JPH10150851A - Seedling supply device and automatic grafting device provided with seedling supply device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a seedling supply device and an automatic grafting device provided with the seedling supply device for preventing a grafting operation or the like from being disturbed by solving problems (a cutting position and a grafting position are not fixed and a clamping mechanism is required to be exchanged, etc.), at the time of using a clamping device moving mechanism for clamping and simultaneously taking up plural seedlings for one column housed in a seedling box. SOLUTION: Clamping hands 31 and 41 for taking up rootstock seedlings A provided with seedling roots and housed in a rootstock seedling box and scion seedlings B provided with the seedling roots and housed in a scion seedling box from the respective seedling boxes and supplying the seedlings to a seedling supply part simultaneously clamp the plural seedlings of the seedling box for one column each, simultaneously cut the root parts of the hypocotyl of the clamped plural seedlings and separate them from a root pot part at the same time and then, transfer the seedlings for which a root pot is cut to the seedling supply part.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically supplying a large number of plant seedlings to a predetermined place at one time,
The present invention relates to an automatic grafting device for mechanically grafting seedlings provided with the seedling supply device.

[0002]

2. Description of the Related Art Conventional automatic grafting devices include the following types of semi-automatic or automatic grafting devices. One is a rootstock seedling housed in a rootstock seedling box and a rootstock seedling housed in a panicle seedling box, both of which have roots. Is supplied to the rootstock seedling supply unit and is held there, and the scion seedlings are supplied from the scion seedling box to the scion seedling supply unit and held, and these held rootstock seedlings are taken over by the rootstock grafting means. The rootstock is cut and pinched, cut to produce a rootstock, and the retained scion seedlings are handed over by the scion grafting means, pinched and cut to produce spikelets. This is a semi-automatic grafting device that joins trees and ends grafting.

[0003] Another one is a rootstock seedling having a seedling and housed in a rootstock seedling box and a spikelet seedling having a root and housed in a scion seedling box. One by one by a mechanical gripper and a gripper moving mechanism that grips one by one,
Rootstock seedlings are supplied from the rootstock seedling box to the rootstock seedling supply unit and held.The held rootstock seedlings are taken over by rootstock grafting means, pinched, cut to produce rootstocks, and The scion seedlings are supplied from the scion seedling box to the scion seedling supply unit and retained.The retained scion seedlings are handed over by scion grafting means, pinched, cut to produce scion, This is an automatic grafting device for joining a scion to a stock and terminating the graft.

[0004] Furthermore, the rootstock seedlings having the roots and stored in the rootstock seedling box and the splint seedlings having the roots and being stored in the scionling seedling box have a large number of seedlings in each seedling box. A plurality of seedlings in one row are picked up at a time by a mechanical gripping device and a gripping device moving mechanism for gripping row by row, and rootstock seedlings are sequentially supplied one by one from a rootstock seedling box to a rootstock seedling supply section. In addition, the scion seedlings are supplied from the scion seedling box to the scion seedling supply unit and held. The held scion seedlings are taken over by scion grafting means, pinched, cut, and cut. Automatic grafting equipment is also known that produces trees, takes over rootstock seedlings by rootstock grafting means, clamps, cuts, produces rootstocks, joins scions to rootstocks, and terminates grafting. I have.

[0005]

A large number of seedlings stored in the rootstock seedling box and earlings stored in the scionling seedling box described in the third item are grasped by one row and one row. An automatic grafting device equipped with a gripper moving mechanism that picks up a plurality of seedlings at the same time is more efficient than when the seedlings are supplied by the operator's hand, as well as when they are mechanically gripped and supplied one by one. Although the seedlings are picked up from the seedling box with a root pot, the seedlings do not always germinate and grow at the center of the root pot, and in general, the center of gravity of the root pot is shifted from the hypocotyl position of the seedling, When the sapling is held, the seedling is tilted, and when the sapling is held as it is, cut and grafted, the cutting position and the grafting position are not fixed, and there is a disadvantage that the grafting work is hindered.

In addition, the interval of planting seedlings in the seedling box,
Since the number of seedlings in a row and a row varies greatly depending on the type of seedling, season, region, and the like, there has been a problem that the gripping mechanism must be replaced each time.

An object of the present invention is to solve the above-mentioned problems when using a holding device moving mechanism for holding a plurality of seedlings in one row accommodated in a seedling box and picking them all at once (cutting positions and grafting positions are not fixed, It is an object of the present invention to provide a seedling supply device that does not hinder grafting work and the like, and an automatic grafting device provided with the seedling supply device.

[0008]

The above object of the present invention is achieved by the following constitution. That is, a conveying belt means for conveying the seedlings having seedlings and housed in the seedling box while being housed in the seedling box, and one row of the plurality of seedlings vegetated in the seedling box conveyed by the conveying belt means. And a seedling supply hand means for simultaneously gripping the seedling of the seedling with the hypocotyl of the seedling and simultaneously cutting the root of the hypocotyl of the seedling simultaneously. Although the present invention also includes an automatic grafting device equipped with a seedling supply device, the present invention is not limited to the supply of seedlings for an automatic grafting device, but an apparatus for supplying a large number of seedlings to a predetermined place at once. Can be used as

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION The seedling supply apparatus of the present invention is mainly used for a grafting apparatus for rootstock seedlings and spikelet seedlings. In this case, the apparatus functions as follows. That is, the rootstock seedlings having the roots and housed in the rootstock seedling box and the seedlings having the roots and housed in the earling seedling box are taken out from the respective seedling boxes and the seedlings are transferred to the seedling supply unit. The gripping hand to be supplied simultaneously holds the plurality of seedlings in the seedling box one row at a time, and simultaneously cuts the roots of the hypocotyls of the plurality of held seedlings and separates them from the root pot,
It acts to transfer the seedlings whose root mortars have been cut to the seedling supply section.

The gripping hand means comprises a linear gripping hand and a linear cutting cutter, and simultaneously grips a plurality of seedlings in a seedling box one row at a time, and simultaneously holds a plurality of hypocotyls of the gripped seedlings. Since the lower part of the seedlings is cut at the same time, even when the number of seedlings in the seedling box and the vegetation pitch are different, the seedlings are gripped by one gripping hand means, cut and transferred to the seedling supply part.

A seedling supply apparatus according to an embodiment of the present invention is provided with a seedling aligning plate, has a slit for hanging the seedlings, and keeps an interval between the vibrating aligning plate and the seedling to transfer the seedlings to the grafting device at a constant speed. Composed of a comb-shaped plate, and the mounted seedling is moved in a semi-floating state by vibration while moving the hypocotyl loosely on the teeth of the comb of the comb-shaped plate and causing no friction or damage to the seedling. Acts to be.

Further, the seedling supply device according to the embodiment of the present invention is provided with a scion seedling pulling-down device. The device is a cylindrical seedling pulling brush composed of soft fur, and a cylindrical rubber pulling device. Holds the hypocotyl of the scion seedling with appropriate pressure in the slit formed between the two cylinders with the seedling pull-in roller composed of the elastic body, and rotates at a low speed while abutting on the scion. At the time of pulling the seedlings and taking down the scion seedlings from the seedling supply unit to the grasping hand of the grafting device, the hypocotyl F is not damaged and the bending of the hypocotyl is corrected by the axial tension of the hypocotyl of the cutting of the scion seedling. The seedlings are pulled down through the seedling hanging slits of the seedling aligning plate of the seedling supply unit, and the cotyledons act to correct and align the orientation of the cotyledons when passing through the slits.

[0013] Further, the rootstock seedling grasping hand moves while holding the rootstock seedling at the end of the rootstock alignment plate of the rootstock seedling supply device, and moves the rootstock seedling to the lower end portion of the rootstock alignment plate. The rootstock seedlings are pulled in by the rootstock pulling brush, and the base of the rootstock seedlings is brought into contact with the upper surface of the gripping hand, so that the rootstock seedlings are positioned accurately in the vertical direction.

When a pair of hypocotyl fixing pieces of the hypocotyl fixing hand provided in the rootstock grafting device according to the embodiment of the present invention are opened, a plurality of vertically plate-shaped horizontal V-shapes that are exposed are exposed. The groove piece receives the hypocotyl of the rootstock seedling that is pulled by the rotation of the rootstock retraction brush into the V-shaped groove piece, corrects the bending of the hypocotyl while pressing the hypocotyl against the groove of the V-shaped groove piece, In cooperation with the shaft fixing piece, it acts to fix the hypocotyl of the rootstock seedling linearly and securely.

[0015]

【Example】

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.

Cutting of the root of the hypocotyl of the rootstock seedlings A and B is particularly difficult for cucumber vegetables because the seedling raising period is short, so that the processing 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 provided with a machine frame 2 as shown in FIGS. 1 and 2, and a compressor, solenoid valves, etc. (not shown) are provided in a lower portion of the machine frame 2, and an upper portion of the machine frame 2 is provided above the machine frame. Is the rootstock seedling supply unit 3, the spikelet seedling supply unit 4, and the rootstock
The configuration is such that a scion grafting section 5 is provided and a temporary planting device 8 is further provided.

The machine frame 2 of the automatic grafting device 1 includes a rootstock seedling supply unit machine frame 2a, an ear tree seedling supply unit machine frame 2b, and a temporary planting machine frame 2
In the first embodiment, the rootstock seedling supply unit machine frame 2a
The example shown in FIG. 1 shows that the rootstock seedling supply unit machine frame 2a and the scion seedling supply unit machine frame 2b and the temporary planting device machine frame 2c are arranged on the left and right sides of the rootstock seedling supply unit machine frame 2a.

A rootstock seedling box conveyor belt 11a is mounted on the rootstock seedling supply section machine frame 2a of the rootstock seedling supply section 3, and a headstock seedling box is mounted on the rootstock seedling supply section machine frame 2b of the scion seedling supply section 4. The transfer belt 11b is wound around the grafting seedling box transfer belt 11c around the temporary planting device frame 2c of the temporary planting device 8, respectively. FIG. 2 shows a grafted seedling box transport belt 11c and its driving means 12c as representatives.

A plurality of rootstock seedling supply section pillar members 3d are erected on the rootstock seedling supply section machine frame 2a, and a rootstock seedling supply section frame 3e is provided at the top of the pillar member 3d. A stock supply device 3b and a stock alignment device 3c are suspended from the supply frame 3e.

A plurality of scion seedling supply column members 4d (see FIG. 4 and the like) are erected on the scion seedling supply unit machine frame 2b, and an scion seedling supply frame 4e is connected to the top of the pillar member 4d. Being
The scion supply device 4b and the scion alignment device 4c are suspended from the scion seedling supply unit 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.

A rootstock / spike graft frame 5b is provided adjacent to the rootstock seedling supply frame 3e and the spikelet supply frame 4e on the downstream side in the traveling direction of the conveyor belt 11.
The stock and scion grafting section frame 5b is provided across the scion seedling supply section machine frame 2b, the stock seedling supply section machine frame 2a and the temporary planting apparatus machine frame 2c, and the scion seedling supply section machine frame 2b, Connected to the tops of a plurality of rootstock / spike grafted frame column members 5a erected on the rootstock seedling supply unit machine frame 2a and the temporary planting machine frame 2c, respectively. Suspension of the rootstock / hogi grafting part 5.

Rootstock / Hoki grafting section 5 is rootstock grafting mechanism 5
c, a graft grafting mechanism 6c and a clip supply mechanism (not shown), and the grafted seedlings K grafted by the rootstock / spike grafting section 5 are taken over by the temporary planting device 8 and are temporarily planted.

As shown in FIG. 1 and FIGS. 3 to 11, the rootstock seedling supply unit 3 includes a rootstock seedling box supply device 3a, a rootstock supply device 3b, and a rootstock alignment device 3c. The rootstock supply device 3b is placed and suspended on the rootstock seedling supply unit machine frame 2a and the rootstock seedling supply unit frame 3e, and holds the hand 31 of the rootstock seedling A, the cutting cutter 32, and the holding hand moving cylinder 3.
3. A gripping hand vertical cylinder 34 and a gripping hand turning cylinder 35.

The stock aligning device 3c is used for the stock seedling supply unit machine frame 2a.
It is mounted and suspended on the rootstock seedling supply frame 3e, and comprises a rootstock alignment plate 36, a rootstock alignment cylinder 37, a rootstock transfer comb 38, a rootstock transfer comb moving motor 38a and a comb extrusion cylinder 38b.

The rootstock seedling box supply device 3a mounts and transports the rootstock seedling box (a) on the rootstock seedling box transport belt 11a provided in the rootstock seedling supply unit machine frame 2a. It is controlled by a control device (not shown) together with 3b and the stock aligning device 3c.

As shown in FIG. 1 and FIGS. 3 to 11, the scion seedling supply unit 4 includes a scion seedling box supply device 4a, a scion supply device 4b, and a scion alignment device 4c. The scion supply device 4b is placed and suspended on the scion seedling supply unit machine frame 2c and the scion seedling supply unit frame 4e, and the holding hand 41 of the scion seedling B, the cutting cutter 42, the holding hand moving cylinder 43,
It comprises a gripping hand vertical cylinder 44 and a gripping hand turning cylinder 45.

The scion alignment device 4c is a scion seedling supply unit machine frame 4a.
It is mounted and suspended on the scion seedling supply frame 4e, and includes a scion alignment plate 46, a scion alignment cylinder 47, a scion transfer comb 48, a scion transfer comb moving motor 48a, and a comb extruding cylinder 48b.

The scion seedling box supply device 4a mounts and transfers the scion seedling box (b) on the scion seedling box transport belt 11b provided on the scion seedling supply unit machine frame 4a, and transfers the scion seedling box supply device 4b. It is controlled by a control device (not shown) together with the scion aligning device 4c.

As shown in FIGS. 12 to 15, the rootstock seedling C is cut off from the rootstock seedling supply unit 3 by the rootstock seedling hypocotyl fixing hand 52 of the rootstock grafting mechanism 5c. A gripping hand 50g and a rootstock retraction brush 50c are provided.

As shown in FIGS. 16 (a) and 16 (b), in order to take over the scion seedling D cut from the scion seedling supply unit 4 to the scion seedling grasping hand 62 of the scion grafting mechanism 6c, A scribing brush 60c is provided.

Rootstock / Hoki grafting section 5 is rootstock grafting mechanism 5
c, a graft grafting mechanism 6c and a clip supply mechanism (not shown), and the grafted seedlings K grafted by the rootstock / spike grafting section 5 are taken over by the temporary planting device 8 and are temporarily planted.

The operation of the rootstock seedling supply unit 3 and the spikelet seedling supply unit 4 of the automatic grafting apparatus of the present invention will be described below with reference to the drawings. Pot holes 21 provided at intersections of a plurality of columns and a plurality of rows of the cell tray 20 housed in the rootstock seedling box (a)
The rootstock seedlings A planted in the rootstock seedlings A are loaded on the rootstock seedling transport belt 11a in a rootstock seedling box (a) by a loading device (not shown), transported, and transported by the rootstock seedling supply unit 3 in the rootstock seedling feeding unit 3. Arriving at 3a, it temporarily stops with the stop of the rootstock seedling transport belt 11a.

As shown in FIGS. 6 (b), 7 and 8,
In the gripping hand 31, the gripping member 31b is in the open position, and the gripping hand moving cylinder 33 is in the retracted position.
Moves forward, and for one row of rootstock seedlings from the lateral direction of the cell tray 20, the opening of the gripping hand 31 is moved to the cotyledon G of the rootstock seedling A.
(Fig. 9).

Next, when the cylinder (not shown) is operated to draw the gripping member 31b toward the gripping hand main body 31a and close it, the lower part of the hypocotyl E of the rootstock A is sponge fixed to the gripping member 31b and the gripping hand main body 31a. Flexible member 3
When the gripping member 31b is further pulled toward the gripping hand main body 31a while being sandwiched by the gripping member 1c, the cutting cutter 31d (FIG. 6B) provided below the flexible member 31c abuts on the hypocotyl E and cuts the hypocotyl E. The cutting cutter 31 for the hypocotyl E
The root above the rootstock of the rootstock seedling A and the hypocotyl E can be separated while the upper part of d is held by the holding member 31b and the flexible member 31c.

The gripping member 31b, the flexible member 31c, and the cutting cutter 31d have a length corresponding to one row of the cell tray 20 of the rootstock seedling box (a), and operate simultaneously. Hypocotyls E are simultaneously grasped and cut (Fig. 8
(C)).

The gripping hand vertical cylinder 34 (FIG. 6)
(A)) The rootstock seedlings C that have been raised and cut off are separated from the root bowl, the gripping hand moving cylinder 33 is retracted, and the gripping hand turning cylinder 35 is turned 90 degrees, so that the gripping hand 31 is set on the base. It is made to face the tree aligning device 3c (FIG. 9A).

When the gripping hand moving cylinder 33 moves forward,
As shown in FIG. 9B, the grasping hand 31 enters under the stock alignment plate 36 of the stock alignment device 3c while holding the stock C. Since the cotyledon G of the rootstock seedling C is located above the upper surface of the rootstock alignment plate 36, the gripping hand 31
Is opened, the rootstock seedling C falls slightly, and the rootstock alignment plate 36 is positioned at a position where the back side of the cotyledons G contacts the upper surface side of the rootstock alignment plate 36.
Mounted on

Thereafter, the gripping hand moving cylinder 33 retreats, the vertical cylinder 34 descends, and the turning cylinder 35 turns 90 degrees in the opposite direction to return the gripping hand 31 to the initial position. During this time, the transport conveyor 11a transports the rootstock seedling box (a) by one row of the pot 21 of the cell tray 20, and prepares for the seedling supply of the next row of rootstock seedlings A.

On the other hand, the stock alignment plate 36 is provided with two opposed L-shaped members 36 from a tapered entrance portion 36b (FIG. 11) for receiving the cut stock C without damaging it.
a, a slit 36c formed by a parallel gap of 36a,
Cell tray 2 gripped by gripping hand 31 as described above
A plurality of rootstock seedlings C for one row of 0 are received almost at intervals of the pot 21, and the cut rootstock seedlings C are brought into contact with the back side of the cotyledons G on the top side of the rootstock alignment plate 36, The hypocotyl E supported by the cotyledon G is mounted in a manner suspended from the slit 36c (FIGS. 10 and 11).

The rootstock aligning vibration cylinder 37 receives a signal indicating completion of loading of the rootstock seedlings C and a signal indicating completion of pulling of one rootstock seedling C (transfer to a grafting device) (FIG. 9 ( b)), vibration is started, and when the rootstock seedling C reaches the end of the rootstock alignment plate 36, the vibration is stopped.

One end 37a of the stock aligning vibration cylinder 37
(See FIG. 11) is fixed to the rootstock seedling supply section frame 3e, and the other end is connected to the connecting member 36h of the rootstock alignment plate 36. When the rootstock alignment vibration cylinder 37 starts to vibrate, the rootstock seedling is started. A bracket 36f fixed to the supply unit frame 3e is oscillated via a spring 36e via a spring receiver 36d and a suspension frame 36g to oscillate a rootstock aligning plate 36 that is oscillably supported. Micro vibration is applied to the tree seedling C, and the rootstock seedling C is transferred to the rootstock grafting mechanism 5c in cooperation with the operation of the rootstock transport comb 38 (FIGS. 10 and 11) described below.
Transfer to the side.

The stock transport comb 38 is a stock holding hand 31.
When the rootstock seedlings C are loaded on the rootstock alignment plate 36, they are in the retracted position so that the comb teeth 38c do not interfere with the hypocotyl E, and the loading of the rootstock seedlings C onto the rootstock alignment plate 36 is completed. ,
At the same time as the start of the oscillation of the stock aligning vibration cylinder 37, first, the comb pushing cylinder 38b is driven to push out the stock transport comb 38, and the hypocotyl E is loosely fitted between the comb teeth 38c, and then the comb moving motor 38a Is driven to move the rootstock transfer comb 38 to the rootstock grafting mechanism 5c side, and the embryo shaft E loosely fitted between the comb teeth 38c is transferred to the rootstock grafting mechanism 5c side.

During this time, the cotyledon G of the rootstock seedling C is slightly vibrated on the rootstock alignment plate 36 and is in a semi-floating state due to the vibration of the rootstock alignment vibration cylinder 37.
The cotyledon G moves lightly on the stock alignment plate 36 without adhering or rubbing, and is transferred to the end of the stock alignment plate 36.

When a detector (not shown) detects that the rootstock seedling C has reached the end of the rootstock aligning plate 36, the rootstock aligning vibration cylinder 37 and the comb moving motor 38a are stopped, and the comb pushing cylinder 38b is turned off. The hypocotyl E retreats and comes into a non-contact state with the comb tooth 38c.
(A) to the rootstock seedling grasping hand 5 as shown in FIG.
0 operation is started.

The rootstock seedling gripping hand 50 is a gripping piece 50 g, 5
It has 0 g and is always open (FIG. 12A). After detecting that the rootstock seedling C has arrived at the end of the rootstock alignment plate 36, FIG. 12 (b) and FIG. 13 (a) (A in FIG. 12 (b)).
-A arrow view), the gripping hand pushing cylinder 50a operates to advance directly below the rootstock seedling C, and the gripping piece 50g is closed by operating a gripping hand actuator 50g (not shown) to remove the rootstock seedling C. Hold. Next, FIG.
(C) and FIG. 13 (b) (viewed from the arrow BB in FIG. 12 (c))
The gripping hand moving cylinder 50b is operated to release the gripping hand 50 gripping the rootstock seedling C from the lower end portion of the rootstock alignment plate 36 as shown in FIG.
Activate c to pull in the rootstock seedling C. At this time, the rootstock seedling hypocotyl fixing hand 52 of the rootstock grafting mechanism 5c will be described later.
Are open and the rootstock seedling C is fixed to the hypocotyl fixing pieces 52e and 52e.
e (FIGS. 14 and 15). A notch larger than the hypocotyl diameter is provided in the holding piece 50g of the rootstock seedling holding hand 50, and the base of the rootstock seedling C is brought into contact with the upper surface of the holding piece 50g. Direction is determined (FIG. 14).

As shown in FIG. 15, the hypocotyl fixing hands 52 provided at the tips of the arms of the cross-shaped support plate 51 (only part of which is shown) of the rootstock grafting mechanism 5c have a pair of hypocotyl fixing pieces 52e, respectively. The pin 52e is rotatably supported by pins 52f and 52f, and is always closed by being urged in a closing direction by an elastic spring 52g. However, the hypocotyl of the hypocotyl fixing hand 52 facing the stock alignment plate 36. The fixing pieces 52e, 52e are opened by a hypocotyl fixing hand opening cylinder 52a.

After the cross-shaped support plate 51 turns and one arm of the cross-shaped support plate 51 faces the rootstock seedling takeover position, that is, the rootstock alignment plate 36, before the rootstock retraction brush 50c operates. Then, the hypocotyl-fixing hand releasing cylinder 52a moves forward and the cam 52b opens the hypocotyl-fixing pieces 52e, 52e. Hypocotyl fixing piece 52e, 5 of hypocotyl fixing hand 52
When 2e is opened, four plate-shaped V-shaped groove pieces 52h spaced apart in the vertical direction are exposed and face the hypocotyl E (FIG. 1).
5). When the rootstock seedling C is pulled into a predetermined position by the rotation of the rootstock retraction brush 50c, the hypocotyl E is moved by the frictional force of the rootstock retraction brush 50c into four plate-shaped V-shaped groove pieces 52h.
Is bent while being pressed against the V-shaped groove, so that the hypocotyl-fixing hand opening cylinder 52a moves backward and the cam 52b also retracts from the hypocotyl-fixing pieces 52e, 52e to remove the hypocotyl-fixing pieces 52e, 52e. Closed, hypocotyl E of rootstock seedling C
Can be reliably fixed by the hypocotyl fixing hand 52.

The rootstock retraction brush 50c has a cylindrical shape composed of soft bristles and abuts against the hypocotyl E of the rootstock seedling C with an appropriate pressure. The shaft E is not damaged.

After fixing the hypocotyl E and cotyledon G of the rootstock seedling C by the hypocotyl fixing hand 52 and the cotyledon fixing hand 53, respectively, the rootstock retraction brush rotating motor 50d is stopped, and the rootstock retraction brush rotating cylinder 50f and The rootstock retraction brush moving cylinder 50e operates to return the rootstock retraction brush 50c to the initial position.

After fixing the hypocotyl E and the cotyledon G of the rootstock seedling C by the hypocotyl fixing hand 52 and the cotyledon fixing hand 53, respectively, the rootstock cutting cutter 54 is operated, and the rootstock seedling C has one cotyledon G. Cut into hypocotyl E and one cotyledon G
The hypocotyl E with one cotyledon G becomes a rootstock I.

In parallel with the cutting of the rootstock seedling C by the rootstock cutting cutter 54, the rootstock seedling holding hand 50 is opened, and the rootstock seedling holding hand pushing cylinder 50a and rootstock seedling holding hand moving cylinder 50b operate. Rootstock seedling grasping hand 50
To its original position.

The rootstock seedling C is cut and one cotyledon G and hypocotyl E are cut.
When the stock I consisting of
Stop and return to the original position.

After cutting the rootstock seedling C to complete the rootstock I,
The support plate swivel cylinder 55 is operated to form the cross-shaped support plate 51.
Is turned 90 degrees, one arm of the cross-shaped support plate 51 reaches the grafting position, the other arm faces the stock alignment plate 36, and the same operation as above is performed for the other arm. Will be The details of the operation of the rootstock seedling supply unit are shown in time charts FIG. 19 and FIG.

The operation of the seedling supply unit 4 is performed by the rootstock supply unit 3.
The operation is almost the same except for a part of the operation, and the description thereof is omitted. As shown in FIG.
2, when the gripping pieces 62g, 62g are always open and are pushed out by the operation of the gripping hand pushing cylinder 62a, the hypocotyl F of the scion seedling D is inserted between the gripping pieces 62g, 62g. When the hand opening / closing cylinder 62f is operated, the gripping pieces 62g, 62g are closed, but the hypocotyl F is gripped so as to be freely movable in the axial direction of the hypocotyl.

The seedling drawing brush 60d is paired with the seedling drawing roller 60e at a symmetrical position, and is rotatably supported by the brackets 60f, 60f. The brackets 60f, 60f are held openably and closably by the pins 60g, 60g, and the seedling retraction brush 60d and the seedling retraction roller 60e are normally in an open state separated from each other. The hypocotyl F is inserted between the retraction brush 60d and the seedling retraction roller 60e, and the lower part of the hypocotyl F is clamped by the operation of the seedling retraction brush clamping cylinder 60b.

Next, the seedling retraction brush rotating cylinder 6
When the seedling retraction brush 60d is rotated by actuating the seedling retraction brush 60d, the hypocotyl F is retracted and the cotyledons H, H are moved through the slits 46c of the scion alignment plate 46, as shown in FIG. They are arranged so that they overlap each other.

The seedling pulling brush 60d is formed of a soft soft bristle in a cylindrical shape, and the seedling pulling roller 60e is formed of a cylindrical elastic material such as rubber, and a spike is formed in a slit formed by the two cylindrical members 60d and 60e. Since the hypocotyl F of the tree seedling D is held at a low speed while holding the hypocotyl F at an appropriate pressure, the hypocotyl F can be pulled in without damaging the hypocotyl F. Although the embodiment in which only the seedling retraction brush 60d is rotated has been described above, the seedling retraction roller 60e may be rotated together with the seedling retraction brush 60d.

When the pulling of the seedling seedling D is completed, the seedling pulling brush rotating cylinder 60c is stopped, and the seedling pulling brush 60d lowers the seedling drawing brush vertical cylinder 60b while holding the hypocotyl F of the seedling seedling D. The cotyledon unfolding base is pulled in until it comes into contact with the upper surfaces of the gripping pieces 62g, 62g of the gripping hand 62, thereby positioning the spikelet D in the vertical direction (FIG. 17), and at the same time, the hypocotyl F by the pulling action of the seedling retraction brush 60d. To correct the bend.

Next, a cotyledon fixing hand 6 not shown in detail.
3, the cotyledons H, H are fixed, and the cuttings 64 cut the scion seedlings D to produce scions J. Thereafter, the seedling retraction brush pinching cylinder 60b is operated to move the seedling retraction brush 6
0d is released, and the pinching of the hypocotyl F of the seedling D is released.

Next, the seedling holding hand pushing cylinder 62a is operated to retreat the young seedling holding hand 62,
The support plate turning cylinder operates to turn the support plate 61 180 degrees. At this position, the cotyledon fixing hand 63 pushes out the scion J with the cut hypocotyl by operating the scion seedling grasping hand pushing cylinder 62a, and moves to the grafting position. During this time, the scion seedling grasping hand 62 of the other arm of the support plate 61 performs the same operation as described above for the next scion seedling D.

FIG. 18 shows a rootstock seedling, a handed-on seedling transfer position,
FIG. 3 is a plan view illustrating a grafting position and a grafting seedling takeover position.
The male clip 71a and the female clip 71b are supplied from the clip supply mechanism so that the cut surfaces of the rootstock I and the scion J are joined at the grafting position and the joints can be fixed. The grafted seedling K is held by fitting the male clip 71a and the female clip 71b.
To complete.

The details of the operation of the spikelet seedling supply unit are shown in time charts FIG. 19 and FIG. Grafted seedling K is temporary planting device 8
Is temporarily planted in the grafted seedling box.

[0065]

According to the present invention, the seedling to be transferred is displaced from the center of gravity of the seedling as in the case where the seedling is picked up with the root pot attached, and the grasped seedling is tilted, for example, which hinders grafting work. The seedlings without root mortar can be picked up, so the allowable range of the size of the original seedlings is widened, and the grafting can be stabilized by cutting off the roots, and the height of the grafted seedlings can be kept constant Very good effects are obtained, such as eliminating the problem of growth differences after grafting.

Also, a straight gripping hand and a cutting cutter for simultaneously gripping the plurality of seedlings in the seedling box one row at a time and simultaneously cutting the lower portions of the hypocotyls of the gripped plurality of seedlings are provided. Because of the configuration, even when the number of seedlings in the seedling box and the vegetation pitch are different, an excellent effect of holding the seedling with one gripping hand, cutting the seedling, and transferring the seedling to the seedling supply unit can be obtained.

[Brief description of the drawings]

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

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

FIG. 3 is a plan view of a rootstock seedling supply part and a spikelet seedling supply part of the present invention.

FIG. 4 is an elevational view of a rootstock seedling supply section and a spikelet seedling supply section of the present invention.

FIG. 5 is a side view of a rootstock seedling supply section and a spikelet seedling supply section of the present invention. FIG.

FIG. 6 is a side view (FIG. 6 (a)) and a partially cutaway sectional view (FIG. 6) of a rootstock seedling and a scionling seedling grasping hand of the present invention.
(B)).

FIG. 7 is a plan view showing an initial position of a rootstock seedling and a scion seedling holding hand and a rootstock seedling box and a scion seedling box of the present invention.

FIG. 8 is a plan view showing the operation of the rootstock seedling supply device and the scionling seedling supply device of the present invention.

FIG. 9 is a plan view showing the operation of the rootstock seedling supply device and the scionling seedling supply device of the present invention.

FIG. 10 is an elevational view of the rootstock seedling aligning apparatus and the scionling seedling aligning apparatus of the present invention.

FIG. 11 is a partially exploded plan view of the rootstock seedling alignment device and the scionling seedling alignment device of the present invention.

FIG. 12 is a plan view showing the operation of a rootstock seedling grasping hand and a rootstock pulling brush which take over a rootstock seedling C cut from a rootstock seedling supply unit of the present invention to a rootstock seedling hypocotyl fixing hand of a rootstock grafting mechanism. FIG.

FIG. 13 is a side view showing the operation of the rootstock seedling grasping hand and the rootstock pulling brush which take over the rootstock seedling C cut from the rootstock seedling supply unit of the present invention to the rootstock seedling hypocotyl fixing hand of the rootstock grafting mechanism. FIG.

FIG. 14 is a side view showing the operation of the rootstock seedling grasping hand and the rootstock pulling brush which take over the rootstock seedling C cut from the rootstock seedling supply unit of the present invention to the rootstock seedling hypocotyl fixing hand of the rootstock grafting mechanism. FIG.

FIG. 15 is a plan view of a rootstock seedling hypocotyl fixing hand of the rootstock seedling supply section and rootstock grafting mechanism of the present invention.

FIG. 16 is an elevational view showing the operation of the scion pulling brush for transferring the scion seedlings from the scion seedling supply unit to the scion seedling grasping hand of the scion grafting mechanism and the main part of the scion seedling grafting mechanism; It is.

FIG. 17 is an elevation view showing the operation of the scion pulling brush for transferring the scion seedlings from the scion seedling supply unit to the scion seedling grasping hand of the scion grafting mechanism and the main part of the scion seedling grafting mechanism; It is.

FIG. 18 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. 19 is an operation time chart of the rootstock seedling supply device and the scionling seedling supply device of the present invention.

FIG. 20 is an operation time chart of the rootstock seedling alignment plate and rootstock grafting mechanism of the present invention.

FIG. 21 is an operation time chart of the scion seedling alignment plate and scion grafting mechanism of the present invention.

[Explanation of symbols]

A Rootstock Seedling B Hoki Seedling C Cut Rootstock Seedling D Dried Hoki Seedling E Rootstock Seedling Hypocotyl F Fawning Seedling Hypocenter G Tree J Hoki K Grafting seedling (a) Rootstock seedling box (b) Hoki seedling box (c) Grafting tree seedling box 1 Automatic grafting device 2 Machine frame 2a Rootstock seedling supply unit machine frame 2b Hoki seedling supply unit machine frame 2c Temporary planting machine frame 3 Rootstock supply unit 3b Rootstock supply device 3c Rootstock alignment device 3d Rootstock seedling supply column member 3e Rootstock seedling supply frame 4 Hot tree seedling supply unit 4a Hot tree seedling box supply device 4b Scion supply device 4c Scion alignment device 4e Scion seedling supply unit frame 5 Rootstock / scion grafting frame 5a Rootstock / scion grafting frame column member 5b Rootstock / scion grafting frame 8 Temporary planting device 8a Temporary planting device Column member 8b Temporary planting device frame 11 Transport belt means 11a Rootstock seedling box transport belt 11b Tree seedling box transport belt 11c Grafted seedling box transport belt 12 drive means 12a rootstock seedling box transport belt drive means 12b Ear tree seedling box transport belt drive means 12c grafted seedling box transport belt drive means 20 cell tray 21 pot hole 31 rootstock supply device Rootstock seedling grasping hand 31a Gripping hand body 31b Gripping member 31c Flexible member 31c 31d Cutting cutter 32 Cutting cutter 33 Gripping hand moving cylinder 34 Gripping hand vertical cylinder 35 Gripping hand turning cylinder 36 Rootstock alignment plate 36a, 36a L-shaped material 36b Taper Entrance 36c Slit 36d Spring receiver 36e Spring 36f Bracket 36g Suspension frame 36h Connecting member 37 Rootstock aligning vibration cylinder 37a One end of vibration cylinder 38 Rootstock transfer comb 38a Comb moving motor 38b Comb pushing cylinder 38c Comb teeth 41 Hogi feeding device Hogi seedling gripping hand 41a Gripping hand main body 41b Gripping member 41c Flexible member 31c 41d Cutting cutter 42 Cutting cutter 43 Gripping hand moving cylinder 44 Gripping hand vertical cylinder 45 Gripping hand rotating cylinder 46 Hogi aligning device Hoki alignment plates 46a, 46a L-shaped member 46b Taper entrance 46c Slit 46d Spring receiver 46e Spring 46f Bracket 46g Suspension frame 46h Connecting member 47 Hoki alignment vibration cylinder 47a One end of vibration cylinder 48 Hoki transfer comb 48a Comb moving motor 48b Comb pushing cylinder 48c Comb teeth 50 Root graft grafting hand 50a Gripping hand pushing cylinder 50b Gripping hand moving cylinder 50c Rootstock retraction brush 50d Rootstock retraction brush rotation motor 50e Rootstock pulling Viewed brush moving cylinder 50f rootstock pull brush swivel 50g, opening 50g of the gripping pieces 51 cross-shaped support plate 52 rootstock Naehai shaft fixing hand 52a hypocotyl fixed hand cylinder 52b cams 52e, 52
e Hypocotyl fixing piece 52f, 52f Pin 52g Elastic spring 52h V-shaped groove piece 53 Cotyledon fixing hand 53a Cotyledon fixing hand opening cylinder 53d Cotyledon fixing stand 53e Cotyledon fixing piece 53f Pin 53g Elastic spring 54 Cutting cutter 60 Hot tree seedling retraction brush roller 60a Seedling retraction brush vertical cylinder 60b Seedling retraction brush pinching cylinder 60c Seedling retraction brush rotating cylinder 60d Seedling retraction brush 60e Seedling retraction roller 60f, 60f Bracket 60g, 60
g Pin 61 One-letter support plate 62 Hand tree seedling holding hand 62a Sapling holding hand pushing cylinder 62f Opening / closing cylinder of holding hand 62g Holding piece 63 Cotyledon fixing hand 64 Cutting cutter

Claims (2)

[Claims] 1. A transport belt means for transporting a seedling having seedlings stored in a seedling box while being stored in the seedling box, and a plurality of seedlings vegetated in the seedling box transported by the transport belt means. A seedling supply device comprising: a seedling supply hand means for simultaneously gripping one row of seedlings with the hypocotyl of the seedling and simultaneously cutting the root of the hypocotyl of the seedling at the same time as the gripping. 2. A cutting section of a stock of a rootstock seedling and a scion seedling, and a cutting section of the stock of a rootstock and a scion seedling are joined to each other after cutting predetermined portions of the stock and the scion seedling. In an automatic grafting device consisting of a graft to be produced and a temporary planting part for temporarily planting a grafted seedling supplied from the grafted part in a seedling box, the roots of the rootstock seedling and the supply of the scion seedling are supplied to the rootstock, respectively. A transport belt means for transporting the seedlings stored in the seedling box while being stored in the seedling box, and a row of seedlings among a plurality of seedlings vegetated in the seedling boxes transported by the respective transport belt means,
An automatic grafting device, comprising: a seedling supply hand means for simultaneously gripping the seedling hypocotyl and simultaneously cutting the root of the hypocotyl of the seedling simultaneously.