JPH10146132A - Automatically grafting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatically grafting apparatus capable of raising productivity of grafted nursery plant, having the degree of freedom in arrangement of a stock seedling supply part, a stock cutting means, a scion grafting means and a temporarily planting device. SOLUTION: This apparatus for grafting a scion onto a stock is obtained by installing seedling gripping bands 52 at the tips of plural arms of a supporting plate 51, holding plural stock seedlings and scion seedlings D, simultaneously subjecting the plural stock seedlings and the plural scion seedlings D to operation different in contents of operation and successively holding, fixing and cutting the stock seedlings and scion seedlings D. Grafted nursery plants K after the grafting are transported by holding the heavy stock seedling side so that the removal of the grafted nursery plants K from the grafted part can be prevented during rotary transportation. Since the grafting parts of the stock seedlings and the scion seedlings D are cut by smoothing cutting faces by an ultrasonic vibration cutter, rooting ability of grafting is improved, cutting performances are not reduced even if sap is attached to a cutter blade, the life of a knife is prolonged and even soft seedlings can be cut in high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an automatic grafting apparatus for mechanically grafting plant seedlings.

[0002]

2. Description of the Related Art A rootstock seedling having a root and stored in a rootstock seedling box is supplied from the rootstock seedling box to a rootstock seedling supply unit and held there. The stored scion seedlings are supplied from the scion seedling box to the scion seedling supply unit and retained.The retained scion seedlings are taken over by scion grafting means, pinched, cut, and cut. A grafting device for producing and taking over rootstock seedlings by rootstock grafting means, pinching and cutting to produce rootstocks, joining splints to rootstocks and terminating the grafting, and a grafting machine after the grafting is completed A fully automatic grafting device comprising a temporary planting device for holding, moving, temporarily planting, and then carrying out a seedling is disclosed in Japanese Patent Application Laid-Open No. 7-19.
No. 4249, and the like.

The root graft grafting means of the above-mentioned fully automatic grafting device comprises a cross-shaped support plate in which four arms form a cross at 90 degrees apart from each other, and seedling holding means provided at the tip of each arm.
Further, the rootstock grafting means is configured to be rotatable around the center of the cross, and in a state where the rootstock grafting means is stopped at a predetermined position, each seedling holding means is provided with a rootstock seedling supply unit and a rootstock, respectively. The tree cutting means, the scion grafting means, and the temporary planting device are respectively faced, and each time one of the seedling holding means is rotated by a predetermined angle, the stock seedling supplying section, the stock cutting means, the scion grafting means, and the temporary planting device are respectively faced. The rootstock seedling supply unit, rootstock cutting means, scion grafting means, and temporary planting device are respectively arranged so that one crossing means can rotate the cross-shaped support plate once and each of the four means / devices can be used. The grafted seedlings are produced one by one through the four stages facing the plant, and the grafted seedlings are handed over to the grafting device.

[0004]

In the above-mentioned automatic grafting apparatus for mechanically grafting plant seedlings, one seedling holding means faces four means and apparatuses by rotating the cross support plate once. After 4 stages of stopping at 4 locations, 1 grafted seedling
Since the grafting plant was produced one by one and the grafted seedling was handed over to the grafting device, the feeding direction of the original seedlings and the conveying direction of the grafted seedlings were orthogonal to each other, and the grafting device production efficiency of the grafting device was not high, and Tree seedling supply, rootstock cutting means,
Due to the lack of freedom in the arrangement of the scion grafting means and the temporary planting device, there was considerable difficulty in designing and producing the automatic grafting device.

Accordingly, an object of the present invention is to provide an automatic grafting apparatus which increases the productivity of grafted seedlings and has a degree of freedom in the arrangement of rootstock seedling supply, rootstock cutting means, scion grafting means and temporary planting apparatus. It is to be.

[0006]

The above object of the present invention is achieved by the following constitution. That is, the rootstock seedling supply means for supplying the rootstock seedlings, the rootstock seedling supply means for supplying the rootstock seedlings, and the rootstock seedlings supplied from the rootstock seedling supply means are gripped, and a predetermined position of the rootstock seedling is determined. Cutting into a stock, holding the scion seedling supplied from the scion seedling supply means, cutting a predetermined portion of the scion seedling into a scion, joining the cutting and the cutting surface of the scion. An automatic grafting device comprising a grafting means for producing grafted seedlings and a temporary planting means for temporarily planting grafted seedlings supplied from the grafting means in a seedling box, wherein the grafting means comprises rootstock grafting means and scion grafting means. The rootstock grafting means comprises a support plate having three or more arms arranged at equal intervals, and a seedling holding means provided at each end of each arm, and the support plate pivots around the center of the support plate. It is rotatable as the center, and the rootstock grafting means is stopped at a predetermined position. Only three sets of the plurality of seedling holding means face the rootstock seedling supply means, the scion grafting means, and the temporary planting means, respectively, and one seedling holding means rotates every predetermined angle, and the rootstock seedling supply means, This is an automatic grafting apparatus in which rootstock seedling supply means, scion grafting means and temporary planting means are arranged so as to face the scion grafting means and the temporary planting means in this order.

In the automatic grafting device of the present invention, the following configuration can be adopted. That is, the scion grafting means comprises a support plate in which two or more arms are arranged at equal intervals, the center of which is rotatable about a center thereof, and a seedling holding means provided at the tip of each arm, In a state where the scion grafting means is stopped at a predetermined position, the seedling holding means faces the scion seedling supply means and the rootstock grafting means, respectively, and one seedling holding means rotates the scion grafting means at a predetermined angle. The seedling supply means and the rootstock grafting means are arranged so as to face the seedling supply means and the rootstock grafting means in this order, and the rootstock grafting means is located at a position facing the rootstock seedling supply means. At the position facing the scion seedling supply means, the scion grafting means takes over the scion seedlings at the position facing the scion seedling supply means, and cuts the specified portions of the scion seedlings. To cut the spikes and produce The grafting means and the scion grafting means are rotated synchronously or unsynchronized, and the graft and the scion are joined at a position where the stocking grafting means and the scion grafting means face each other to complete a grafted seedling, At the position facing the temporary planting means, the rootstock grafting means is an automatic grafting device that takes over the grafted seedlings to the temporary planting means.

The grafting device described in Japanese Patent Application Laid-Open No. 7-194249 is arranged such that the direction of feeding the original seedlings and the direction of carrying out the seedlings after grafting for temporary planting make an angle of 270 degrees, so that the grafting device cannot be made compact. In contrast to the fact that the time from the original seedling to the temporary planting becomes relatively long, if the arms of the support plate of the grafting device of the present invention are formed in a cross shape with the arms oriented in directions perpendicular to each other, the original seedling supply direction and Since the grafting seedling carrying direction is on a straight line for temporary planting, it is possible to make compact and shorten the time from the original seedling to temporary planting.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the automatic grafting device of the present invention will be described below. As shown in FIG. 3, the grafting device 5 (FIG. 1) for the rootstock and the scion is provided with seedling holding means at the tips of a plurality of arms of the support plate 51 to provide a plurality of rootstock seedlings C (FIG. 1).
5) and the scion seedlings D (FIG. 15) are sandwiched, and a plurality of rootstock seedlings C and scion seedlings D are simultaneously operated with different work contents. The seedling D was taken over, held and fixed, and at the same time, a cutting operation was performed. The grafted seedling after grafting is conveyed while holding the heavy rootstock seedling I (FIG. 15) side so as to prevent the grafted seedling K (FIG. 15) from coming off the joint portion during the rotation conveyance.

Further, cutter blades 54 and 64 (FIG. 9) which ultrasonically vibrate to cut the grafted portion of the rootstock seedling C and the scion seedling D.
(A) and FIG. 9 (b)).
By making the cut surface of the seedling of No. 4 smooth, the survival rate of the graft is improved, and even if sap adheres to the cutter blades 54a and 64a, the cutting performance does not decrease and the life of the blade is extended. In addition, since the cutting edge is ultrasonically vibrated, the cutting speed can be reduced without lowering the cutting performance, so that even when cutting a soft seedling, the seedling is not pushed by the cutting edge and does not escape, so the cutting position accuracy is increased. be able to.

Further, as shown in FIG. 3, a hypocotyl lower cutting cutter 59 is provided below the intermediate position where the cross-shaped support plate 51 is turned by 90 degrees. The lower part of the hypocotyl E, which moves with the rotation of the support plate 51, is cut so that the length of the rootstock seedling I from the cotyledon development base is uniformly set. Therefore, even if the growth of the rootstock seedling A is uneven, the grafted seedling K The height of the planted seedlings can be made uniform by keeping the height of the planted seedlings constant, and the growth of the planted seedlings can be made constant.

A male clip 71a shown in FIG. 16A is used as a clip for fixing the joint between the rootstock seedling I and the hogi seedling J.
And the female clip 71b shown in FIG. 16 (b) has a cross section that can be fitted in a state where the rootstock seedling I and the scionling seedling J are joined together, and is a clip material 72a formed in a long string shape (FIG. 18). , 7
2b (FIG. 17) is pulled out, cut to a required length while being gripped, transferred to a grafting position while being gripped, and pressed and fitted from the left and right. Since the direction of the cut clips is uniform, there is no need to align them, and the clips are economically inexpensive.

Next, a specific example of the automatic grafting device of the present invention will be described with reference to the drawings. Example 1 This example is an automatic grafting device 1 that cuts and grafts a root pot of cucurbit vegetables, and is cut from rootstock seedlings A and B, and cut from rootstock seedlings B. The case where the grafted seedlings K are produced by grafting the seedlings D will be described.

In the cutting of the root of the hypocotyl of the rootstock seedlings A and B, especially in cucurbits, the rooting period is short because the seedling raising period is short, and the treatment with the rootstock is unstable. However, it is possible to stabilize the grafting treatment by cutting the roots and to eliminate the problem of the growth difference after grafting by adjusting the roots to the same height.

The automatic grafting apparatus 1 is shown in FIGS. 1 and 2 (FIG. 2 shows a grafting seedling box transport belt 11c and its driving means 12).
The figure seen from the c-side side is shown. ), A compressor, solenoid valves, etc., all of which are not shown, are provided in the lower part of the machine frame 2. The section 4 is provided with a rootstock / spike grafting device 5 and a temporary planting device 8.

The machine frame 2 of the automatic grafting apparatus 1 includes a rootstock seedling supply unit machine frame 2a, a scion seedling supply unit machine frame 2b, and a temporary planting machine frame 2
In the first embodiment, a rootstock seedling supply unit machine frame 2a is disposed at the center shown in FIG. 1, and a scion seedling supply unit machine frame 2b and a temporary planting device machine are disposed on the left and right of the rootstock seedling supply unit machine frame 2a. The example which arrange | positioned the frame 2c was shown.

A rootstock seedling box conveyor belt 11a is mounted on the rootstock seedling supply unit machine frame 2a of the rootstock seedling supply unit 3, and a headstock seedling box is mounted on the headstock seedling supply unit machine frame 2b of the scion seedling supply unit 4. The transport belt 11b is wound, and the grafted seedling box transport belt 11c is wound around the temporary planting machine frame 2c of the temporary planting device 8.

A plurality of rootstock seedling supply section column members 3d are erected on the rootstock seedling supply section machine frame 2a, and a rootstock seedling supply section frame 3e is connected to the top of the column member 3d. Rootstock supply device 3b and rootstock alignment device 3c on seedling supply unit frame 3e
To suspend.

A plurality of spikelet seedling supply section pillar members (not shown) are erected on the spikelet seedling supply section machine frame 2b, and a spikelet seedling supply section frame 4e is connected to the top of the pillar member. A scion supply device 4b and a scion alignment device 4c (FIG. 1) are suspended from the scion seedling supply frame 4e.

The rootstock seedling supply frame 3e and the scion seedling supply frame 4e are separably connected by fastening means such as bolts, but the rootstock seedling supply frame 3e and the scion seedling supply frame 4e. Can be integrally configured.

The rootstock / spike grafting section frame 5 is adjacent to the rootstock seedling supply section frame 3e and the spikelet seedling supply section frame 4e on the downstream side in the traveling direction of each of the conveyor belts 11a and 11b.
b is provided. The stock and scion grafting frame 5b is provided across the scion seedling supply unit machine frame 2b, the stock seedling supply unit machine frame 2a and the temporary planting device machine frame 2c.
b, connected to the tops of a plurality of rootstock and scion grafting frame columns 5a erected on each of the rootstock seedling supply unit machine frame 2a and the temporary planting device machine frame 2c, and the rootstock and scion grafting frame The rootstock / hogi graft part 5 is suspended from 5b.

Rootstock / Hoki grafting part 5 is rootstock grafting mechanism 5
0 (FIG. 3), a scion grafting mechanism 60 (FIG. 3), and a clip supply mechanism 70 (FIG. P), and the grafted seedling K grafted by the stock and scion grafting section 5 is a temporary planting device 8 (FIG. 1). Is taken over and planted temporarily.

The base grafting mechanism 50 has four arms 51a and 51a as shown in a plan view of a main part of the grafting mechanism shown in FIG.
b, 51c, 51d are provided at equal intervals on the cross-shaped support plate 51 so as to be pivotable in a horizontal plane about the center 51x of the cross, and closed at the tip of each of the arms 51a to 51d when the rootstock seedling C is gripped. A rootstock seedling hypocotyl fixing hand 52, which is a rootstock seedling holding means that is released when the grafted seedling K is taken over after grafting, and one of the rootstock seedlings C when the rootstock seedling C is gripped by the hypocotyl fixing hand 52 And a cutting cutter 54 that presses and fixes the cotyledon G and then cuts a predetermined portion of the rootstock seedling C.
(FIG. 9 (a)), the turning cylinder 55 (FIG. 4) of the support plate 51, and the opening cylinders 52a and 52 of the hypocotyl fixing hand 52.
c, comprising a hypocotyl lower cutting cutter 59 and the like.

After the hypocotyl fixing hand 52 of one arm 51a of the support plate 51 grips and cuts the rootstock seedling C, the support plate 51
Is the grafting position P (see FIG. 1)
It is turned 90 degrees in order to move to 5), but the hypocotyl cutting cutter 59 that cuts the lower part of the hypocotyl E (FIG. 4) of the rootstock seedling C below the hypocotyl fixing hand 52 at the halfway point of the rotation. Are arranged to cut the length of the hypocotyl E of the grafted seedling.

As shown in FIG. 3, the scion grafting mechanism 60 can pivot a support plate 61 in which two arms 61a and 61b are arranged at equal intervals in a single character in a horizontal plane about the center 61x of one character. At the tip of each arm and closed when the scion seedlings D are gripped, cutting the hypocotyl F of the scion seedlings D (FIG. 11) at predetermined locations, and transferring the scion seedlings J produced by the grafting seedlings K. A hand-held seedling grasping hand 62 that is sometimes opened, and a grasping hand 62
The pressing mechanism 63 that holds and presses both cotyledons H of the hogi seedling J after gripping the hogi seedling J with (FIG. 12A)
After holding and pressing the hogi cotyledons H, a cutting cutter 64 (FIG. 13) for cutting a predetermined portion of the hogi seedlings J, a turning cylinder 65 of the support plate 61 (FIG. 14), and a gripping hand 62
And the opening / closing cylinder 62f (FIG. 12A).

9 (a) (a plan view of the cutter portion) and FIGS. 9 (b) (a view taken along the line AA in FIG. 9 (a)). ), The cutting blades 54b and 64b are attached to the tips of the ultrasonic vibration elements 54a and 64a, respectively.
The cutting blades 54b, 64 which hold the a, 64a with the moving cylinders 54c, 64c, respectively, and ultrasonically vibrate at predetermined positions of the hypocotyls E of the rootstock seedlings C and the earlings D.
The cutting edge b is crimped to cut the hypocotyl E.

As shown in FIG. 3, one arm 6 of the support plate 61
After the gripping hand 62 of 1a grips and cuts the scion seedlings D, the support plate 61 rotates 180 degrees to move to the grafting position P (FIGS. 3 and 15) with the rootstock seedlings C. The cut cutting stock C and the cut scion seedling D are joined at the grafting position P so that the cut surfaces are joined together so that the joined portion can be fixed by the clip supply mechanism 70 (FIGS. 17 and 18). The clip 71a and the female clip 71b are supplied, and FIG.
As shown in FIG. 16 (c), the grafted seedling K is completed by holding the joined portion of the grafted seedling K by sandwiching it between the male clip 71a and the female clip 71b.

As shown in FIGS. 15 to 23C, the clip supply mechanism 70 includes a male clip supply reel 78a for supplying a male clip 71a, a clip supply motor 73a, a clip cutter 74a, a clip gripping hand 75a, and a hand pushing cylinder. 76a, hand moving cylinder 77a
And the like, a female clip supply reel 78b for supplying the female clip 71b, a clip supply motor 73b, a clip cutter 74b, a clip gripping hand 75b, a hand pushing cylinder 76b, a hand lowering cylinder 77b, and the like.

While the hypocotyl fixing hand 52 of one arm 51a of the support plate 51 (FIG. 3) holds the completed grafted seedling K, the support plate 51 temporarily implants the grafted seedling K as shown in FIG. Turns 90 degrees to take over to the takeover position Q
In this example, after the grafted seedling K is taken over by the temporary planting device 8, it turns 90 degrees, and then turns 90 degrees to return to the position M where the rootstock seedling C is taken over.

As shown in FIG. 3 and FIG.
The arm 61a of the book is a grafted seedling K whose gripping hand 62 is completed.
Is transferred to the rootstock seedling grafting mechanism 50 at the grafting position P, and then turned 180 degrees in synchronization with the turning of the support plate 51 to return to the handedwood seedling transfer position N.

The temporary planting means 80 of the temporary planting device 8 (FIG. 30)
At the seedling handover position Q (FIGS. 3 and 15), the grafting seedling K grafted at the rootstock / spike grafting position P of the automatic grafting device at the Q position and a gripping hand mechanism for gripping the grafting seedling K are moved forward and backward. Move the gripping hand to the lowered position by turning, turning left, right, up and down, and grafting seedling box (c) (Fig. 1)
A grafting seedling K is inserted into a vertical hole drilled in the soil for temporary planting filled in the pot hole 21 and temporarily planted. These operation controls are configured to be performed by a control device (not shown).

The operation of the stock / spike grafting section 5 of the automatic grafting apparatus of the present invention will be described below with reference to the drawings.
The rootstock seedlings A become rootstock seedlings C whose root pots have been cut in the rootstock seedling box supply device (not shown) of the rootstock seedling supply unit 3, and the rootstock seedlings C are sent to the rootstock alignment device 3c. Rootstock alignment plate 36 (FIGS. 6 (a) and 6 (b)) while aligning the directions of the cotyledons G
To arrive at the end of the stock alignment plate 36 and the takeover position M of the stock.

When a detector (not shown) detects that the rootstock seedling C has arrived at the end of the rootstock alignment plate 36, the rootstock takeover operation will be described with reference to FIGS. (Top view)) and FIGS. 6A to 6B (Side view) (FIG. 6)
FIG. 6A is a view taken along the line AA in FIG. 5B, and FIG.
(C) BB arrow view) as shown in FIG.
0 operation is started. Rootstock grafting mechanism 50 is gripping piece 5
0g, 50g and is always open (Fig. 5
(A)).

After detecting the arrival of the rootstock seedling C at the end of the rootstock alignment plate 36, the gripping hand pushing cylinder 50a operates to move directly below the rootstock seedling C, and the gripping hand actuator 50j activates the gripping piece 50g. Is closed, and the rootstock seedling C is gripped (FIGS. 5B and 6A). Then, the gripping hand moving cylinder 50b operates to hold the rootstock seedling C to the rootstock alignment plate 36. And the rootstock pulling brush 50c is operated to pull the rootstock seedling C (FIGS. 5 (c) and 6 (b)). The vertical position of the rootstock seedling C is regulated by the base of the rootstock seedling C coming into contact with the upper surface of the gripping piece 50g.

As shown in FIG. 3, a total of four sets of hypocotyl fixed hands 52 provided at the tips of the four arms 51a, 51b, 51c and 51d of the cross-shaped support plate 51 respectively The shaft fixing pieces 52e, 52e are connected to pins 52f,
At 52f, it is rotatably supported and has an elastic spring 52g.
Are always closed by being biased in the closing direction at the position M facing the stock alignment plate 36 (FIG. 6 (a)) and the position Q facing the temporary implantation apparatus 8 in two sets of hypocotyl fixing hands 52. Only the hypocotyl fixing pieces 52e, 52e are opened by the hypocotyl fixing hand release cylinders 52a and 52c.

After one arm 51a of the cross-shaped support plate 51 faces the rootstock seedling transfer position M, that is, the rootstock aligning plate 36, before the rootstock retraction brush 50c operates, the hypocotyl fixed hand opening cylinder 52a is moved. When the cam 52b moves forward
Opens the hypocotyl fixing pieces 52e, 52e. When the rootstock seedling C is retracted to a predetermined position by the operation of the rootstock retraction brush 50c, the hypocotyl fixing hand releasing cylinder 52a is operated to retreat, and the cam 52b is also retracted from the hypocotyl fixing pieces 52e, 52e to move the hypocotyl fixing piece. By closing 52e, 52e, the hypocotyl E of the rootstock seedling C is fixed.

The four arms 51a, 5 of the cross-shaped support plate 51
A total of four sets of cotyledon fixing hands 53 provided on each of the four sets of hypocotyl fixing hands 52 provided at the tip of each of 1b, 51c, and 51d are shown in FIGS.
7 (a) and FIG. 7 (b), a pin 53 is attached to an inverted L-shaped cotyledon fixing stand 53d erected on the arm of the cross-shaped support plate 51.
The cotyledon fixing piece 53e, which is rotatably supported at f, is always closed by being urged in the closing direction by an elastic spring 53g, but the position M and the position facing the stock alignment plate 36 and the temporary planting device 8, respectively. In Q, only the cotyledon fixing pieces 53e of the two sets of cotyledon fixing hands 53 are opened by the cotyledon fixing hand release cylinders 53a and 53c.

After one arm 51a of the cross-shaped support plate 51 faces the stock alignment plate 36 at the position M, before the stock pull-in brush 50c operates, the hypocotyl fixing hand 52 (FIG. 6).
In parallel with the opening of (a)), the cotyledon fixing hand opening cylinder 53a is operated to press one end of the cotyledon fixing piece 53e, and the cotyledon fixing piece 53e is opened against the urging of the elastic spring 53g in the closing direction. (FIG. 8: a view from the direction of arrow H in FIG. 4).

Rootstock retraction brush 50c (FIG. 6A)
When the rootstock seedling C is pulled into a predetermined position by the operation of FIG. 6B, one piece of the cotyledon G becomes a cotyledon fixing stand 53d (FIG. 7).
(A)), the cotyledon fixing hand release cylinder 52a (FIG. 3) moves backward to cope with the cotyledon fixing piece 53e.
7 (a) is released, and the cotyledon fixing piece 53 is released.
e is closed by the biasing force of the elastic spring 53g, and a piece G of the cotyledon of the rootstock seedling C is fixed to the cotyledon fixing base 53d (FIG. 7).
(A) and FIG. 7 (b)). On each side of the cotyledon fixing piece 53e and the cotyledon fixing stand 53d facing the cotyledon G, a soft material such as rubber (not shown) is stuck to protect the cotyledon G.

After the hypocotyl E and cotyledon G of the rootstock seedling C are fixed by the hypocotyl fixing hand 52 and the cotyledon fixing hand 53, respectively, the rootstock retraction brush rotating motor 50d (FIG. 5)
(C)) is stopped, and the stocking brush revolving cylinder 5
0f and the rootstock retraction brush moving cylinder 50e operate to return the rootstock retraction brush 50c to the initial position.

After the hypocotyl E and the cotyledon G of the rootstock seedling C are fixed by the hypocotyl fixing hand 52 and the cotyledon fixing hand 53, respectively, as shown in FIGS. The cutter moving cylinder 54c operates to advance the rootstock cutting cutter 54, and simultaneously activates the ultrasonic vibration element 54a to bring the rootstock cutting cutter blade 54b that vibrates ultrasonically into contact with a predetermined portion of the rootstock seedling C. The rootstock seedling C is cut into hypocotyls E and cotyledons G while leaving one cotyledon G. The stock cutting cutter moving cylinder 54c acts on a hydraulic control orifice (not shown) at a position where the stock cutting cutter blade 54b contacts the stock seedling C to reduce the forward speed, and the stock cutting cutter blade 54b is an ultrasonic vibration element. The rootstock seedling C comes into contact with the rootstock seedling C at a very low speed while being ultrasonically vibrated by 54a, and escapes due to the pressing force of the rootstock cutting cutter blade 54b with which the rootstock seedling C is abutted,
Control not to be pinched.

Since the rootstock cutting blade 54b abuts against the rootstock seedling C while being ultrasonically vibrated by the ultrasonic vibrating element 54a, the cutting edge acts very sharply even if the rootstock seedling C is flexible and brittle. Since the cutting action is good, it is possible to prevent adhesion of the sap by ultrasonic vibration without bending the rootstock seedling C, prevent the cutting ability of the cutting edge from lowering, and reduce wear of the cutting edge. The rootstock seedling C is cut into a hypocotyl E with one cotyledon G and one cotyledon G, and the hypocotyl E with one cotyledon G becomes a rootstock seedling I (not shown).

After fixing the hypocotyl E and cotyledon G of the rootstock seedling C with the hypocotyl fixing hand 52 and the cotyledon fixing hand 53, respectively, in parallel with cutting the rootstock seedling C with the rootstock cutting cutter 54, The rootstock seedling gripping hand 50 is opened, and the rootstock seedling gripping hand pushing cylinder 50a and the rootstock seedling gripping hand moving cylinder 50b are operated, and the rootstock seedling gripping hand 50 is moved.
To its original position.

When the rootstock seedling I is completed by cutting the rootstock seedling C, the rootstock cutting cutter 54a that vibrates ultrasonically is stopped.
The rootstock cutting cutter moving cylinder 54c is operated to retreat, and the rootstock cutting cutter 54 is returned to the original position.

After cutting the rootstock seedling C to complete the rootstock seedling I, the support plate turning cylinder 55 (FIG. 4) is operated to turn the cross-shaped support plate 51 (FIG. 3) 90 degrees, thereby forming a cross shape. One arm 51a of the support plate 51 reaches the graft position P, the other arm 51b moves to a position M facing the stock alignment plate 36, and the same operation as described above is performed for the other arm 51b. Will be After the operation of the arm 51b is completed, the arms 51c, 5c
The operation continues as 1d, 51a,.

A hypocotyl lower cutting cutter 59 (FIG. 3) is provided below the position where the cruciform support plate 51 rotates 90 degrees, and is fixed to the hypocotyl fixing hand 52 and moves with the rotation of the cruciform support plate. The lower part of the hypocotyl E is cut, and the length of the rootstock seedling I from the base of cotyledon development is uniformly cut. In this embodiment, a rotating blade rotated by a motor is used as the hypocotyl lower cutting cutter 59, but the type of the cutter is not limited. The details of the operation of the rootstock grafting mechanism 50 are as shown in the time charts of FIGS.

The operation of the scion grafting mechanism 60 will now be described. As shown in FIG. 1, the scion seedling B is cut into a scion seedling D by cutting the root pot in the scion feeding device 4b of the scion seedling supply unit 4, and the scion seedling D is sent to the scion aligning device 4c. While being aligned in the direction of the cotyledons H, the cotyledons H move on the scion alignment plate 46 (FIG. 10) and arrive at the end of the scion alignment plate 46 (position N). FIG.
As shown in FIG. 2 (a), the holding piece 6
2g has been previously opened.

The end of the scion seedling D is drawn by a detector (not shown) so that the scion alignment plate 46 (FIGS. 10 and 11: these drawings can be drawn. A patent drawing cannot be created as it is). 3. When it is detected that the vehicle has arrived at the position N) in FIG. 15, FIG. 10, FIG. 11 and FIG.
12 (d), the seedling retraction brush 60
The operation of d (FIGS. 10 and 11) is started. Since the seedling retraction brush 60d is disposed immediately below the end (position N) of the scion aligning plate 46, the seedling retraction brush vertical cylinder 60a is raised, and at the same time, the scion seedling grasping hand pushing cylinder 62a is pushed out, and the scion. The hypocotyl F of the seedling D is pulled into the seedling pulling brush 60d and the gripping piece 62 of the gripping hand 62.
g, 62g (FIG. 12A).

Next, the grasping pieces 62g and 62g are closed by the seedling pulling brush sandwiching cylinder 60b, and at the same time, the scion seedling grasping hand opening / closing cylinder 62f is operated to close the scion seedling grasping hand 62 to close the hypocotyl F of the scion seedling D. (FIG. 12C), the seedling retraction brush rotating cylinder 60c is rotated to retract the seedlings. When the seedling retraction is completed, the seedling retraction brush rotating cylinder 60c is stopped, and the seedling retraction brush vertical cylinder 60a is lowered. Then, the cotyledon H is passed through the slit of the scion alignment plate 46 at the position N, and the two cotyledons H, H are superimposed (FIG. 11). As shown in FIG. By operating, the cotyledon fixing piece 63e is pressed against the cotyledon fixing base 63d to fix the two cotyledons H, H.

Cotyledon fixing piece 63e and cotyledon fixing stand 63d
A soft material such as rubber (not shown) is adhered to the side facing the two cotyledons H, H to protect the cotyledons H, H.

The hypocotyl F of the scion seedling D is attached to the scion seedling grasping hand 62.
After fixing the two cotyledons H, H by the cotyledon fixing hand 63, FIG. 13 (FIG. 13 (a) is a top view, FIG.
As shown in FIG. 13 (a) as viewed from the arrow A in FIG. 13 (a), the scion cutting cutter moving cylinder 64c operates to advance the scion cutting cutter 64, and at the same time, the ultrasonic vibration element 6
Activating 4a and ultrasonically vibrating scion cutting cutter blade 6
4b is brought into contact with a predetermined portion of the scion seedling D, and the scion seedling D is cut into two cotyledons H, H in the middle of the hypocotyl F.

At the position where the scion cutting cutter blade 64b abuts on the scion seedling D, the scion cutting cutter moving cylinder 64c acts on a hydraulic control orifice (not shown) to reduce the forward speed, thereby causing the scion cutting cutter blade 64b to spike. The seedlings D are brought into contact with the seedlings D at a very low speed, and the seedlings D are controlled so as not to escape or be caught by the pressing force of the tipping cutter blade 64b contacted.

Since the scion cutting blade 64b abuts on the scion seedling D at a very low speed while being ultrasonically vibrated by the ultrasonic vibrating element 64a, the cutting edge is extremely sharp even if the scion seedling D is flexible and brittle. The cutting action is good and the cutting action is good, so that the cutting of the cuttings is prevented by ultrasonic vibration without bending the spikelet seedlings D, thereby preventing a decrease in cutting ability of the cutting edge and reducing wear of the cutting edge. Is the same as the cutting of the rootstock seedling C. Hogi seedling D is cut into two pieces of cotyledons H, H in the middle of hypocotyl F, and becomes cotyledons H, H and a part of cutting hypocotyl F, Hogi seedling J (FIG. 14).

After cutting the seedling D into the hypocotyl F and the cotyledons H and H, and turning the cotyledons H and H into the cuttings J, the ultrasonic vibration element 64a stops and the cutter moving cylinder 64c moves backward. Return the scion cutting cutter 64 to its original position.

Next, the seedling retraction brush pinching cylinder 60b (FIG. 11) is operated to drive the seedling retraction brush 60d.
Is released, the seedling grasping hand pushing cylinder is operated to retract the scion seedling grasping hand 62, and the support plate turning cylinder 65 (FIG. 14) is operated to turn the support plate 61 180 degrees.

At this position, the cotyledon fixing hand 63 pushes out the scion seedling J whose hypocotyl has been cut by operating the scion seedling grasping hand pushing cylinder 62a.
(FIG. 15). During this time, the other arm 61 of the support plate 61
The scion seedling grasping hand 62b performs the same operation as described above for the next scion seedling D.

The cut rootstock seedling I and the cut ear tree seedling J have their cut surfaces joined at the grafting position P (FIG. 1).
5) The male clip 71a and the female clip 71b are supplied from the clip supply mechanism 70 so that the bonded portion can be fixed, and the bonded portion of the graft K is held by fitting the male clip 71a and the female clip 71b. Grafted seedling K
To complete.

After the grafting seedling K is completed, the gripping hand opening / closing cylinder 62f (FIG. 12A) operates to release the gripping hand 62, and the cotyledon fixing hand cylinder 63a operates to release the cotyledon fixing hand 63. By operating the scion sapling grasping hand pushing cylinder 62a, the scion sapling grasping hand 6
2 is retracted, and the support plate turning cylinder 65 is operated to turn the support plate 61 180 degrees. FIGS. 26 and 27 show time charts of the scion grafting mechanism 6. FIG.

FIG. 17 (side view) and FIG. 18 (A-
The clip supply units on the stock side and the scion side will be described with reference to the A arrow view). The clip supply mechanism 70 includes a male clip supply mechanism 70a and a female clip supply mechanism 70b. The male clip supply mechanism 70a is a male clip 71a.
A supply reel 78a in which a male clip material 72a for supplying (FIG. 16A) is wound in a reel shape, a male clip material 7
2a, a clip supply motor 73a, and a clip cutter 74 for cutting the male clip material 72a to a predetermined length.
a, a clip gripping hand 75a for gripping the cut male clip 71a, and a hand pushing cylinder 76a for moving the male clip gripping hand 75a in the front-rear direction (FIG. 17,
Draw an enlarged view around 75a and 76a of P-2. ), And a hand moving cylinder 77a (FIG. 23A) for moving the male clip gripping hand 75a in the vertical direction.

The female clip supply mechanism 70b supplies a female clip material 72b (FIG. 16) for supplying the female clip 71b.
(B)) Supply reel 78b wound in a reel shape, clip supply motor 73 for pulling out female clip material 72b
b, a clip cutter 74b for cutting the female clip material 72b to a predetermined length, a clip gripping hand 75b for gripping the cut female clip 71b, and a female clip gripping hand 7
Hand pushing cylinder 76 for moving 5b back and forth
b, a hand lowering cylinder 77b (FIG. 19) for moving the female clip gripping hand 75b in the vertical direction.

As shown in FIGS. 16 (a) and 16 (c), the male clip 71a has a pair of tapered portions 71e, 71 for fitting into the female clip 71b in a body 71c having a rectangular cross section.
e at the tip and a female clip 7 at the rear end of the tapered part.
A pair of projections 71d, 71d protruding for coupling with the first holding member 1b, a concave portion 71f at the front center, and a holding portion 7 at the rear.
It has a cross-sectional shape having 1 g, and is manufactured in a long form by extrusion molding of a synthetic resin, supplied as a reel-shaped clip material 72a, and cut into an appropriate size immediately before use.

As shown in FIG. 16 (b), the female clip 71b is attached to the male clip 7 on the main body 71h having a U-shaped cross section.
U-shaped concave portion 71i into which 1a can be fitted, and male clip 71
a, a pair of notch-shaped grooves 71j, 71j into which a pair of projections 71d, 71d for coupling of 71a can be fitted, and a concave portion 71k at the center of the inside rear of the U-shaped recess 71i and a grip portion 71l at the outside rear. It has a cross-sectional shape and is made to be long by synthetic resin extrusion molding or the like.
b, cut to the required dimensions and clip 71
Obtain b.

A long reel-shaped clip material 72a, 7
As shown in FIG. 16C, the clips 71a and 71b respectively obtained from 2b are brought into contact with each other so as to join the rootstock seedling I and the hogi seedling J, and fitted. That is, at the time when the rootstock seedling I and the scionling seedling J are joined at the grafting position P (FIG. 15) as described above, the operation of the clip supply mechanism 70 is started, and FIG. 17 to FIG. The rootstock seedling I and the hogi seedling J are joined according to the procedure shown.

First, as shown in FIG. 17, a reel-shaped clip material 72b for a female clip is
3b, the hand pushing cylinder 76b pushes out the clip gripping hand 75b (arrow in FIG. 17), and when the clip gripping hand 75b grips the gripping portion 711 of the female clip 71b, the clip cutter 74b operates. Then, the female clip 71b is cut out from the clip material 72b (FIG. 19). The female clip 71b is moved so that the movement of the female clip 71b does not interfere with the rootstock seedling I.
While being held by the clip gripping hand 75b, is retracted by the hand pushing cylinder 76b (arrow in FIG. 17: FIG. 20), is lowered by the hand descending cylinder 77b (arrow in FIG. 17: FIG. 21), and is again pushed by the hand pushing cylinder 76b. (Arrows in FIG. 17: FIGS. 22 and 23D).

On the other hand, a reel-shaped clip material 72a for a male clip is pulled out by a predetermined length by a clip supply motor 73a (FIG. 18).
6a pushes the clip gripping hand 75a, and when the clip gripping hand 75a grips the grip portion 71g of the male clip 71a, the clip cutter 74a operates to cut out the male clip 71a from the clip material 72a (FIG. 23).
(A)). The male clip 71a is held by the clip gripping hand 7 so that the movement of the male clip 71a does not interfere with the hogi seedling J.
5a, the hand pushing cylinder 76a
(FIG. 23B), and the hand moving cylinder 7
7 (a) (FIG. 23 (c)), and advance again by the hand pushing cylinder 76a (FIG. 23 (d) and FIG. 22).

A male clip 71a and a female clip 71b
Are hand extruded cylinders 76a and 76b, respectively.
When they are extruded, the rootstock seedlings I and the hogi seedlings J that have arrived at the grafting position P and joined are fixed with the male clips 71a fitted into the female clips 71b. Thus, the grafted seedling K is completed (FIG. 16C). The male clip 71a and the female clip 71b are
The grafted plant fixed at 71b is naturally dropped off as it grows.

After the completion of the grafted seedling K, the clip hand 76
a and 76b are released, and return to their original positions by the operation of the hand pushing cylinders 76a and 76b, the hand moving cylinder 77a, and the hand lowering cylinder 77b, respectively. Details of the operation are shown in the clip supply mechanism time charts of FIGS. 28 and 29.

As shown in FIG. 30, the temporary planting means 80 of the temporary planting device 8 includes a gripping hand mechanism 82 having a gripping hand 83,
A gripping hand pushing mechanism 84, a gripping hand rotating mechanism 85, a gripping hand moving mechanism 86, and a gripping hand lowering mechanism 87 for moving the gripping hand 83 to a predetermined position are provided.

At the seedling receiving position Q, the temporary planting means 80 takes over the grafted seedling K grafted by the rootstock / spike grafting section 5 of the automatic grafting device, and rotates the gripping hand mechanism 82 for gripping the grafted seedling K back and forth. Then, the gripping hand 83 is moved to the lowering position S (FIG. 30) by driving left and right and up and down to make a hole in the temporary planting soil filled in the pot hole 21 of the grafted seedling box (c) in the cell tray 20. The grafted seedlings K are inserted into the vertical holes 21a and temporarily planted.

[0070]

According to the present invention, the grafting means for the stock and the scion are provided with means for grasping the seedlings at the ends of a plurality of arms of the support plate, so that a plurality of stocks C and a seedling D are provided. , So that a plurality of rootstock seedlings C and earling seedlings D can be simultaneously operated with different work contents.
In addition, since the cutting operation is performed at the same time as taking over and fixing the scion seedlings D, the efficiency of the grafting work can be improved, and the stocking seedling supply unit, the cutting stock cutting means, the scion grafting means, In addition, the degree of freedom in the arrangement of the temporary planting device was obtained, and the effect that the design and production of the automatic grafting device became extremely easy was obtained.

Since the grafted seedling K after grafting is transported while holding the heavy rootstock seedling I side, the grafted seedling K is prevented from falling off from the joint portion during the rotation transport. The effect was also obtained.

[Brief description of the drawings]

FIG. 1 is a plan view of an automatic grafting device 1 of the present invention.

FIG. 2 is a partially cutaway side view of the automatic grafting device 1 of the present invention.

FIG. 3 is a plan view of a main part of a rootstock and scion grafting mechanism according to the present invention.

FIG. 4 is a plan view of a main part of the rootstock grafting mechanism of the present invention.

FIG. 5 is a plan view for explaining the operation of a rootstock gripping hand according to the present invention.

FIG. 6 is a side view for explaining a rootstock gripping hand and rootstock retraction brush operation of the present invention.

FIG. 7 is a plan view and a side view of the cotyledon fixing hand of the present invention.

FIG. 8 is an operation explanatory view of opening a cotyledon fixing piece by the cotyledon fixing hand cylinder of the present invention.

FIG. 9 is a side view of the ultrasonic vibration cutter according to the present invention.

FIG. 10 is an elevational view for explaining the operation of the scion seedling grasping hand of the present invention.

FIG. 11 is an elevational view illustrating the operation of the scion seedling grasping hand of the present invention.

FIG. 12 is a plan view for explaining the operation of the support plate and the scion seedling grasping hand of the present invention.

FIG. 13 is a plan view of a main part of a scion seedling grafting mechanism of the present invention.

FIG. 14 is a side view of a main part of a scion seedling grafting mechanism of the present invention.

FIG. 15 is a plan view for explaining a rootstock seedling, a scionling seedling transfer position, a grafting position, and a grafting seedling transfer position according to the present invention.

FIG. 16 is a cross-sectional view of the clip of the present invention.

FIG. 17 is a side view of the clip supply mechanism of the present invention.

FIG. 18 is an elevational view of the clip supply mechanism of the present invention.

FIG. 19 is a side view of the operation of the clip gripping hand of the present invention.

FIG. 20 is a side view of the operation of the clip gripping hand of the present invention.

FIG. 21 is a side view of the operation of the clip gripping hand of the present invention.

FIG. 22 is a side view of the operation of the clip gripping hand of the present invention.

FIG. 23 is an operation plan view of the clip gripping hand of the present invention.

FIG. 24 is an operation time chart of a root grafting mechanism according to the present invention.

FIG. 25 is an operation time chart of the rootstock grafting mechanism of the present invention.

FIG. 26 is an operation time chart of the scion grafting mechanism of the present invention.

FIG. 27 is an operation time chart of the scion grafting mechanism of the present invention.

FIG. 28 is an operation time chart of the clip supply mechanism of the present invention.

FIG. 29 is an operation time chart of the clip supply mechanism of the present invention.

FIG. 30 is a side view of the temporary planting means.

[Explanation of symbols]

A Rootstock Seedling B Hoki Seedling C Cut Rootstock Seedling D Dried Hoki Seedling E Rootstock Seedling Hypocotyl F Fawning Seedling Hypocotyl G Cotyledon of Rootstock Seedling H Cotyledon of Hoki Seedling I Tree J Hoki K Grafting seedling M Rootstock seedling transfer position N Hoki seedling transfer position P Grafting position Q Grafting seedling transfer position (a) Rootstock seedling box (b) Hoki seedling box (c) Grafting seedling box 1 Automatic grafting Apparatus 2 Machine frame 2a Rootstock seedling supply unit frame 2b Sapling seedling supply unit machine frame 2c Temporary planting machine frame 3 Rootstock seedling supply unit 3b Rootstock supply unit 3c Rootstock alignment device 3d Rootstock seedling supply unit column member 3e Rootstock seedling supply frame 4 Sion seedling supply part 4a Sion seedling box supply device 4b Sion supply device 4c Sion alignment device 4e Sion seedling supply portion frame 5 Rootstock / shedge grafting part 5a Rootstock / hoki Grafted frame column member 5b Rootstock / Hoki grafted frame 8 Temporary planting device 8a Temporary planting device Member 8b Temporary planting device frame 11 Conveyor belt means 11a Rootstock seedling box conveying belt 11b Hogi seedling box conveying belt 11c Grafted seedling box conveying belt 12 Drive means 12a Rootstock seedling box conveying belt driving means 12b Hogi seedling box conveying belt driving means 12c Grafted seedling box transport belt driving means 20 Cell tray 21 Pot holes 21a, 21b, ..., 21f Position of one row of pot holes 22 Temporary planting soil 23 Vertical hole 25 Under tray 36 Rootstock alignment plate 46 Hogi alignment plate 50 Rootstock grafting mechanism 50a Gripping hand pushing cylinder 50b Gripping hand moving cylinder 50c Rootstock retraction brush 50d Rootstock retraction brush rotation motor 50e Rootstock retraction brush moving cylinder 50f Rootstock retraction brush rotating cylinder 50g, 50g Gripping piece 50J Gripping hand actuator 51 Cross-shaped support plate 51a, 51b, 51c, 51d Arm 51x Center of cross 52 52 Rootstock seedling embryonic shaft fixing hand 52a, 52c Open cylinder 52b, 52d cam 52e, 52 of embryonic shaft fixing hand 52
e Hypocotyl fixing piece 52f, 52f Pin 52g Elastic spring 53 Cotyledon fixing hand 53a, 53c Cotyledon fixing hand release cylinder 53d Cotyledon fixing base 53e Cotyledon fixing piece 53f Pin 53g Elastic spring 54 Cutting cutter 54a Ultrasonic vibration element 54b Cutting blade 54c Movement Cylinder 55 Rotating cylinder of support plate 51 59 Hypocotyl lower cutting cutter 60 Seedling grafting mechanism 60a Seedling retraction brush vertical cylinder 60b Seedling retraction brush pinching cylinder 60c Seedling retraction brush rotating cylinder 60d Seedling retraction brush 61 Single letter support plate 61a, 61b Arm 61x Center of one character 62 Hoki seedling grasping hand 62a Sapling grasping hand pushing cylinder 62f Opening / closing cylinder of grasping hand 62 62g Gripping piece 63 Cotyledon fixing hand 63a Cotyledon fixing hand cylinder 63 d Cotyledon fixing stand 63e Cotyledon fixing piece 64 Cutting cutter 64a Ultrasonic vibration element 64b Cutting blade 64c Moving cylinder 65 Revolving cylinder of support plate 61 Clip supply mechanism 71a Male clip 71b Female clip 71c Male clip main body 71d, 71d Coupling projection 71e, 71
e Taper portion for insertion 71f Front central concave portion 71g Gripping portion 71h Female clip body portion 71i U-shaped concave portion 71j, 71j Notched groove 71k Internal rear central concave portion 71l Gripping portion 72a Reel-shaped male clip material 72b Reel-shaped female clip material 73a , 73b Clip supply motor 74a, 74
b clip cutter 75a, 75b clip gripping hand 76a, 76b hand pushing cylinder 77a hand moving cylinder 77b hand lowering cylinder 78a male clip supply reel 78b female clip supply reel 80 temporary planting means 80a grafting seedling box supply device 82 gripping hand mechanism 83 gripping hand

Claims (1)

[Claims] 1. A rootstock seedling supply means for supplying rootstock seedlings, a rootstock seedling supply means for supplying earlings, and a rootstock seedling supplied from the rootstock seedling supply means. A predetermined portion is cut into a stock, a scion seedling supplied from the scion seedling supply means is gripped, a predetermined portion of the scion seedling is cut into a scion, and a cut surface of the stock and the scion. An automatic grafting device comprising a grafting means for producing a grafted seedling by joining the seedlings and a temporary planting means for temporarily planting the grafted seedling supplied from the grafting means in a seedling box, wherein the grafting means is a rootstock grafting means and a scion grafting The rootstock grafting means comprises a support plate having three or more arms arranged at equal intervals, and a seedling holding means provided at each end of each arm, and the support plate is a support plate of the support plate. It is rotatable about the center of rotation, and the rootstock grafting means is stopped at a predetermined position. In this state, only three sets of the plurality of seedling holding means face the rootstock seedling supply means, the scion grafting means, and the temporary planting means, respectively, and one set of the seedling holding means rotates every predetermined angle. An automatic grafting apparatus, comprising: a rootstock seedling supply means, a scion grafting means and a temporary planting means arranged so as to face a supply means, a scion grafting means and a temporary planting means in this order.