JPH10178893A - Seedling transfer device for grafting equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the seedling transfer device of a grafting equipment capable of simplifying a structure, efficiently taking out a seedling and improving operability and workability by providing a removal means for removing a remaining seedling remaining at a seedling clamping piece after transferring the seedling to a seedling processor. SOLUTION: The supplied seedling for grafting is clamped by the seedling clamping pieces 45 and 50 and carried to the seedling processor and the removal means for removing the remaining seedling (z) remaining at the seedling clamping pieces 45 and 50 after transferring the seedling to the seedling processor is provided. Also, it is preferable to provide a means for blowing away the remaining seedling (z) by blowing air or mechanically removing the remaining seedling (z) by a scraper as the removal means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafting facility for vegetable seedlings and the like, in which grafting seedlings (rootstock seedlings and spikelet seedlings) supplied in trays or the like are supplied. More specifically, the present invention relates to a seedling delivery device used for passing the seedling to a seedling arrangement device or the like, and more particularly, to a device configured to hold a supplied grafting seedling with a seedling holding piece and transfer it to a seedling treatment device.

[0002]

2. Description of the Related Art Conventionally, after handing over a seedling to a seedling processing device such as a seedling arrangement device, a seedling holding piece is moved to a seedling receiving position so as to receive the next seedling as it is.

[0003]

However, according to the above conventional technique, if there is an error in passing the seedling to the seedling treatment apparatus, the seedling remains on the seedling holding piece, and the remaining seedling is held by the next seedling. And easily cause poor grip.

[0004] It is an object of the present invention to ensure that the next seedling can be grasped even if a mistake occurs in passing the seedling to the seedling treatment device and the seedling remains on the seedling grasping piece.

[0005]

The features, functions and effects of the first aspect of the present invention are as follows.

[Characteristics] A seedling delivery device of a grafting facility configured to hold a supplied grafting seedling with a seedling holding piece and transport the seedling to the seedling processing device. The present invention is characterized in that a removing means for removing remaining seedlings remaining on the seedling holding piece after passing is provided.

[Action] According to the first aspect of the present invention, a removing means is provided to remove the remaining seedlings remaining on the seedling holding pieces after passing the seedlings to the seedling processing apparatus due to a mistake in passing the seedlings. By removing the remaining seedlings by the removing means until the seedling holding pieces are moved to the seedling receiving position, even if the seedlings are left on the seedling holding pieces due to a mistake in passing the seedlings, When the seedling is gripped at the position, a state in which no seedling remains on the seedling gripping piece can reliably appear.

[Effect] Therefore, according to the first aspect of the present invention, even if there is an error in passing the seedling to the seedling treatment device, the next seedling holding by the seedling holding pieces can be performed reliably.

According to the second aspect of the present invention, the features, operations and
The effects are as follows.

[Features] In the features of the first invention,
A plurality of seedling holding pieces are provided corresponding to each seedling so that a plurality of seedlings supplied so as to be arranged in a row are collectively grasped and transported to the seedling treatment device.

[Effect] In the grafting equipment, a form in which a plurality of seedlings are stored in a tray and supplied in a plurality of rows and rows from the handling surface of the seedlings is often used.

Focusing on the above points, in the second aspect of the present invention, a plurality of sets of seedling holding pieces are provided to collectively hold a plurality of seedlings supplied in a row through a tray or the like. As a result, the supplied seedling can be efficiently taken out from the seedling receiving position.

[Effect] Therefore, according to the second aspect of the present invention, it is possible to efficiently transfer the seedlings from the receiving position to the seedling treating apparatus.

According to the third aspect of the present invention, the features, operations,
The effects are as follows.

[Features] In the features of the first and second aspects of the present invention, there is provided, as the removing means, means for blowing out and removing remaining seedlings by blowing air.

[Operation] According to the third aspect of the present invention, since the remaining seedlings remaining on the seedling holding pieces are blown off by blowing air, the air is moved to a position where it does not interfere with the seedling holding pieces and the seedling treatment device. A nozzle or the like for spraying can be provided, and the installation condition of the removing means can be reduced.

[Effects] Therefore, according to the third aspect of the present invention, it is very easy to design the installation surface of the removing means, and the removing means can have excellent removal performance.

According to the fourth aspect of the present invention, the feature, operation and
The effects are as follows.

[Features] In the features of the first and second aspects of the present invention, a means for mechanically removing remaining seedlings with a scraper is provided as the removing means.

[Operation] According to the fourth aspect of the present invention, since the remaining seedlings are mechanically removed by the scraper, the remaining seedlings remaining on the seedling holding pieces can be reliably removed.

[Effect] Therefore, according to the fourth aspect of the present invention, the reliability of removing the remaining seedlings can be made extremely high.

According to the fifth aspect of the present invention, the features, operations and
The effects are as follows.

[Features] In the features of the fourth invention,
The movement of the seedling holding pieces after the transfer of the seedlings to the seedling treatment apparatus is a removal operation by a scraper.

[Operation] According to the fifth aspect of the present invention, the movement of the seedling grasping piece to the receiving position after the transfer of the seedling to the seedling treatment apparatus is performed as a removing operation by the scraper. Since the remaining seedlings are removed by sliding, an actuator is not required when removing the remaining seedlings with a scraper.

[Effect] Therefore, according to the fifth aspect of the present invention, while employing a reliable removing means using a scraper,
The structure is simple and can be implemented at low cost.

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION

[First Embodiment] As shown in FIGS. 1 and 2, an automatic grafting equipment includes a rootstock tray 2 (see FIG.
Stocker 10 for supporting the seedlings 4 for the scions, a scion stocker 11 for supporting the scion tray 5 (see FIG. 3) in the upper and lower stages, and the seedling 7 after the grafting process. Temporary planting stocker 12 for supporting temporary planting trays 8 for transplanting a plurality of stages, rootstock supply conveyor 3 for supplying the rootstock trays 2, scion supply conveyor 6 for supplying the scion trays 5, and temporary planting trays A first seedling aligning device 14, a second seedling aligning device 15, a first seedling cutter 16, a second seedling cutter 1;
7, the third seedling cutter 18, the first delivery device 21, the second delivery device 22, the first robot hand 19, the second robot hand 20, a roller collection tray collection conveyor 23, a clip supply mechanism 30, a curing stocker 33, A storage container 34 is provided.

The seedling 1 for the rootstock and the seedling 4 for the scion are the grafting seedlings a in the present invention and have a pair of cotyledons. Seedling a or simply seedling a. When it is not necessary to distinguish between the rootstock supply conveyor 3 and the scion supply conveyor 6, it is referred to as a seedling supply conveyor C, and the first seedling arrangement device 14 and the second seedling arrangement device 15 according to the present invention. It is an example of the seedling treatment apparatus A, and when no distinction is required thereafter, it is simply referred to as a seedling arrangement apparatus A, and the first delivery device 21 and the second delivery device 22 are the seedling delivery devices according to the present invention. Hereinafter, when no distinction is required, it is referred to as a seedling delivery device.

As shown in FIG. 3, the stock tray 2, the scion tray 5, and the temporary planting tray 8 are made of a soft resin in which a plurality of seedling raising containers b are formed in parallel in a plurality of rows and rows. In the rootstock tray 2, seedlings 1 for rootstock are planted in each of the seedling raising containers b. On the other hand, in the scion tray 5, each of the seedling raising containers b is mounted in each of the seedling raising containers b. When the seedlings 4 are planted and it is not necessary to distinguish between the rootstock tray 2 and the scion tray 5 hereafter, it is simply referred to as a tray T. In the temporary planting tray 8, as shown in FIG. 4, each seedling raising container b is filled with soil 37, and the soil 37 has a vertical hole 37 a into which the grafted seedling 7 is inserted. .
The tray T and the temporary planting tray 8 are put into a plastic nursery box 13 for growing rice seedlings and vegetables and handled.

Rootstock stocker 10 and scion stocker 1
1. The temporary planting stockers 12 are arranged side by side in a state where the temporary planting stockers 12 are located at the center.

Rootstock supply conveyor 3 and scion supply conveyor 6
Are arranged in parallel and at the same height in plan view, and the provisional planting tray supply conveyor 9 is provided with a seedling supply conveyor C
At a lower position, it extends rearward in parallel with the seedling supply conveyor C.

The seedling supply conveyor C has a front half 24 disposed obliquely downward and a rear half 25 disposed horizontally.
The first half 24 is for continuous supply, and the second half 25 is for intermittent supply with a set amount corresponding to the length in the front-rear direction of the seedling raising container b. It is. Further, the temporary planting tray supply conveyor 9 includes:
The front half 26A is disposed obliquely downward, the middle half 27 is disposed horizontally, and the rear half 26B is disposed horizontally. The front half 26A and the rear half 26B are continuous. The middle half 27 is intermittently supplied with a set amount corresponding to the length in the front-rear direction of the seedling raising container b.

As shown in FIGS. 16 to 24, each of the first and second seedling arrangement devices 14 and 15
It is arranged at the transport end of the stock supply conveyor 3 and the scion supply conveyor 6, and has the same structure. Then, as shown in FIGS. 5 (a) and 5 (b), the seedling alignment device A is opposed to each other at intervals so as to form a slit S of a predetermined width, and has one end in the longitudinal direction located below. Arranged in an inclined posture, the seedlings a are hung so that the axis thereof hangs down through the slits S, and the seedlings a are supported in a state in which a plurality of the seedlings a are arranged in the longitudinal direction. A pair of vibrating support plates 31 are provided to be conveyed to one end side in the direction, and a pair of cotyledons are provided at the transfer end portions of these vibrating support plates 31 so as to abut on the cotyledons of the first seedling a and rotate around the axis of the seedling a. Is provided with a posture regulating pin 32 for regulating the posture to a posture orthogonal to the vibration support plate 31. In addition, the following seedling a is regulated to the same posture as the preceding seedling a by the cotyledon contacting the cotyledon of the preceding seedling a with the vibration conveyance, and as a result, all the seedlings supported by the vibration support plate 31 Are aligned in a predetermined direction. In addition, the entrance Sa of the slit S, which is the moving path of the shaft, is formed in a shape that becomes wider toward the tip end, and the slit S of the shaft is formed.
It is easier to transfer to

The first seedling delivery device 21 and the second seedling delivery device 22 have the same structure, and are shown in FIGS.
As shown in (a) and (b), the seedling a is provided with the seedling holding device B capable of holding and releasing the seedling a with the left and right seedling holding pieces 45 and 50 in the front-rear posture and being supplied by the seedling supply conveyor C. A seedling receiving position for collectively receiving the seedlings a located in the front row in the supply direction among the seedlings a planted on the tray T, and a seedling passing position for passing the seedlings a collectively to the seedling alignment device A. It is provided with a position changing means for changing the gripping device B.

As shown in FIGS. 16 and 17, the seedling holding device A includes a seedling holding piece 4 corresponding to each of a plurality of seedlings a located on the front row in the supply direction among the seedlings a on the tray T.
5, 50 pairs are provided to collectively hold a plurality of seedlings a in the front row, and the seedling holding pieces 45, 5 are provided.
0 in the state in which the gripping release operation is performed with respect to the tray T in the front-rear direction (supply direction) with respect to the tray release operation.
It is configured to introduce the seedling a into the seedling holding space c formed between 0.

Specifically, as shown in FIGS. 6 and 7,
A pair of front and rear support rods 40 are fixed to the support frame 39, and a first support plate 41 and a second support plate 42 are attached to the support rod 40 so as to be movable in the rod longitudinal direction. A gripping piece (hereinafter, referred to as one seedling gripping piece) 45 is attached, and the other left and right seedling gripping piece (hereinafter, referred to as the other seedling gripping piece) 50 is attached to the second support plate 42, and is extended to extend one side. The first support plate 41 is moved in one direction so that the seedling holding pieces 45 move collectively in the holding direction (the direction approaching the other seedling holding piece 50), and the one seedling holding piece 45 is contracted by being contracted. A first cylinder 49 for moving the first support plate 41 in a direction opposite to the above so as to move collectively in a grip release direction (a direction moving away from the other seedling holding piece 50), and similarly extended by extending the other. Seedling grasp The second support plate 42 is moved in the opposite direction so that the 50 collectively moves in the grasping direction (the direction approaching the one seedling grasping piece 45), and contracts, so that the other seedling grasping piece 50 collectively moves. And a second cylinder 53 for moving the second support plate 42 in the one direction so as to move in the grip release direction (a direction away from the one seedling gripping piece 45). And a plurality of pairs of seedling gripping pieces 45 and 50 are collectively gripped by the first cylinder 4.
By synchronously driving the 9 and the second cylinder 53, a plurality of pairs of seedling holding pieces 45 and 50 are configured to be collectively released. The one seedling gripping piece 45
As shown in FIG. 8, is composed of a substrate 45A fixed to the first support plate 41 and a grip portion 45B made of urethane rubber attached to the substrate 45A. As shown in FIG. 5, the front end is formed of a substrate 50A fixed to the second support plate 42 and a holding portion 50B made of urethane rubber attached to the substrate 50A, and forms an entrance of the seedling holding space c among the substrates 45A and 50A. Parts 45a, 50a
Is formed in an inclined posture for guiding the transferred seedling a to the left and right central sides of the seedling holding space c. In addition, one seedling holding piece 4
5, the tip portion 45a is, as shown in FIG.
The other seedling grasping piece 50 is disposed above the tip portion 50a.

As shown in FIG. 10, the first support plate 41 cooperates with a cutter contact 50b formed by bending the substrate 50A of the other right and left seedling holding piece 50 to hold the seedling a with the holding operation. Seedling a below the part to be gripped
The tool rest 43 which supports the cutting blade 29 for cutting is fixed.

As shown in FIGS. 16 to 24, the position changing means includes a receiving posture orthogonal to the supply direction by swinging around the vertical axis P, and a position along the supply direction, that is, the vibration supporting plate. A first base portion 36 is provided which is switchable to a transfer posture along the longitudinal direction of the base member 31 and is extendable and contractible in the longitudinal direction. A movable portion of the first base portion 36 is capable of vertically changing the position of a second base portion 38. The support frame 39 of the seedling grasping device B is movably attached to the second base 38 via a pair of rods 38a in a direction orthogonal to the sliding direction, and the first base 36 is mounted around the longitudinal axis P. An actuator (not shown) for swinging operation, an actuator (not shown) for expanding and contracting the first base 36, and an actuator (not shown) for changing the position of the second base 38 up and down with respect to the first base 36. Z) , The seedling grasping device B second base 38
And a cylinder 70 that performs reciprocating operation with respect to. That is, as shown in FIGS. 16 and 17, the first base 36 is contracted and rocked to the receiving position, and the cylinder 70 is extended while the second base 38 is located at the lower position, so that the seedling holding device is moved. By moving B to the seedling supply conveyor C side, the seedling holding device B is located at the seedling receiving position, and the frontmost seedling a on the tray T is transferred into each seedling holding space c of the seedling holding device B. After gripping,
As shown in FIG. 18, by positioning the second base 38 at the upper position and swinging the first base 36 to the seedling passing position, the seedling row gripped by the seedling gripping device B is shifted by the seedling alignment device A. The seedling grasping device B is positioned at a standby position positioned on the extension of the slit S, and in this state, as shown in FIG. 19, the first base 36 is extended to arrange the seedling grasping device B in a row. The seedling holding device B is positioned at the seedling passing position where the seedling a gripped by the above is transferred to the slit S from the top of the row and the entire seedling a is transferred to the slit S, and as shown in FIG. By releasing the holding of the seedling a and moving the seedling holding device B back by moving the seedling holding device B by retracting the cylinder 70 with the second base 38 positioned at the lower position, the seedlings are transferred from the seedling holding device B to the seedling alignment device A. is configured to pass a . The tray T is placed on the seedling supply conveyor C such that the center of the seedling raising container b in the front-rear direction coincides with the center of the seedling holding space c in the front-rear direction by the set amount operation of the seedling supply conveyor C. .

In the grafting facility, the grafting process and the temporary planting process are performed using the first robot hand 19, the second robot hand 20, and the clip supply device 30. Specifically, as shown in FIG. 12 and FIG.
The robot hand 19 takes out the rootstock seedling 1 of the first seedling aligning device 14 and carries it to the position of the first cutter 16. As shown in FIG. The upper part of the seedling 1 is cut diagonally leaving one leaf. At the same time, the second robot hand 20
Take out the top scionling seedling 4 of the seedling alignment device 15 and
It is carried to the position of the cutter 17, and the lower part of the seedling 4 for cuttings is cut obliquely by the second cutter 17 as shown in FIG. 13A (see FIGS. 12 and 22).

Next, the first robot hand 19 and the second robot hand 20 move toward the center, and as shown in FIGS. 14 and 23, the upper part is moved by the first robot hand 19 and the second robot hand 20. The lower end of the cutting seedling 4 for which the lower part has been cut is joined to the upper end of the cut stocking seedling 1, and the clip 35 is sandwiched between the joining parts by the clip supply device 30. Ends the grafting process. In this case, the seedling 4 for the scion is joined to the seedling 1 for the stock such that one leaf of the seedling 1 for the stock and the cotyledon of the seedling 4 for the scion are substantially orthogonal in plan view.

When one grafting process is completed,
As shown in FIG. 15, the third cutter 18 cuts a position of a predetermined length from the upper end to the lower side of the seedling 7 after the grafting, and the height of the seedling 7 after the grafting is adjusted to the set height. After that, the seedling 7 after the grafting process is transplanted to the soil 37 of the temporary planting tray 8 by the first robot hand 19 as shown in FIGS. 4 and 24. This transplantation is performed by inserting the seedling 7 after grafting into the vertical hole 37 a formed in the soil 37.

Further, the grafting equipment removes the remaining seedlings z remaining in the seedling holding pieces 45 and 50 after the seedlings are transferred to the seedling aligning device A due to a mistake in transferring the seedlings from the seedling transfer device to the seedling aligning device A. A removing means is provided.

The removing means is provided by blowing air.
This is a means for blowing out and removing the remaining seedlings z. As shown in FIGS. 6, 7, and 11, the air supplied from an air source (such as an air compressor) 80 via a hose 81 is used to remove the seedling holding pieces 45, An air nozzle 82 for blowing air to 50 is provided, and an air control valve 83 for supplying air from the air source 80 to the air nozzle 82 when the seedling holding device B is operated in the backward movement is provided.

Next, the overall flow of the automatic grafting equipment will be described. As shown in FIG. 1 and FIG. 2, a rootstock tray 2 containing rootstock seedlings 1 from a rootstock stocker 10.
Are taken out one by one by the operator and placed on the stock supply conveyor 3, and the scion trays 5 containing the scion seedlings 4 are taken out of the scion stocker 11 one by one by the worker. It is placed on the scion supply conveyor 6 and the temporary planting tray 8 containing the soil 37 from the temporary planting stocker 12
The workers are taken out one by one and placed on the temporary planting tray supply conveyor 9.

As shown in FIGS. 16 and 17, the tray T
Reaches the end of the second half 25 of the seedling supply conveyor C,
By moving the seedling holding device B in the forward direction, the seedling holding device B is located at the seedling receiving position, and the seedling a in the front row of the tray T enters the seedling holding space c.

Thereafter, the seedling holding device B performs a holding operation, whereby all the seedlings a in the front row are gripped and cut at the same time.

Next, as shown in FIG. 18, the seedling holding device B is moved from the seedling receiving position to the seedling passing position by the position changing means, and is held by the seedling holding device B as shown in FIG. A pair of vibration supporting plates 31 of the seedling a
, I.e., into the slit S.

When the insertion is completed, as shown in FIGS. 20 to 24, the holding by the seedling holding device B is released, the seedling a is transferred to the seedling aligning device A, and the seedling holding device B is lowered by the position changing means. After being made, it is returned to the seedling receiving position.

As described above, when the seedling a is inserted between the pair of vibration supporting plates 31 of the seedling alignment device A, the vibration supporting plate 31 vibrates, and as shown in FIG. 3
The seedling a on the top 1 is corrected to a posture in which a pair of cotyledons are oriented in a predetermined direction while being moved to the terminal side.

Next, as shown in FIGS.
One grafting process by the robot hand 19, the first cutter 16, the second robot hand 20, and the clip supply device 30, and setting the set height by the third cutter 18,
The seedlings 7 after grafting by the robot hand 19 are transplanted to the temporary planting tray 8.

As described above, the joining and transplanting of one seedling 1 for rootstock and seedling 4 for spikes are repeated, and are supported by the first seedling aligning device 14 and the second seedling aligning device 15. When the joining and transplanting of the seedlings 1 for the rootstock and the seedlings 4 for the scions are completed, the tray T is moved by the rear half 25 of the seedling supply conveyor C to a length corresponding to the length in the front-rear direction of the seedling raising container b.
The seedlings are supplied intermittently by the pitch, and as shown in FIGS. 16 to 19, the seedling transfer device is operated to take out one row of seedlings a and insert them into the seedling alignment device A.

When the transplantation to one temporary planting tray 8 is completed, the temporary planting tray 8 is transported and is supported by the curing stocker 33 in a plurality of upper and lower stages as shown in FIGS.

On the other hand, at the end of the seedling supply conveyor C,
When all the seedlings a are removed from the tray T, the empty tray T is transported by the recovery transport mechanism 23 and is recovered in the storage container 34.

[Second Embodiment] In the first embodiment, the removing means is modified as follows. That is, FIG.
(A) to (c), and as shown in (a) and (b) of FIG.
5 and 50, the remaining seedlings z on the seedling holding pieces 45 and 50.
Is left, a brush-like scraper 84 for mechanically removing the remaining seedlings z is attached to one of the vibration supporting plates 31.

[Another Embodiment] In the above embodiment, the seedling a
Was cut, but the tray T in which the culture medium d was left in each seedling raising container b was conveyed by the collection and conveyance mechanism 23 and collected in the storage container 34. You may add and implement a means.

[Medium removal means 1] As shown in FIG. 27, the seedling supply conveyor C is extended, and the medium d remaining in the tray T is removed by suction from the empty tray T placed on the extension. It is a means to do. More specifically, as shown in FIG. 28, a suction plate 86 having a suction port 85 arranged in the same manner as the seedling raising container b of the tray T is provided.
Is connected to a suction source 88 via a suction hose 87, and suction is performed while the suction plate 86 is in close contact with the upper surface of the tray T, whereby the medium d in each seedling raising container b is suctioned and removed. I have.

[Medium removal means 2] As shown in FIG. 29, as the seedling supply conveyor C, the tray T is directly placed and transported without using the seedling raising box 13. Specifically, the seedling raising container b of the tray T is used. A slat conveyor for transporting the slats in a state of being inserted between the slats is provided on a U-turn portion of the slat conveyor C to the return path. The guide rail slides on the tray T to prevent the tray T from coming off the slat conveyor C. 89 is provided in such a manner that the mouth of the seedling raising container b in the tray T is not closed, and the drainage hole e formed in the bottom of each seedling raising container b of the tray T which moves this U-turn portion is inserted into the seedling raising container b. The medium d in the seedling-raising container b may be provided with a blow-out nozzle 90 for extruding the medium d from the mouth to the outside by blowing air into the tray T to remove the medium d from the tray T. Of course, although not shown, air is supplied to the blowing nozzle 90 from an air supply source via a hose.

[Medium removal means 3]
As shown in (c), it is connected to a suction source (not shown) via a suction hose 91 to suck the culture medium d in the seedling raising container b in the row of the tray T from which the seedling a has been taken out by the seedling transfer device. A suction nozzle 92 for removal is provided, and an arm 93 is provided for reversibly changing the suction nozzle 92 from an upper retreat position to a medium suction operation position in conjunction with the raising of the seedling holding device B.

[Medium removing means 4] As shown in FIG. 31, as a seedling supply conveyor C, the tray T is directly placed and transported without using the seedling raising box 13. Specifically, the seedling raising container b of the tray T is used. A slat conveyor for transporting the slats between the slats is provided, and a guide 9 which slides on the tray T to prevent the tray T from coming off the slat conveyor C is provided at a U-turn portion of the slat conveyor C to the return path.
The guide rail 95 for preventing the tray T from falling off from the return path by sliding the tray T at a position connected to the guide 94 so that the opening of the container b for seedling raising in the tray T is not blocked. The guide rail 95 is provided with a vibration motor 96 for applying vibration for removing and dropping the culture medium, and the vibration removes and removes the culture medium d remaining in each seedling raising container b.

In the above-described embodiment, the seedling delivery device is shown in which a plurality of seedlings a supplied in a state of being arranged in a row are transferred to the seedling treatment device A at a stroke. The pieces may be transferred to the seedling treatment apparatus A one by one.

In the above-described embodiment, the movement of the seedling holding device B, that is, the movement of the seedling holding pieces 45 and 50 after the transfer of the seedlings is the removal operation by the scraper 84. However, an actuator for operating the scraper 84 is provided and the scraper 84 is provided. The remaining seedlings z may be removed by sliding on the seedling holding pieces 45 and 50.

In the above embodiment, the brush-like scraper 84 is shown, but the scraper 84 may be a plate-like scraper.

[Brief description of the drawings]

FIG. 1 is an overall plan view of an automatic grafting device.

FIG. 2 is an overall side view of the automatic grafting device.

FIG. 3 is a perspective view showing a state of a stock tray and a scion tray.

FIG. 4 is a perspective view showing a state in which the seedling after the grafting process, the lower part of which has been cut by a third cutter, is transplanted to a temporary planting tray by a first robot hand.

FIG. 5 is a perspective view of first and second seedling alignment mechanisms.

FIG. 6 is a perspective view of a seedling holding device.

FIG. 7 is an exploded perspective view of the seedling holding device.

FIG. 8 is an exploded perspective view of one seedling holding piece.

FIG. 9 is an exploded perspective view of the other seedling holding piece.

FIG. 10 is a plan view for explaining the operation of the seedling holding pieces.

FIG. 11 is a side view of the removing means.

FIG. 12 is a view showing a state where the first and second robot hands are the first and second robot hands
Side view showing a state in which a seedling for a rootstock and a seedling for a scion are sandwiched and taken out from the end side of the seedling alignment mechanism.

FIG. 13 is a side view showing a state in which an upper part of a seedling for rootstock is cut by a first cutter, and a state in which a lower part of a seedling for seedling is cut by a second cutter;

FIG. 14 is a bottom view of a cutting stock with a lower part cut to the upper end of a root stock seedling with its upper part cut off, and the lower end of the seedling seedling with its lower part cut by a first and second robotic hands. Is a side view showing a state in which the grafting process has been performed with the sheet sandwiched.

FIG. 15 is a side view showing a state where the lower part of the seedling after the grafting is cut by the third cutter;

FIG. 16 is a plan view showing a state in which the seedling holding device is located before a seedling planting position.

FIG. 17 is a plan view showing a state where the seedling holding device is located at the seedling receiving position and holds the seedling.

FIG. 18 is a plan view showing a state where the seedling holding device is located at a standby position.

FIG. 19 is a plan view showing a state where the seedling delivery device is extended and the seedlings are inserted into the seedling alignment mechanism.

FIG. 20 is a plan view showing a state in which the seedling holding device moves backward, the seedling alignment mechanism vibrates, and the cotyledons of the seedlings are aligned.

FIG. 21 is a plan view showing a state in which the cotyledons of the seedlings are aligned and have reached the terminal end of the seedling alignment mechanism.

FIG. 22 is a plan view showing a state where the seedlings are taken out from the end side of the seedling alignment mechanism by the first and second robot hands and are carried to the positions of the first and second cutters.

FIG. 23 is a diagram illustrating a grafting process in which a lower end of a cutting of a cutting stock whose lower part is cut is joined in a predetermined posture by a first and a second robot hand to an upper end of a seedling of a cutting stock whose upper part is cut. Plan view showing the broken state

FIG. 24 is a plan view showing a state in which seedlings after grafting have been transplanted to a temporary planting tray by a first robot hand.

FIG. 25 is a plan view of a removing unit showing a removing operation in the second embodiment.

FIG. 26 is a side view of a removing unit showing a removing operation in the second embodiment.

FIG. 27 is a side view showing a medium removing unit.

FIG. 28 is a perspective view of a suction plate.

FIG. 29 is a side view showing a medium removing unit.

FIG. 30 is a side view showing the removing operation of the medium removing means.

FIG. 31 is a side view showing a medium removing unit.

[Explanation of symbols]

 a Seedling 45 Seedling gripping piece 50 Seedling gripping piece A Seedling treatment device z Remaining seedling 84 Scraper

Claims (5)

[Claims] 1. A seedling delivery device of a grafting facility configured to grip a supplied grafting seedling with a seedling gripping piece and transport the seedling to a seedling processing device. A seedling transfer device of a grafting facility, which is provided with a removing means for removing remaining seedlings remaining on the seedling gripping pieces after the cutting. 2. A plurality of sets of seedling gripping pieces are provided corresponding to each seedling so that a plurality of seedlings supplied so as to be arranged in a row are collectively grasped and transported to a seedling treatment apparatus. Item 1. A seedling delivery device for a grafting facility according to Item 1. 3. The method according to claim 1, wherein said removing means includes means for blowing off and removing remaining seedlings by blowing air.
Or the seedling delivery device of the grafting equipment according to 2. 4. A means for mechanically removing remaining seedlings with a scraper as said removing means.
Or the seedling delivery device of the grafting equipment according to 2. 5. The seedling delivery device for grafting equipment according to claim 4, wherein the movement of the seedling gripping pieces after delivery of the seedling to the seedling treatment device is performed as a removal operation by a scraper.