JPH0928186A - Clip jointer in tree-grafting robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device which can easily remove clips in the clip feeder. SOLUTION: This clip jointer comprises (1) the clip guide rail 37 which is connected to the clip feeder and composed of a vibrating trough on which a groove is formed for guiding both ends of the handle 36a of the clip 36, (2) the narrowing guide rail 38 which is connected to the top end of the guide rail 37, narrows the interval at both ends between the handles 36a of the clip 36 just before the jointing parts between the rootstock and the scion in the grafting part and releases the clip holder 36b, (3) the clip-opening and closing guide 40 which is set to the top of the narrowing guide rail 38 and can move in the right and left directions so that the opened holding part 36b may be closed, when the clip 36 is pushed out to the grafting position between the rootstock and the scion, and (4) a pusher which pushes the clip sent to the position of the narrowing guide rail 38 to the grafting position of the rootstock and the scion. In this clip jointer, the narrowing guide rail 38 is made movable so that both of the clip-opening and closing guides 40 may be opened in a certain interval in the right and left directions.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a clip joining device of a grafting robot for joining rootstock seedlings and scion seedlings to graft.

[0002]

2. Description of the Related Art Conventionally, when a rootstock seedling and a scion seedling are transported by their respective transporting devices to a joining position of a clip joining device, the cut surface of the rootstock and the cut surface of the spikelet are joined at the joining portion. At the same time, they are joined by a clip supplied from the clip feeder through a joining device.

The clip joining device is provided with a clip guide rail, which is connected to the clip feeder portion and comprises a vibrating trough having grooves for guiding both ends of the grip portion of the clip, and the guide rail. -A narrowing guide rail that is connected to the tip of the clip and narrows the gap between the ends of the clip handle just before the junction of the rootstock and the scion in the graft and opens the grip of the clip. -Le,
A clip opening / closing guide that is provided at the tip of the stenosis guide rail and that is movable in the left-right direction so that the gripping portion that has been opened when the clip is pushed to the joining position of the rootstock and the scion is closed, It is configured by an extruding tool that pushes out the clip sent to the site of the stenosis guide rail through the clip guide rail to the joining position of the rootstock and the scion.

[0004]

When the grafting robot is moved, unless the clips in the straight feeder along the clip guide rail are removed, the alignment of these clips will be disturbed and the subsequent grafting work will be disturbed. There was a problem that caused trouble. In such a conventional art, a straight-moving footway is used.
It is difficult to remove the clip because it is difficult for the hand to enter the end portion, that is, the tip end portion of the clip guide rail.

An object of the present invention is to eliminate such a problem. To achieve this purpose, the following technical measures were taken.

[0006]

That is, the technical means according to the present invention is a vibrating device which is formed continuously with a clip feeder portion and which has grooves for guiding both end portions of a handle portion 36a of the clip 36. Clip guide rail consisting of trough
Connected to the tip of the guide rail 37 and narrowing the gap between both ends of the handle portion 36a of the clip 36 immediately before the joining portion 3 of the rootstock and the scion in the graft portion,
A stenosis guide rail 38 provided so as to open the grip portion 36b of the clip and a tip end portion of the stenosis guide rail 38, and when the clip 36 is pushed to the joining position of the rootstock and the scion. A clip opening / closing guide 40 that is movable in the left-right direction so that the opened grip 36b is closed, and the clip sent to the site of the stenosis guide rail 38 is pushed to the joining position of the rootstock and the scion. A clip joining device including an extruding tool 41, characterized in that the stenosis guide rail 38 is configured to be movable together with a clip opening / closing guide tool 40 so that a space in the left-right direction is opened.

[0007]

When the grafting robot moves, the clip in the straight feeder is removed. In this removal operation, when the clip removal switch is operated, the clip push-out tool is pushed forward from the normal clip ejection position, and at the same time, both the stenosis guide rail 38 and the clip opening / closing guide tool 40 are opened in the left-right direction, and the straight-moving feeder is provided. The tip of the part is largely opened. Therefore, the clip in the straight advance feeder is sent out by the forced vibration of the clip guide rail 37, and is discharged and removed to the outside via the inside of the stenosis guide rail 38 and the clip opening / closing guide tool 40 which are wide open.

As described above, according to the present invention, the clip in the straight advancing feeder can be easily removed, so that the clip in the straight advancing feeder is disturbed when the grafting robot moves, and the subsequent grafting work is performed. We were able to solve the problem that hindered us.

[0009]

An embodiment of the present invention will be described with reference to the drawings. The grafting robot, as shown in FIG.
And a clip feeder portion B, and the graft portion A includes a root portion 1, a spike portion 2 and an intermediate joint portion 3.

The rootstock 1 comprises a rootstock seedling supply device 4, a rootstock seedling transfer device 5 and a rootstock cutter 6, and the scion part 2 similarly has a scion seedling supply device 7 and a scion. It consists of a seedling carrier device 8 and a scion cutter 9. The rootstock seedlings (eggplants such as tomatoes and eggplants) artificially supplied to the rootstock seedling supply device 4 are transferred to the rootstock cutter 6 by the rootstock seedling conveying device 5 rotating in the direction of arrow (a) in FIG. It is transported to the cutting position, where the rootstock cutter
6 rotates from the lower side to the upper side, and the cutter blade cuts off the other root leaves of the rootstock seedling, leaving the rootstock portion. When the rootstock is of the family Cucurbitaceae (cucumber, watermelon, melon, etc.), one cotyledon of the rootstock is left by the cutter blade and the other cotyledons are cut off. The cut rootstock is conveyed in the arrow (B) direction, and is joined to the spike by the clip joining device 10 at the joining portion 3.

Similarly, the scion seedling supplying device 7 is artificially driven.
The scion seedlings supplied to the scooping seedlings are conveyed in the direction of the arrow (c) by the scion seedling conveying device 8 and the tissues above the hypocotyl portion are removed by the scion cutter 9 that rotates downward from the cutting position. Some hypocotyls and roots are cut off, leaving behind. Then, the spikes are conveyed in the direction of the arrow (d), and the spikes and the rootstock are joined at the joining portion 3 by the clips supplied from the clip feeder portion B through the joining device 10. The grafting action is completed.

The rootstock seedling supply device 4 includes a rootstock supply guide groove 4a.
It comprises a rootstock seedling receiving base 4b having a rootstock, a rootstock feeding hand 4c capable of swinging and opening for holding rootstock seedlings, and the like. The rootstock seedlings supplied and set on the rootstock seedling receiving base 4b are gripped by the rootstock seedling transport device 5 and sequentially transported to the cutting position and the joining position. In the rootstock seedling transport device 5, a rootstock transport rotary actuator 11 and a rootstock transport arm support 12 below the actuator 11 are rotatably supported about an actuator rotation shaft 13. ing. The rootstock carrying arm support 12 has the support 12
Root transport arm pushing cylinder 14 supported by the pedestal, Root transport arm 15 extended and contracted by the cylinder 14, and a pair of openable and foldable root hands 16 at the tip of the transport arm 15.
And a pair of openable rootstock auxiliary hands 17 and a pair of openable rootstock root hands 18 for gripping the rootpot of the rootstock seedling. The rootstock hand 16, the rootstock auxiliary hand 17
The rootstock root hand 18 has a pair of gripping claws that can be opened and closed, and grips the rootstock and rootstock by sandwiching them. The rootstock gripping cylinder 19 and the rootstock gripping auxiliary cylinder The opening / closing control is performed by 20 and the root bowl gripping cylinder 21.

The root cutter 6 will be described. Cutter
A drive motor 22 is supported by a column 23, a cutter arm 25 is attached to a drive shaft 24 of the motor 22, and a cutter blade 26 is attached to the tip of the cutter arm 25. . The cutter arm 25 is configured to rotate around the axis of the drive shaft 24 integrally therewith.
As for the scion cutter-9, the rootstock cutter-6 is used.
Since it has the same configuration as the above, detailed description will be omitted.

The scion seedling supply device 7 includes a scion supply guide groove 7a.
The scion seedling cradle 7b has a scooping seedling support 7b, a scooping opening / closing scissor supply hand 7c for gripping the scion seedling, and the like. The scion seedlings supplied and set on the scion seedling receiving base 4b are gripped by the scion seedling conveying device 8 and sequentially conveyed to the cutting position and the joining position. In the scion transfer device 8, a scion transfer rotary actuator 27 and a scion transfer arm support 28 below the actuator 27 are rotatably supported about an actuator rotating shaft 29. ing. The scoop carrying arm support 28 has the support 28
The scoop conveying arm extruding cylinder 30 supported by the scissors, the scoop conveying arm 31 which is expanded and contracted by the cylinder 30, and a pair of swinging openable and closable hands 32 at the tip of the conveying arm 31. And a pair of scoop auxiliary hands 33 capable of swinging and opening. The scion hand 32 and scion auxiliary hand 3
Reference numeral 3 denotes a pair of gripping claws configured to be capable of swinging open / close, and grips by gripping the hypocotyl of the scion. The configuration is controlled to be opened and closed.

The rootstock seedling conveying device 5 rotates about the rotary shaft 13 from the rootstock seedling feeding position of the rootstock seedling feeding device 4 to the cutting position of the rootstock cutter 6 by approximately 90 degrees, and further, at this cutting position. To the joining position of the joining portion 3 is rotated by about 90 degrees. Also in the scion seedling conveying device 8, similarly to the above, the swivel seedling supplying device 7 turns from the scion seedling supplying position of the scion seedling supplying device 7 to the cutting position of the scion cutting device 9 about 90 degrees,
Further, from this cutting position to the joining position of the joining portion 3, approximately 90
It is configured to rotate once.

When the rootstock seedling transporting device 5 and the scion seedling transporting device 8 reach the proper joining position at the joining portion 3,
A joint position detection sensor (not shown) provided on each of the stock transporting rotary actuator 11 and the scion transporting rotary actuator 27 detects it, and based on the detection results of both sensors, The rootstock hand 16 and the scion hand 32 of the carrier move forward in the directions opposite to each other, that is, in the arrow (e) direction, and join the cut surface of the rootstock and the cut surface of the scoop grasped by these. It is configured to do.

The clip joining device 10 includes a clip fiber.
The handle part 36 of the clip 36, which is connected to the lower part B,
A clip guide rail 37 formed of a vibration trough having grooves for guiding both ends of a, and the guide rail 37.
Of the clip 36, which is connected to the tip of the clip 36 and immediately before the joining portion 3 of the rootstock and the scion in the graft portion A.
The narrowing guide rail 38 provided so as to narrow the gap between both end portions of the clip and open the grip portion 36b of the clip. A clip opening / closing guide tool 40 that is operated by the clip opening / closing cylinder 39 so that the gripping portion 36b that has been opened when it is pushed out to the joining position of the tree is closed.
And a push-out tool 41 that pushes out the clip to the joining position. The clip push-out tool 41 is reciprocally operated by a clip push-out cylinder 42.

When the clip 36 is pushed out to the joining position of the rootstock and the scion with the grip portion 36b being opened, the clip opening / closing guide tool 40 releases the bias of the clip handle portion 36a (the clip handle portion). By moving the guides at both ends of 36a in a direction to widen the guide interval) and closing the gripping portion 36b, the rootstock and the scion are clamped and held in a joined state. The constriction guide rail 38 is configured to be openable and closable by a guide opening / closing cylinder 43 so that the left and right gaps are wider than the normal guide gap, similarly to the opening / closing guide tool 40.
The clip push-out tool 41 is constructed so as to be pushed out to the X2 position further forward than the normal clip discharge position X1. Reference numeral 44 indicates a guide cover.

A clip removing switch 46 is provided on the operation panel 45, and the clip removing switch 46 is turned on.
When operated, the clip pushing tool 41 causes the pushing cylinder 4 to move.
By the action of 2, it is pushed forward from the normal clip discharge position, and at the same time, the clip opening / closing guide tool 40 and the stenosis guide rail 38 are controlled to open via the opening / closing cylinders 39 and 43.

When the rootstock seedlings are supplied to the rootstock seedling supply device 4, the rootstock supply hand 4c closes and grips the rootstock seedlings according to the detection result of the rootstock detection sensor (not shown). And
Next, with the rootstock hand 16 open, it enters the rootstock seedling supply device 4 and grips the hypocotyl of the rootstock seedling being supplied. The rootstock seedling grasped by the rootstock hand 16 is a rootstock cutter-6.
Is conveyed to the cutting action position. The rootstock seedlings at this cutting position are cut off by the action of the rootstock cutter 6, leaving one cotyledon of the rootstock seedling. (Cucurbitaceae) The cut rootstock is still joined by the rootstock hand 16 at the joint 3
The root hand 16 is advanced to the corresponding position of the bonding apparatus 10 according to the result of the normal bonding position detection by the detection sensor, and the root gripped by the root hand 16 and the spike hand 32 are advanced. It will be joined to the scion sent by the movement.

When the scion seedling supply device 7 is supplied with scion seedlings, the scion supply hand 7c closes and grips the scion seedlings according to the detection result of the scion detection sensor (not shown). Next, the scion hand 32 enters the scion seedling supply device 7 with the scoop hand 32 open, and grips the hypocotyl of the scion seedling being supplied. The scion seedlings grasped by the scion hand 32 are conveyed to the cutting action position of the scion cutter 9, and the action of the scion cutter 9 leaves tissues above the hypocotyl portion of the scion seedling, The hypocotyl part and the root part are cut off.

The cut spikes are still conveyed to the joining portion 3 by the spike hand 33, and the spike hand 33 advances to the corresponding position of the joining device 10 based on the regular detection result of the joining position by the detection sensor. As a result, the spikes gripped by this move and the rootstock sent by the advancing movement of the rootstock hand 16 are joined. Then, when the clip 36 supplied from the clip feeder portion B through the guide rail 37 comes to the position of the stenosis guide rail 38,
The clip push-out cylinder 42 starts to operate and the clip push-out tool 41 moves forward to move the clip into the narrow guide guide.
It is forcedly pushed and moved along the line 38. When the clip pushed out in this way reaches the joining position of the rootstock and the scion, the clip opening / closing guide tool 40 moves in the direction to release the bias of the grip portion 36a of the clip and the grip portion 36b of the clip. By the closing operation, the rootstock and the scion are clamped and held in a joined state.

When the clip removing work in the straight feeder is performed, first, the clip removing switch 46 is turned on. Then, as shown in FIG. 6, the clip push-out tool 41 is pushed out by the operation of the clip push-out cylinder 42 to the X2 position in front of the normal clip discharge position X1, and at the same time, the operation of the guide opening / closing cylinder 43 and the clip opening / closing cylinder 39 causes the constriction. Both the guide rail 38 and the clip opening / closing guide 40 open in the left-right direction. The clips in the straight feeder are forcibly transferred by the forcible vibration of the clip guide rail 37, and are sequentially pushed out so as to flow through the stenosis guide rail 38 and the clip opening / closing guide tool 40 which are in a wide open state. Ejected and removed.

When the clip removing operation is completed, the clip removing switch is turned off, and the clip pushing tool 41, the stenosis guide rail 38 and the clip opening / closing guide tool 40.
Returns to its original position. The embodiment shown in FIGS. 11 to 13 will be described. When the position of the clip does not match at the joint between the rootstock seedling and the scion seedling, the clip joining device 10, that is, the clip opening / closing guide tool 40 and the narrowing guide rail 38 with respect to the clip guide rail 37. The clip position is adjusted by moving it horizontally.

However, in the embodiment shown in FIG. 11, the gap between the surface 37p parallel to the lateral direction at the tip of the clip guide rail 37 and the inclined surface 38s at the rear end of the constriction guide rail 38 is narrow, and the lateral lateral adjustment is adjusted. There is a problem that can not be enough. Therefore, as shown in FIG. 12, by forming an inclined surface 37s substantially parallel to the inclined surface 38s of the constriction guide rail 38 at the tip of the clip guide rail 37, a large lateral movement adjustment allowance can be obtained. However, since the gap is widened by that amount, a new problem arises that the handle portion 36a of the clip 36 enters. Therefore, in order to solve the following problems,
In the embodiment shown in FIG. 13, the tip of the clip guide rail 37 is a surface 37p parallel to the lateral direction, and the rear end of the stenosis guide rail 38 is also a surface 38p parallel to the lateral direction. However, it is configured such that a sufficient lateral movement adjustment allowance can be secured.

The embodiment shown in FIG. 14 will be described. In the grafting robot of the Solanaceae family, the gripping groove 52 of the seedling gripping hand 51 (common to the rootstock hand 16 and the scion hand 32) is made wider than the conventional one, and a pair of gripping claws 53L, 5L that can be opened and closed.
The 3R itself can be overwrapped so that seedlings with different shaft diameters can be reliably gripped. That is, in the grip groove of the conventional hand ((a) of FIG. 14), the shaft diameter is 2.
Seedlings with a diameter of 5 mm or less fell off, and seedlings with a shaft diameter of ¢ 2.5 mm or more were scratched at the Y part ((a)-) of the hand, and only seedlings with a shaft diameter of ¢ 2.5 mm or so could be gripped. was there.

In the hand 51 of the embodiment of the present invention, seedlings having a large shaft diameter are not scratched because the width of the gripping groove 52 is wide as shown in FIG. In addition, the seedlings having a small shaft diameter have left and right gripping claws 53 as shown in (c)-of FIG.
Since L and 53R are overwrapped and the groove is narrowed, seedlings do not fall off.

[Brief description of drawings]

[Figure 1] Plan view of the grafting robot

FIG. 2 is a plan view of a main part of the same as above.

FIG. 3 is a front view of the main part of the same as above.

FIG. 4 is a plan view of a main part of the clip joining device.

FIG. 5 is a plan view of a main part of the above.

FIG. 6 is a plan view of the main part of the same as above.

FIG. 7 is a front view of the main part of the same as above.

FIG. 8 is a front view of the same as above.

FIG. 9 is a side view of the main part of the same as above.

FIG. 10 is a plan view of an operation panel

FIG. 11 is a plan view of a main part of the clip joining device.

FIG. 12 is a plan view of the main part of the same as above.

FIG. 13 is a plan view of the same as above.

FIG. 14 is an explanatory view of the operation of the seedling gripping hand.

[Explanation of symbols]

A grafting part B clip feeder part 1 rootstock part 2 scion part 3 joint part 4 rootstock seedling feeding device 5 rootstock seedling transport device 6 rootstock cutter-7 scion seedling feeding device 8 scion seedling transport device 9 Houki cutter 10 Joiner 11 Rotating actuator for rootstock transfer 12 Rootstock transfer arm support 13 Rotation axis 14 Rootstock transfer arm Extrusion cylinder 15 Rootstock transfer arm 16 Rootstock hand 17 units Wood auxiliary hand 18 Rootstock pot hand 19 Rootstock holding cylinder 20 Rootstock holding auxiliary cylinder 21 Rootpot holding cylinder 22 Cutter
Drive motor 23 Support 24 Drive shaft 25 Cutter arm 26 Cutter
Blade 27 Rotating actuator for scion transport 28 Scoop transport arm support 29 Rotation axis 30 Scrub transport arm extrusion cylinder 31 Scrub transfer arm 32 Scoop hand 33 Scoop auxiliary hand 34 Scrub Cylinder for gripping 35 Auxiliary cylinder for gripping trees 36 Clip 37 Clip guide rail 38 Stenosis guide rail 39 Clip opening / closing cylinder 40 Clip opening / closing guide tool 41 Clip pushing tool 42 Clip pushing cylinder 43 Guide opening / closing cylinder 44 Guide cover 45 Operation panel 46 clip removal switch

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

Claims (1)

[Claims] 1. A clip guide rail 37 comprising a vibrating trough, which is connected to the clip feeder portion and has grooves for guiding both ends of a handle portion 36a of the clip 36, and the guide rail. 37, which is connected to the tip of 37 and narrows the gap between both ends of the handle portion 36a of the clip 36 immediately before the joining portion 3 of the rootstock and the scion in the graft portion,
A stenosis guide rail 38 provided so as to open the grip portion 36b of the clip and a tip end portion of the stenosis guide rail 38, and when the clip 36 is pushed to the joining position of the rootstock and the scion. A clip opening / closing guide 40 that is movable in the left-right direction so that the opened grip 36b is closed, and the clip sent to the site of the stenosis guide rail 38 is pushed to the joining position of the rootstock and the scion. A clip joining device comprising a pushing tool 41, wherein the stenosis guide rail 38 is configured to be movable together with a clip opening / closing guide tool 40 so as to open a space in the left-right direction. Joining device.