two locations above and below the upper hand hold the seedlings in proper positions, and the upper and lower hands securely grip the seedlings. It is possible to improve the efficiency of this grafting work.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. 1 is a front explanatory view of a gripping hand, FIG.
Is a schematic plan view of the whole, FIG. 3 is a schematic front view, and FIG. 4 is a front explanatory view of the gripping transfer mechanism section. The grafting device (1) as grafting means is a scion transporting conveyor for scion seedlings. The line (2), the rootstock seedling transfer line (3) that is a root carrier, and the grafted seedling transfer line (4) that is a cutting means are arranged in parallel in a plan view. 2) Each tray (5) placed on (3) (4)
In the pot part (5) capable of storing a plurality of seedlings (H), rootstock seedlings (D), and grafted seedlings (S).
a) is formed in a matrix in plan view.

As shown in FIG. 5, the tray (5) is formed by the scion seedling transport line (2) at the left end and the rootstock seedling transport line (3) at the center, and the tray (5) is moved in the direction of arrow a. The seedlings are transported intermittently at intervals (P) of the parts (5a), and a seedling gripping transfer mechanism (6) that is seedling gripping means, a cutting mechanism (7) that is cutting means, a clip transporting mechanism (8), and the like are arranged. Various work is performed at the lower part of the gate-shaped frame (9), which is shown in FIG.
As shown in 8, the grafted seedlings (S) grafted between the root side of the rootstock seedlings (H) and the tip side of the scion seedlings (D) by the grafting clip (10) are transferred to the grafted seedlings. The line (4) is configured to be intermittently transported at the pitch (P) in the direction of arrow b, which is the opposite direction to the transport direction of the tray (5) of the both transport lines (2) and (3).

Further, on the side of the grafted seedling transfer line (4) and below the gate type frame (9), the upper stems of unnecessary rootstock seedlings (D) are collected. Waste box (1
1) is installed and near the upper side of the waste box (11),
Clip feeders (12) for supplying the clips (10) to the clip transport mechanism (8) one by one are arranged.

As shown in FIG. 4 to FIG. 6, the gripping transfer mechanism (6) removes the ears from the trays (5) and (5) of the scion seedling transfer line (2) and the rootstock seedling transfer line (3). A total of 12 seedlings, 6 seedlings (H) for trees and 6 seedlings (D) for rootstocks, are gripped at once, and the stems at the root side and the tip (upper side) of each seedling The upper and lower gripping hands (13) and (14) hold the upper and lower gripping hands (13) (14) to support the upper transfer frame (15) and the lower gripping hand (14) group. Lower transfer frame (1
6) and 6) are configured to be integrally raised by a predetermined height (C).

When the seedlings (H) and (D) are held by the gripping hands (13) and (14), as shown in FIGS.
A root pot cutting blade (17) (1) (1) (1) for shavings and rootstocks provided on the lower side of the lower gripping hand (14) as shown in FIG.
8) cuts the stalks near the root pots (h) and (d) of the seedlings (H) and (D) to remove unnecessary root pots (h) and (d) in the pot (5a) of the tray (5). While leaving it, only the leaf stem is gripped by the vertical gripping hands (13) and (14) and lifted up by a predetermined height (C), and the vertical gripping hand (1) is held at this height (C) position.
3) The cutter (19) of the cutting mechanism (7) is advanced between (14) to cut the stems of the six seedlings (H) and (D) obliquely with respect to the axis.

Then, a lower gripping hand (1) holding the lower side stems of the scion and the rootstock seedlings (H) (D) whose stems have been cut
The lower transfer frame (16) of 4) is laterally moved by the distance (L1) (for one line width), and the seedling (H) for scion and rootstock
The lower stalk of (D) is configured to be positioned on the tray (5) of the rootstock and grafted seedling transfer lines (3) and (4).

Further, the upper transfer frame (15) of the upper gripping hand (13) group has only a slight dimension (C1) (not shown) while holding the upper side stems of the 12 seedlings with the stems cut. After raising, the upper side stem of the seedling (H) for scion is located above the tray (5) of the grafted seedling transfer line (4), and the upper side stem of the seedling for rootstock (D) is discarded. Distance (L2) (2 of the distance (L1) so that it is located on the box (11)
After laterally moving the same, the upper gripping hand (13) group is lowered by a predetermined dimension (C1), and the upper side stem of the seedling (H) for the scion is the lower side stem of the seedling (D) for the rootstock. The clip (10) is preliminarily loaded in the clip transfer mechanism (8) above the tray (5) of the grafted seedling transfer line (4). The seedlings (D) and (H) are brought close to each other and held and fixed to form grafted seedlings (S). (2
Reference numeral 0) is an air compressor for driving each mechanism (6), (7), (8) and the like, and (21) is a control central processing unit.

[0013] 6 which has been grafted after the grafting work is completed
The book seedlings (S) are previously placed in the pot portions (5a) of the trays (5) of the grafted seedling transfer line (4) when the gripping transfer mechanism (6) is lowered by a predetermined height (C). The lower stem portion of the stem is inserted into the solid medium (22) to be stored, and the upper gripping hand (13) and the lower gripping hand (1
4) is opened to release the grasping of the stem, so that it is stored in the tray (5) of the grafted seedling transfer line (4). Also, in this case, the scion seedling (H) is unnecessary.
The short stem of the dimension between the cutting blade (17) and the cutter (19) of
When the lower gripping hand (14) is opened, the rootstock seedlings (D) on the rootstock part (d) on the rootstock section (d) on the rootstock seedling transfer line (3) are discarded and are no longer needed (D). ) The tip side stem in the waste box (1) by the opening movement of the upper gripping hand (13).
It is configured so that it will fall naturally toward 1) and be discarded.

Next, the detailed structure of the gripping transfer mechanism (6) will be described with reference to FIGS. 4 to 6. The lifting frame (23) of the gripping transfer mechanism (6) is a first lifting actuator (24) such as a lifting air cylinder fixed to the top plate of the gate-shaped frame (9). And provided so as to move largely up and down with respect to the upper surface of the seedling transfer line (3) for the rootstock, and the distance (L1) is provided in the elevating frame (23).
A lower transfer frame (16) having 12 pairs of lower gripping hands (14) is mounted through a first lateral movement actuator (25) such as a lateral movement air cylinder that laterally moves only.

Further, a second lateral movement actuator (27) such as a lateral movement air cylinder is vertically movably arranged on the vertical guide rail (26) on the front surface of the elevating frame (23). 27) is attached to the elevating frame (23) by a second elevating actuator (28) such as an air cylinder so as to move up and down by a distance (C1), and the second lateral movement actuator (27) is used. , 12
The upper transfer frame (15) provided with a pair of upper gripping hands (13) is configured to laterally move a distance (L2).

Furthermore, seedlings for rootstock (D) (seedlings for stem (H)
The base part of the lower gripping hand (14) that holds the lower side stalk of the root side is located on the opposite side far from the cutting mechanism (7) and holds the upper side stalk of the rootstock seedling (D). The base of the hand (13) is located on the opposite side close to the cutting mechanism (7), and the left and right supports (13a) of the upper gripping hand (13).
The narrowing movement mechanism of (13b) and the lower gripping hand (14)
The left and right supports (14a) and (14b) have the same structure as the expansion and contraction moving mechanism, and the expansion and contraction moving mechanism of the lower gripping hand (14) will be described as a representative, as shown in FIG. A pair of left and right sliding support pieces (30a) (30b) and a pair of left and right sliding support pieces (3) are provided on a pair of vertically long guide shafts (29) (29) in the lower transfer frame (16).
1a) and (31b) are slidably fitted to the left and right, and twelve left support bodies (14a) of the lower gripping hand (14) are fixedly spaced on a pair of slide support pieces (30a) and (30b). The horizontal rod (32) to be attached is fixed, and the other pair of sliding pieces (31a) (31b) are attached to the twelve right support bodies (14).
Secure the horizontal rod (33) for mounting b) at regular intervals.

4 and 6, the piston rod (35) of the expansion / contraction actuator (34) provided at the left end of the lower transfer frame (16) is fixed to the slide support piece (30a). Lower transfer frame (16)
The piston rod (37) of the narrowing movement actuator (36) provided at the right end of the is fixed to the sliding support piece (31b), and the left and right narrowing movement actuators (34) (36)
When the piston rods (35) (37) of the left and right are extended, the horizontal rods (32) (33) are laterally moved so as to narrow the left-right space between the left and right supports (14a) (14b), and the left and right supports (14a) ) (14b) Holding pieces (38a) (3) at the tip
8b), the root side stalk of the rootstock seedling (D) (sprout seedling (H)) is sandwiched from the left and right.

Contrary to the above, the piston rod (3
5) When moving (37) back and forth, the left and right supports (14
a) A horizontal rod (3
2) Move the (33) sideways to move the left and right supports (14a) (1
4b) The holding pieces (38a) (38b) at the tip end are spread so as to release the stem, and the upper transfer frame (1
Also in 5), the expansion / contraction movement actuator (34)
The left and right supports (13a) and (13b) are moved left and right through the (36) and the horizontal rods (32) and (33), and the holding pieces (38a) and (38b) at the tips of these support seedlings (D). The stem on the tip side of the (sapling (H)) is held or released.

As shown in FIGS. 6, 7 and 9, the holding pieces (38a) (38b) are L-shaped in cross section and can be guided to surround the stem at the inner side of the horizontal plate. Plan view V
A guide groove (39) having a character shape is formed, and the holding piece (38a) is formed.
A quadrangular cubic soft elastic body (40) such as a sponge is fixed to (38b) in order to prevent damage to the stem when it is held.

As shown in FIG. 1, the upper gripping hand (1
The opening amount of 3) is made larger than the opening amount of the lower gripping hand (14), and the left and right holding pieces (38a) by the actuators (34) and (36) of the upper gripping hand (13).
Open the width (W1) of (38b) with the lower gripping hand (1
4) Left and right holding pieces (38a) (38b) opening width (W
2) The seedlings are gripped without any trouble in the upper gripping hand (13) even if the seedlings are bent to a large extent (W1> W2) and the upper part of the seedlings is largely displaced laterally with respect to the axis of the seedlings. It is configured to be possible.

Next, the cutting mechanism (7) will be described with reference to FIGS. 5, 7, and 8. The cutter (19) in the cutting mechanism (7) is located at a position opposed to the gripping transfer mechanism (6) from the upstream side in the transport direction of the rootstock seedling (D) (sapling seedling (H)) to each stem. Seedlings for rootstock (D) that are pushed close to each other and cut obliquely with respect to the axis of the stem as shown in FIG. 7, and are held by the gripping transfer mechanism (6) and lifted to a predetermined height. In order to prevent the stems of each seedling from escaping and moving against the push-cut of the cutter (19) when cutting 12 seedlings (H) for cutting and cutting at once, an upper gripping hand (13) and a lower gripping hand. Between the upper and lower parts of (14), a pair of right and left gripping pieces (41
After restraining the position of the stem with a) and (41b), each stalk is cut by pushing the cutter (19) forward.

Further, the cutting frame (42) is held at a height position unchanged with respect to the gate-shaped frame (9), and the twelve left gripping pieces (41) are attached to the cutting frame (42).
a) A horizontal rod (43) for supporting the base portion and a right gripping piece (41)
The horizontal rod (44) supporting the base portion of b) is supported so as to be movable left and right, and the gripping actuator (4) such as an air cylinder attached to the cutting frame (42).
The horizontal rods (43) (44) are connected to 5), and the left and right gripping pieces (41a) are operated by the actuator (45).
It is configured to expand and contract the interval of (41b).

On the other hand, a cutter frame (46) of 12 round rods, square rods, plates or the like is fixed on the support frame movably supported in the front-rear direction (direction of arrow a) of the cutting frame (42). The seedlings (D) (H) are projected at intervals and the cutter actuator (47) moves the cutter (19) forward through the cutter shaft (46) to grasp the seedlings (D) (H) up and down by the hands (13) (14). It is configured to cut the stem.

As shown in FIGS. 9 and 11, of the left and right supports (14a) (14b) of the lower gripping hand (14) for the seedlings (H) (D) for scion and rootstock, the lowest end of the stem portion. The root pot cutting blade (17) is made to face the V-shaped guide groove (39) on the lower surface side of the holding piece (38b) which holds the side.
Seedlings (H) on the tray (5) with (18) stuck
(D) Holding pieces (38a) on both left and right sides to hold the stem.
When the distance between (38b) is shortened, the cutting blade (17)
The root side of the stem is cut at (18), and later seedlings (H) (D)
When pulling up the upper part of the stem (leaf part) upwards, the seedling (H)
The root pot parts (h) and (d) of (D) are left in the pot part (5a) of the tray (5), and the seedling posture of the seedlings (H) and (D) at the time of lifting the upper stem side is stably maintained. The cutting blade (17) (1) with the seedling (H) (D) sandwiched between
The receiving blades (48) provided at the opposing positions of (8) are configured to stably maintain the seedling posture at the time of cutting and perform reliable cutting. It should be noted that the receiving blade (48) is provided with an elongated hole (49), and even if dust, dirt, or the like is put on the receiving blade (48), these are dropped downward from the elongated hole (49). , Blade (4
8) It prevents dust and dirt from accumulating on top. Further, in this case, since the rootstock seedling (D) is directly cut into the solid medium (22) by using a variety having a longer stem than the rootstock seedling (H), the rootstock seedling (D) is used. Holding piece (38a) (38
b) and the elastic body (40) are also formed to be long.

The solid medium (22) is made by solidifying soil such as perlite, vermiculite, peat moss, etc., and is provided with a cutting hole (22a) for inserting the stem base of the grafted seedling (S) in the center. After completion, when the grafted seedling (S) whose cut surfaces are joined and held by the clip (10) is lowered by a predetermined height (C) by the gripping transfer mechanism (6), the tray of the grafted transfer line (4) The cutting holes (2) of the solid medium (22) previously stored in (5)
The stem base of the seedling (S) is inserted into 2a) and is then cut.

In other words, in this grafting work, the rootstock seedlings (D) are grafted seedlings (S) obtained by using a variety having a longer stem axis than the scion seedlings (H). The seedlings (H) (D) for scion and rootstock are cut by the cutting blades (17) (18) at the root side when the upper and lower parts of the stem are held by the upper and lower grip hands (13) (14). Bowl (h)
(D) was cut off, and then the center of the stem was cut (1)
When the diagonal cut is performed by 9) and the upper cut side of the seedling (H) and the lower cut side of the seedling (D) are joined, this joining and holding is performed by crimping the clip (10). When grafted seedlings (S) are formed and the grafted seedlings (S) descend to the vicinity of the transport line (4), they are to be grafted on the solid medium (22) waiting on the transport line (4). It is possible to perform good grafting work that is not affected by the formation of pots.

By the way, as shown in FIGS. 12 to 16, when the seedlings (D) and (H) are gripped by the gripping transfer mechanism (6), the stems of the seedlings (D) and (H) are set to two upper and lower postures, respectively. A main body frame (54) is provided with a seedling pulling mechanism (52) which is regulated by a pair of seedling pulling plates (50) (51), which is a set of seedling restraining members, on the tip side of the tray pressing rod (53).
An actuator (56) consisting of an electric / pneumatic or hydraulic motor / cylinder and a guide is attached to a rod base (55) which has a base end fixed to and is arranged in a gate shape on each of the transfer lines (2) and (3). The holding rod (53) is slidably supported via the (57) to support the mounting holder (58) at the base end of the holding rod (53).
The upper bottom surface of the upper gripping hand (14) is guided between the upper and lower gripping hands (13) and (14) while slidingly guiding the upper end surface of the tray (5) on the transfer lines (2) and (3) at the horizontal lower surface part of the above. A pair of seedling attracting plates (50) and (51) are arranged at the two positions.

Further, a slide plate (61) is slidably mounted in the front and rear directions through front and rear guide shafts (59a) (59b) and guide holes (60) which are provided up and down on the upper surface of the tip of the pressing rod (53). Spindle (62) standing on the slide plate (61)
Left and right seedling attracting plates (50) that are substantially L-shaped in plan view above and below
The base ends of (51) are vertically lapped so as to be pivotally supported, and the left and right seedling attracting plates (50) (5
1) A cam groove (6) for opening and closing, which is a cam formed in an arc shape.
3) is engaged with the front guide shaft (59a), and the front and rear guide shafts (59a) (59b) guide the slide plate (61) as shown in FIG. ), The left and right seedling pulling plates (50) (51) are narrowed by the guide of the cam groove (63) so that the width (E1) between these outermost portions is the innermost of the adjacent seedlings (D) (H). It is made smaller than the space (E2) between the seedlings and passed between the seedlings (D) and (H) without being brought into contact with the seedlings (D) and (H), while holding the slide plate (61) of the holding rod (53). When sliding in the base direction (forward direction), the tip ends of the attracting plates (50) (51) are expanded outward so that both wings are expanded,
Left and right seedling attracting plates (50) (51) front end working surface (50
a) (51a) is formed into a horizontal straight line, and then the pressing rod (53)
The seedlings (D) and (H) on the stems (50a) (5)
1a) is brought into contact with and pulled back by a certain distance, the seedlings (D) and (H) are raised and tilted or bent seedlings are maintained in a proper posture in a substantially vertical direction, and the vertical gripping hands (13) (14) are held.
Is configured so that a reliable gripping operation can be performed.

The slide plate (61) is composed of an electric / pneumatic / hydraulic motor or a cylinder integrated with the pressing rod (53) through a wire (64) such as a piano wire or a wire which cannot be bent. Actuator (65) Actuator (65
When the wire rod (64) is pushed and pulled by the expansion and contraction movement of the actuator (65) by connecting to the mounting plate (66) of a), the pulling plates (50) (51) are opened and closed. On the mounting plate (67) of the operating portion (56a) of the actuator (56) for operating the pressing rod (53),
By attaching the attracting plate opening / closing actuator (65) together with the holder (58), two actuators (5
6) (65) is used to move and draw the pulling plates (50) and (51) in the front-rear direction.

In the case of this construction, therefore, as shown in FIG. 16, the trailing edge movement locus (A) when the left and right pulling plates (50) and (51) are closed and opened is arcuate with a large pi. Therefore, the ratio of the occupied area (A1) required for opening and closing (the part surrounded by the locus (A)) should be made small, and the probability of hooking other seedlings or contacting other seedlings will be greatly increased. It can be reduced. In addition, a pair of left and right pulling plates (50) (51) are attached to the upper and lower grip hands (13) (14).
By arranging not only the gap but also the upper side of the upper gripping hand (13), two sets of upper and lower left and right attracting plates (50) are provided even for a seedling that is laterally displaced from the upper axis in a bent posture. ) (51) acts to keep seedlings almost vertical,
The gripping hands (13) and (14) can securely grip the seedlings.

FIG. 17 shows the cutting mechanism (7).
The left and right gripping pieces (41a) (41b) are provided so as to be able to expand and contract with the actuator (45), and the left and right gripping pieces (41a) (41b) are arranged in the front-back direction (arrow a direction).
The cutting frame (42) is provided with an actuator (68) for pushing seedlings such as an air cylinder to be moved to the upper part, and when the upper and lower gripping hands (13) (14) move upward to the seedling cutting position after gripping the seedlings, the upper gripping part is gripped. The protruding seedlings that could not be grasped by the hand (13) were removed from the left and right grasping pieces (41a) (4
It is provided so as to be pushed into the hand (13) by 1b), and this control flow will be described below based on the flowchart of FIG.

The gripping pieces (38a) (38) of the upper and lower gripping hands (13) (14) at the gripping positions of the transfer lines (2) (3).
When b) is fully closed and the seedlings (H) (D) are gripped and raised to the cutting position of the cutting mechanism (7), the spacing between the holding pieces (38a) (38b) of the upper gripping hand (13). Only the half of the cutter (19) is widened to a half open state, and then the left and right gripping pieces (41a) (41b) of the cutter (19) are reduced in the closed state so that the hand (13) ( 1
These grip pieces (41a) (41b) are moved forward to the 4) side. At this time, the front faces of the left and right gripping pieces (41a) (41b) in the closed state come into contact with the seedlings that are not gripped by the hands (13) and (14) and are protruding toward the cutter, and the seedlings are held by the hands (13) (14). ) Side, push the holding piece (38a) (3
The left and right gripping pieces (41
a) (41b) is forcibly pushed in, and after pushing the seedlings, the left and right gripping pieces (41a) (41b) are retracted in a closed state, and thereafter, the left and right gripping pieces (41a) are similarly moved.
The seedlings are restrained at (41b) and cut by the cutter (19) to continue grafting work of the seedlings.

[0033]

EFFECTS OF THE INVENTION As is clear from the above examples, according to the present invention, seedling feeding lines (2) and (3) in which seedlings (H) and (D) are planted, and the feeding lines (2) and (3). ) The upper and lower grip hands (13) (1) of the stem of the upper seedling (H) (D)
The seedling gripping means (6) for gripping with 4) and the seedling cutting means (7) for cutting a predetermined part of the stem portion after gripping with a cutter (19), and the seedling gripping with the gripping hands (13) (14). In this case, the opening width (W1) of the upper hand (13) is made larger than the opening width (W2) of the lower hand (14). Even in the case of poorly-positioned seedlings that are displaced from the center of the stem axis, the upper and lower hands (13) and (14) can surely hold and accurately cut the seedlings. This makes it possible to improve the efficiency of this grafting work.

The seedling supply / transportation lines (2) and (3) in which the seedlings (H) and (D) are planted, and the transport line (2).
(3) Seedling holding means (6) for holding the stems of the upper seedlings (H) and (D) with the upper and lower gripping hands (13) and (14), and the cutter (19) at a predetermined portion of the stems after gripping. A seedling cutting means (7) for cutting is provided, and at the cutting position after the seedling is gripped by the gripping hands (13) and (14), the auxiliary members (41a) and (41b) of the cutter (19) are placed in the upper hand (13). Since the seedlings that pop out are pushed in, even if the seedlings cannot be grasped by the upper hand (13) in a bent posture, the upper hand is pushed by the use of the attached members (41a) (41b) of the cutter (19) before cutting. Since the seedlings can be held in (13), the efficiency of the grafting work can be improved.

Further, seedling supply / transportation lines (2) and (3) in which seedlings (H) and (D) are planted, and the transportation line (2).
(3) Seedling holding means (6) for holding the stems of the upper seedlings (H) and (D) with the upper and lower gripping hands (13) and (14), and the cutter (19) at a predetermined portion of the stems after gripping. A seedling regulating member (50) (51), which is provided with a seedling cutting means (7) for cutting, and regulates the posture of the seedling stem when the seedling is gripped by the gripping hands (13) and (14). 13) and (14) and above the upper hand (13), the upper hand (13) is placed between the upper hand (13) and the upper hand (13). The seedling regulating members (50) (51) arranged at two upper and lower positions regulate the seedlings at appropriate positions, and the upper and lower hands (13) (14).
With this, it is possible to reliably grasp the seedlings, and it is possible to improve the efficiency of this grafting work.

[Brief description of drawings]

FIG. 1 is a front explanatory view of a gripping hand.

FIG. 2 is a schematic plan view of a grafting device.

FIG. 3 is a schematic front view of the grafting device.

FIG. 4 is a front explanatory view of a grip transfer mechanism section.

FIG. 5 is a side view illustrating a grip transfer mechanism portion.

FIG. 6 is a perspective explanatory view of a lower gripping hand portion.

FIG. 7 is a cross-sectional explanatory view of a cutting mechanism section.

FIG. 8 is a perspective explanatory view of a cutting mechanism section.

FIG. 9 is an explanatory diagram of a root pot cutting blade portion of a scion seedling.

FIG. 10 is an explanatory view of a root pot cutting blade portion of a seedling for rootstock.

FIG. 11 is a plan view of a root cutting blade.

FIG. 12 is a side view of the seedling pulling mechanism.

FIG. 13 is a plan view of a seedling drawing mechanism.

FIG. 14 is a side view of a seedling drawing plate portion.

FIG. 15 is a plan view of a seedling drawing plate portion.

FIG. 16 is an explanatory diagram of the operation of the seedling drawing plate portion.

FIG. 17 is an explanatory diagram of grafted seedlings.

FIG. 18 is an explanatory diagram of a seedling pushing operation by the gripping piece.

FIG. 19 is a flowchart of a seedling pushing operation by the grip pieces.

[Explanation of symbols]

 (2) Conveying line (3) Conveying line (6) Grasping transfer mechanism (seedling grasping means) (7) Cutting mechanism (cutting means) (13) (14) Grasping hand (19) Cutter (41a) (41b) Grasping piece (Attached member) (50) (51) Pulling plate (seedling regulating member) (H) (D) Seedling (W1) (W2) Opening width

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Makoto Ueyama 5-3-1 Tsukaguchi Honcho, Amagasaki City, Hyogo Sho Waseiki Industry Co., Ltd. No. 1 Showa Seiki Industry Co., Ltd.

Claims (3)

[Claims] 1. A seedling supply and transport line in which seedlings are planted,
A seedling gripping means for gripping the stalk portion of the seedling on the transport line with upper and lower gripping hands, and a seedling cutting means for cutting a predetermined portion of the stalk portion after gripping with a cutter are provided. The grafting device is characterized in that the opening width of the upper hand is larger than that of the lower hand. 2. A seedling supply / transportation line in which seedlings are planted,
A seedling holding means for holding the stem portion of the seedling on the transport line with upper and lower gripping hands, and a seedling cutting means for cutting a predetermined portion of the stem portion after gripping with a cutter, and a cutting position after seedling holding by the gripping hand. The grafting device is characterized in that it is provided so that the seedlings are pushed out into the upper hand by the accessory member of the cutter and pushed into the upper hand. 3. A seedling supplying and conveying line in which seedlings are planted,
A seedling holding means for holding the stem portion of the seedling on the transport line with upper and lower gripping hands, and a seedling cutting means for cutting a predetermined portion of the stem portion after gripping with a cutter are provided. The grafting device is characterized in that seedling regulating members for regulating the posture of the seedling section are provided at two locations between the upper and lower hands and on the upper side of the upper hand.