JPH1028474A - Automatic plant grafting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic plant grafting device, capable of aiming at the reduction in an overall treating time and improving a taking ratio and a working efficiency by equipping the device with a transplanting mechanism, etc., for transplanting a seedling after a graft- treatment into a temporarily planting tray. SOLUTION: This automatic plant grafting device is equipped with a controlling means for activating a first and a second taking out mechanisms 21, 22 so as to cut the lower part of a seedling 1 for stock and the lower part of a seedling 4 for a graft after performing a nipping and holding treatment of the upper part of the seedling 1 for the stock and the upper part of seedling 4 for the graft by a nipping and holding part, and take out the seedling 1 for the stock and the seedling 4 for the graft from a stock tray 2 and a graft tray 5, and is also equipped with a first cutting mechanism 16 for cutting the upper side part of the seedling 1 for the stock taken out by the first taking out mechanism 21, a second cutting mechanism 17 for cutting the lower side part of the seedling 4 for the graft taken out by the second taking out mechanism 22, grafting mechanisms 19, 20 for performing a graft- treatment by joining the lower end of the cut seedling 4 for the graft with the upper end of the cut seedling 1 for the stock in a prescribed posture, and transplanting mechanisms 19, 20 for transplanting the seedlings after the graft-treatment into temporarily planting trays 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

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

[0002]

2. Description of the Related Art In an automatic grafting apparatus, seedlings for rootstocks and seedlings for splints are germinated in rootstock trays and splint trays, and the rootstock seedlings are cut and taken out from the rootstock tray. Then, the upper part of the removed rootstock seedling is cut, and the younger seedling for the scion is cut out from the younger tray, taken out, and the lower part of the younger seedling is cut off. Then, the lower end of the cuttings of the cuttings with the lower part joined to the upper ends of the cuttings of the cuttings with the upper part cut are grafted, and the grafted seedlings are transplanted to the temporary planting tray. Some are configured as follows.

[0003]

The seedlings for seedlings (seedlings for scions) that are germinating on the stocking trays (scoop trays) are soft, so the stocks of the stocking trays (scoop trays) are soft. If a cutting mechanism such as a cutter is simply acted on a seedling for seedlings (a seedling for a scion), the seedlings for the stock (saplings for a scion) are laid off and escaped, May not be able to cut out the seedlings (seedlings for scions) and take them out. SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic grafting apparatus so that rootstock seedlings (seedlings for seedlings) of a rootstock tray (headstock tray) can be cut and taken out properly.

[0004]

[Means for Solving the Problems]

[I] The first take-out mechanism (the second take-out mechanism)
With the take-out mechanism), the stock tray (hogi tray)
When taking out seedlings for rootstock (seedlings for scion) from
The holding portion of the take-out mechanism (second take-out mechanism) holds the upper part of the seedling for the rootstock (the seedling for the scion). In this case, in a state where the seedlings for the rootstock (seedlings for the scion) stand on the rootstock tray (the scioning tray) and are not shaken and are stabilized, the holding portion is the seedling for the stock (the seedling for the scion). ), So that the holding part does not obliquely hold the upper part of the rootstock seedling (seedling for seedlings), and the holding part is the seedling for rootstock (seedling for seedlings). Securely hold the upper part in a predetermined posture.

[0005] In the above-mentioned state, the rootstock (seedling for seedlings) is held by the holding part, and the root is held by the rootstock tray (headstock tray). In this manner, in a stable state in which the upper portion and the root portion of the seedling for the rootstock (the seedling for the scion) are sandwiched (held), the cutting portion of the first takeout mechanism (the second takeout mechanism) causes The lower part (the upper part and the middle part of the root) of the seedling (the seedling for the scion) is cut off.
Thus, the rootstock seedlings (sapling seedlings) are cut without escape, and the cut rootstock seedlings (stalking seedlings) are cut off.
Is taken out in a state where it is securely held in a predetermined posture by the holding portion of the first take-out mechanism (second take-out mechanism).

Thereafter, the upper part of the rootstock seedlings taken out by the first takeout mechanism is cut by the first cutting mechanism, and the lower part of the seedlings taken out by the second takeout mechanism is taken by the first cutting mechanism. 2 The cutting is performed by a cutting mechanism. next,
The upper end of the rootstock seedling whose upper part has been cut is joined to the lower end of the scion seedling whose lower part has been cut in a predetermined position by the grafting mechanism, and the seedling after grafting treatment is temporarily planted by the transplanting mechanism. Implanted in a tray.

[II] According to the feature of the second aspect, similar to the case of the first aspect, it has the "action" of the above-mentioned [I], and in addition to this, has the following "action". ing. For example, in grafting of cucumber vegetable seedlings,
When cutting the upper part of the seedling for rootstock, cut off the upper part without cutting one pair of leaves instead of cutting all of the pair of cotyledons. To be a source of nutrients for later growth). Thereafter, when joining the seedlings for the scion to the upper end of the seedlings for the rootstock where the leaves are left, one leaf of the seedlings for the rootstock after transplanting to the temporary planting tray, The direction of one leaf of the rootstock seedling and the direction of the cotyledon of the seedling are crossed (for example, in an orthogonal state) so as not to be shaded by the cotyledon of the seedling for the scion.

[0008] As described above, in the grafting of vegetable seedlings,
A rootstock seedling that has been removed from the rootstock tray and the upper part has been cut, and a seedling for the rootstock that has been removed from the scion tray and whose lower part has been cut may be joined to each other in a predetermined posture. Many. In contrast, when seedlings for rootstock and seedlings are germinated on the rootstock tray and scion tray, the orientation of the cotyledons of the seedlings for each rootstock and of the seedlings for each scion is constant. Instead, it is oriented in various directions.

According to a second aspect of the present invention, when a rootstock seedling (a scionling seedling) is removed from a rootstock tray (a scion tray) by a first removal mechanism (a second removal mechanism),
No matter what direction the cotyledons of seedlings for rootstock (cotyledons of seedlings for scion) are oriented, the first seedling alignment mechanism (second seedling alignment mechanism)
Thereby, the cotyledons of the stock for the rootstock (cotyledons of the seedling for the scion) are aligned in a predetermined direction.

[0010] When cutting the upper part of the rootstock seedlings taken out of the rootstock tray, when cutting the upper part while leaving one leaf as described above, the cotyledons of the rootstock seedlings are cut to a predetermined size. When aligned in the direction, the cutting by the first cutting mechanism while leaving one leaf of the upper part of the rootstock seedling can be performed with high accuracy. When cutting the upper part of a rootstock seedling, all of the cotyledons may be cut without leaving one leaf. In such a case, in order to ensure that the grafting process is performed, the upper part of the rootstock seedling is cut obliquely in a predetermined direction with respect to the cotyledons,
The seedlings for the cuttings whose lower part has been cut are joined to the seedlings for the rootstock whose upper part has been cut. Thus, when the cotyledons of the rootstock seedlings are aligned in a predetermined direction as described above, the upper cutting portion of the rootstock seedlings can be cut obliquely with high accuracy by the first cutting mechanism. In order to ensure that the grafting process is performed even on the seedlings for the scions, the lower part of the seedlings for the scions may be cut obliquely in a predetermined direction with respect to the cotyledons.
Accordingly, when the cotyledons of the scion seedlings are aligned in a predetermined direction as described above, the lower part of the scion seedlings can be cut obliquely with high accuracy by the second cutting mechanism.

After cutting the upper part of the rootstock seedling and cutting the lower part of the seedling seedling, the lower end of the seedling for seedling is joined to the upper end of the seedling for rootstock. When the cotyledons of the seedlings for the rootstock and the cotyledons of the seedlings for the scion are aligned in a predetermined direction as described above, the lower part of the upper part of the seedling for the rootstock whose upper part has been cut by the grafting mechanism, The operation of joining the lower ends of the cuttings for the scions whose side portions have been cut into a predetermined posture can also be performed accurately.

As mentioned above, seedlings for rootstocks (seedlings for scions)
Is taken out by the first take-out mechanism (second take-out mechanism), and the first seedling arrangement mechanism (the second seedling arrangement mechanism) causes the cotyledons of the stock for the rootstock (cotyledons of the seedling for the scion) to be oriented in a predetermined direction. When aligned, as described in the preceding section [I], the seedlings for rootstock (seedlings for scions) were securely held in the predetermined position by the holding portions of the first takeout mechanism (second takeout mechanism). When it is taken out in the state, the first seedling arrangement mechanism (second seedling arrangement mechanism) uses the first seedling aligning mechanism (second seedling aligning mechanism) as compared with the state where it is held in an oblique attitude deviating from the predetermined attitude. The operation for aligning the cotyledons of the seedlings) in a predetermined direction can also be performed reliably and accurately.

[III] According to the feature of the third aspect, similar to the case of the second aspect, the "action" described in the above-mentioned [II] is provided, and in addition to this, the following "action" is provided. ing. According to the feature of claim 3, one row of rootstock seedlings (one row of seedlings) is taken out from the rootstock tray (spike tray) by the first takeout mechanism (second takeout mechanism) and remains as it is. The first seedling aligning mechanism (second seedling aligning mechanism) is inserted into the first seedling aligning mechanism (second seedling aligning mechanism), and the first seedling aligning mechanism (second seedling aligning mechanism) sets the seedlings of the rootstock (cotyledons of the seedlings for the scion) in a predetermined manner. It is aligned in the direction.

In this case, as compared with a configuration in which rootstock seedlings (earlings for seedlings) are taken out one by one and put into the first seedling alignment mechanism (second seedling alignment mechanism), one rootstock is used. The entire time required for taking out and inserting seedlings for rootstock (seedlings for scion) from the tray (one scion tray) is reduced. Also in the first seedling alignment mechanism (second seedling alignment mechanism), the cotyledons are aligned in a predetermined direction at a time while one row of rootstock seedlings (one row of splinting seedlings) are supported in tandem. In addition, the time required for aligning the orientation of the cotyledons in a predetermined direction is also reduced.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an overall plan view of an automatic grafting apparatus, and FIG. 2 shows an overall side view of the automatic grafting apparatus. As shown in FIGS. 1 and 2, a stocking stocker 10 for supporting a stocking tray 2 containing a stocking seedling 1 in a plurality of upper and lower stages, and a stocking tray 5 containing a stocking seedling 4 are moved up and down. A stocking stocker 11 supporting a plurality of stages and a stocking stocker 12 supporting a temporary planting tray 8 for transplanting seedlings 7 after grafting are provided in a plurality of upper and lower stages. As shown in FIG. 12, the rootstock tray 2, the scion tray 5 and the temporary planting tray 8 are configured in containers made of soft resin in which the storage cells 2a and 5a are arranged vertically and horizontally, and are used for seedlings and vegetables for rice. Is cultivated in a plastic nursery box 13 for handling.

As shown in FIG. 1 and FIG.
Tray transport mechanism 3 for transporting the seedlings, a scion tray transport mechanism 6 for transporting the scion tray 5, and a temporary planting tray transport mechanism 9 for transporting the temporary planting tray 8. The stock tray transport mechanism 3 and the scion tray transport mechanism 6 are arranged in parallel and at the same height in plan view, and the lower side of the stock tray transport mechanism 3 and the scion tray transport mechanism 6 ( (Right side of paper)
First and second take-out mechanisms 21 and 22 described later, first and second seedling aligning mechanisms 14 and 15, first and second cutters 16 and 17 (see FIG. 19), and third cutter 18 (see FIG. 2).
1), first and second robot hands 19 and 20, and a clip supply mechanism 30 (see FIG. 20).

As shown in FIGS. 1 and 2, at a position lower than the rootstock tray transport mechanism 3 (headwood tray transport mechanism 6), the rootstock tray transport mechanism 3 (headwood tray transport mechanism 6).
The temporary planting tray transport mechanism 9 is arranged to extend rearward from these in parallel with the above. The empty rootstock tray 2 (headstock tray 5) from which all the rootstock seedlings 1 (headstock seedlings 4) have been taken out is moved from the end of the rootstock tray transport mechanism 3 (headstock tray transport mechanism 6). When it comes out, there is provided a collection / conveyance mechanism 23 of a roller conveyor type for collecting and conveying the empty rootstock tray 2 (the scion tray 5).
Are disposed above the temporary planting tray transport mechanism 9 so as to intersect with the temporary planting tray transport mechanism 9.

The stock tray transfer mechanism 3 (the scion tray transfer mechanism 6) includes a transfer unit 24 (first half side) that is disposed obliquely downward and continuously transfers the stock tray 2 (the scion tray 5).
And a horizontal transfer unit 25 (second half side) for intermittently transferring the stock tray 2 (the scion tray 5).
The temporary-planting tray transport mechanism 9 includes a transport unit 26 (first half and second half) disposed obliquely downward and horizontally for continuously transporting the temporary transplant tray 8, and a horizontal transport unit 27 for transporting the temporary transplant tray 8 intermittently. (Middle half).

Next, the first and second take-out mechanisms 21 and 22 and the first and second seedling aligning mechanisms 14 and 15 arranged at the ends of the stock tray transport mechanism 3 and the scion tray transport mechanism 6 will be described. . As shown in FIGS. 3 and 14 (a), (b), and (c), the base 21a which can swing around the vertical axis P1;
The first and second take-out mechanisms 21 and 22 are provided with take-out portions 21b and 22b that are supported in a manner that the base portions 21a and 22a can expand and contract in the vertical direction of the drawing of FIG. 2 and a pair of holding arms 28 and a pair of cutter arms 2 corresponding to the row of rootstock seedlings 1 and the row of seedlings 4, respectively.
9 is provided in the take-out sections 21b and 22b.

As shown in FIGS. 3 and 17 (a) and (b), a pair of support plates 31 are arranged so as to face each other at a predetermined narrow interval, and vibration is applied to the pair of support plates 31. A first and second seedling arrangement mechanisms 14 and 15 are provided with a vibration mechanism (not shown). A pair of support plates 31
, A notch 31a is formed at the entrance (left side in the drawing), a pair of pins 32 are fixed on the end side (right side in the drawing), and the pair of support plates 31 are lowered so that the end side (right side in the drawing) is lowered. It is arranged at an angle.

Next, the overall flow of the automatic grafting device will be described. As shown in FIGS. 1 and 2, a stock tray 2 containing a seedling 1 for a stock (a stock tray 5 containing a seedling 4 for a shoot) is transferred from a stock stocker 10 (a stock stocker 11). Then, the workers are taken out one by one and placed on the stock tray transport mechanism 3 (the scion tray transport mechanism 6), and the temporary planting tray 8 containing the soil 37 (see FIG. 22) from the temporary planting stocker 12 is removed from the work. One by one is taken out and placed on the temporary planting tray transport mechanism 9.

The stock tray 2 (the scion tray 5) is used as the stock tray transport mechanism 3 (the scion tray transport mechanism 6) (the transport unit 25).
3, 4, 13 and 14 (a), the first and second take-out mechanisms 21 and 22
Nipping arm 28 and cutter arm 2 open on both sides
9, one row of rootstock seedlings 1 (one row of seedlings 4) in front of the rootstock tray 2 (headboard tray 5) enters FIG.
4 (b) and FIG. 15 (a), the upper clamping arm 28 is first closed, and the clamping arm 28 clamps the upper part of the seedling 1 for the rootstock (the seedling 4 for the scion). Is done.

The state shown in FIGS. 14 (b) and 15 (a) in which the upper part of the seedling 1 for the rootstock (the seedling 4 for the scion) is held by the holding arm 28 is the set time (for example, 2 seconds). Or 3
14 seconds), and after a lapse of the set time, FIG.
(C) and the cutter arm 2 as shown in FIG.
9 is closed, and the lower part of the rootstock seedling 1 (spikelet 4) is cut and cut by the cutter arm 29, and the cut rootstock seedling 1 (spikelet seedling) is cut. Seedling 4)
Is held (held) by the holding arm 28.

Next, in the state shown in FIG. 4, the entirety of the first and second take-out mechanisms 21 and 22 is raised, and a single row of rootstock seedlings 1 (one row of seedlings 4) is raised. , Are pulled out from the stock tray 2 (the scion tray 5) and supported in tandem, and as shown in FIG.
As a whole, the take-out portions 21b, 22b extend rightward on the paper with respect to the bases 21a, 22a, as shown in FIG.

Therefore, the first and second take-out mechanisms 21,
Rootstock seedling 1 sandwiched between 22 (stalkling seedling 4)
However, as shown in FIG. 6 and FIG. 17A, a pair of support plates 31 of the first and second seedling aligning mechanisms 14 and 15 are arranged along a column.
It is caught in between. In this case, as shown in FIGS. 17A and 16, a horizontally long concave portion 28 a is formed inside the holding arm 28, and a notch portion 31 a that extends right and left is formed at the tip of the pair of support plates 31. The lateral width L2 of the notch 31a is set to be larger than the lateral width L1 of 28a. As a result, as shown in FIGS. 1 and 16, the first and second take-out mechanisms 21 and 22 move the rootstock seedlings 1 (spikelet seedlings 4) between the pair of support plates 31 along the columns. When the seedlings 1 are inserted, the seedlings 1 for the rootstock (the seedlings 4 for the scions) move to some extent in the recesses 28 a and are smoothly inserted between the pair of support plates 31.

When the insertion is completed, the holding arms 28 of the first and second take-out mechanisms 21 and 22 separate the rootstock seedlings 1 (the seedlings 4 for the scions), and the first and second take-out mechanisms 21 and 22 are removed.
22 moves downward and the first and second seedling alignment mechanisms 1
4 and 15, and as shown in FIG.
a, the take-out portions 21b and 22b contract to the left in the drawing, and as shown in FIG.
The whole of 1 and 22 turns around 90 degrees and returns to the initial state.

As described above, when the rootstock seedlings 1 (spikelet seedlings 4) are inserted between the pair of support plates 31 of the first and second seedling alignment mechanisms 14, 15, FIG. As shown in FIG. 7, vibration is applied to the pair of support plates 31 by the vibration mechanism. As a result, the pair of support plates 31 is inclined so that the end side (right side in the drawing) becomes lower, and the seedlings 1 for the rootstock (the seedlings 4 for the scion) are vibrated by the support plates 31. Support plate 3
8 and 17 (b), the leading stock 1 for rootstock (the seedling 4 for scion) contacts the pair of pins 32 of the support plate 31, as shown in FIGS. In this case, the pair of cotyledons is determined in a predetermined direction (the direction along the pair of pins 32). Subsequent rootstock seedling 1 (sponge seedling 4) is also pressed against the leading rootstock seedling 1 (sponge seedling 4) so that a pair of cotyledons are oriented in a predetermined direction (a pair of pins). 32), and the pair of cotyledons of all the rootstock seedlings 1 (the seedlings 4 for scions) supported by the pair of support plates 31 as described above is oriented in a predetermined direction. (The direction along the pair of pins 32).

Next, as shown in FIGS. 9 and 18, the first robot hand 19 takes out the rootstock seedling 1 of the first seedling aligning mechanism 14 and carries it to the position of the first cutter 16.
As shown in FIG. 19, the upper part of the rootstock seedling 1 is cut diagonally by the first cutter 16, leaving one leaf. At the same time, the second robot hand 20 moves the second seedling alignment mechanism 1
5. Take out the first seedling 4 for the scion and take out the second cutter 17
To the second cutter 17 as shown in FIG.
Thereby, the lower part of the seedling 4 for the scion is cut diagonally.

Next, the first and second robot hands 19, 2
0 moves to the center side, and as shown in FIGS. 10 and 20, by the first and second robot hands 19 and 20,
The lower end of the cutting seedling 4 whose lower part has been cut is joined to the upper end of the rootstock seedling 1 whose upper part has been cut, and the clip 35 is sandwiched between the joining parts by the clip supply device 30. , One grafting process ends. 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, the seedlings 7 after the grafting process are processed by the third cutter 18 as shown in FIG.
The position of a predetermined length is cut from the upper end to the lower side, and the height of the seedling 7 after the grafting is adjusted to the set height,
Thereafter, the seedlings 7 after grafting are transplanted to the soil 37 of the temporary planting tray 8 by the first robot hand 19 as shown in FIGS. In this case, the soil 37 of the temporary planting tray 8
Is formed in advance with a vertical hole 37a.
The seedlings 7 after the grafting are inserted into the seedlings and transplanted.

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 and second seedling aligning mechanisms 14 and 15. When the joining and transplanting of the seedlings 1 for the rootstock and the seedlings 4 for the scion are completed, the conveyance unit 25 intermittently moves the stocking tray 2 (the scion tray 5) by one pitch of the storage cells 2a, 5a. 3 and the first and second take-out mechanisms 21 and 22 are operated as shown in FIGS. 4 to 6, and a row of rootstock seedlings 1 (a row of Of the seedlings 4) and inserting them into the first and second seedling aligning mechanisms 14 and 15 are performed. When the transplanting to one temporary planting tray 8 is completed, the temporary planting tray 8 is conveyed rightward on the paper surface as shown in FIGS. 1 and 2 and supported by the curing stocker 33 in a plurality of upper and lower stages.

At the end of the stock tray transfer mechanism 3 (the scion tray transfer mechanism 6), the stock tray 2 (the scion tray 5).
When all the seedlings 1 for the rootstock (seedlings 4 for the scion) are removed from the above, the empty rootstock tray 2 (the scioning tray 5) is conveyed by the collection and conveyance mechanism 23 to the lower side of the paper of FIG. Then, it is collected in the storage container 34.

[Another Embodiment of the Invention] In the first and second take-out mechanisms 21 and 22 shown in FIG.
The take-out portions 21b and 22b may be supported so as to be able to expand and contract in the vertical direction on the paper of FIG. 3 and to be movable in the horizontal direction on the paper of FIG. Thereby, when the stock tray 2 (the scion tray 5) reaches the end of the stock tray transport mechanism 3 and the scribing tray transport mechanism 6 (transport unit 25), the base 21a,
The take-out portions 21b, 22b move to the left in FIG. 3 with respect to the take-out portion 22a, and a row of rootstock seedlings 1 (one row, one end) is placed between the holding arm 28 and the cutter arm 29 of the take-out portions 21b, 22b. Each of the seedlings 4) for the scions enters, and the clamping arm 28 holds the seedlings 1 for the rootstock (seedlings 4 for the scions 4), and after a lapse of a set time, the cutter arm 2
The cutting of the stock 1 for rootstock (the seedling 4 for scion) by 9 is performed.

In the configuration shown in FIG. 3, one rootstock seedling 1 is used.
(One seedling 4 for seedling), a pair of holding arms 2
8 and a pair of cutter arms 29 are both driven to swing, so that one rootstock seedling 1 (one seedling seedling 4).
It is configured to perform clamping and cutting, but one of the clamping arms 28 and the cutter arm 29 is fixed, and the other clamping arm 28 and the cutter arm 29 are driven to swing, so that one You may comprise so that pinching and cutting of the seedling 1 (seedling 4 for one scion) may be performed. FIG.
Instead of using the clip 35 shown in FIG. 21 and FIG. 21, an instant adhesive may be applied to the joint between the rootstock seedling 1 and the scionling seedling 4.

[0035]

According to the first aspect of the present invention, in the automatic grafting apparatus, after the upper portion of the rootstock seedling (the seedling for the scion) is held by the holding portion, the seedling for the rootstock is then cut by the cutting portion. By cutting the lower part of the seedling for the scion, the seedling for the rootstock (the seedling for the scion) can be reliably cut without escaping. Is prevented from damaging the seedlings (seedlings for the scion) and lowering the survival rate of the grafting process in the automatic grafting device. If the seedling for the rootstock (the seedling for the scion) can be reliably cut without escaping as in the feature of the first aspect, the holding portion of the first takeout mechanism (the second takeout mechanism) is held in a predetermined posture. The rootstock seedlings (seedlings for seedlings) can be taken out while being securely clamped, so the upper part of the seedlings for cuttings will be cut off, Various processes such as cutting of the lower portion and joining in a predetermined posture can be easily performed.

According to the feature of claim 2, the "effect of the invention" of claim 1 is provided as in the case of claim 1. According to the feature of claim 2, by configuring so that the cotyledons of seedlings for rootstock (cotyledons of seedlings for earwood) taken out from the rootstock tray (cotyledon tray) are aligned in a predetermined direction, Accurate cutting of the upper part of the seedling for rootstock (cutting leaving one leaf, diagonal cutting of the cotyledon in a predetermined direction, etc.), and accurate cutting of the lower part of the seedling for scion (for cotyledon Diagonal cutting in a predetermined direction, etc.), as well as a grafting process in a predetermined posture between a rootstock seedling whose upper part has been cut and a scion seedling whose lower part has been cut in a predetermined posture. As a result, the survival rate of the grafting process in the automatic grafting device could be increased. When the seedling for the rootstock (the seedling for the scion) is taken out in a state where it is securely held in the predetermined position by the holding portion of the first taking-out mechanism (the second taking-out mechanism), as in the feature of claim 2, Since the operation of aligning the cotyledons of the seedlings for the rootstock (cotyledons of the seedlings for the scion) in a predetermined direction can also be performed with high accuracy, the survival rate of the grafting process in the automatic grafting apparatus can be further increased. .

According to the feature of claim 3, the "effect of the invention" of claim 2 is provided as in the case of claim 2. According to the feature of claim 3, one row of rootstock seedlings (one row of seedlings) is taken out from the rootstock tray (headstock tray) and is inserted into the first and second seedling alignment mechanisms. With this configuration, the time required for the entire processing can be reduced, and the work efficiency can be improved.

[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 plan view showing a state before the first and second take-out mechanisms sandwich a rootstock seedling and a scionling seedling;

FIG. 4 is a plan view showing a state in which the first and second takeout mechanisms sandwich a rootstock seedling and a scionling seedling after the state of FIG. 3;

FIG. 5 is a plan view showing a state in which the first and second take-out mechanisms take out seedlings for rootstocks and seedlings for splints after being turned around 90 ° after the state of FIG. 4;

FIG. 6 shows a state in which, after the state of FIG. 5, the first and second take-out mechanisms are extended to remove rootstock seedlings and spikelet seedlings into first and second seedlings;
Plan view showing a state where it is inserted into the seedling alignment mechanism

FIG. 7 shows a state in which the first and second take-out mechanisms are contracted, and vibrations are applied to the first and second seedling aligning mechanisms. A plan view showing a state in which the directions of a pair of cotyledons are aligned.

FIG. 8 shows a state in which a pair of cotyledons of a rootstock seedling and a scionling seedling are aligned so as to reach the terminal side of the first and second seedling alignment mechanisms, following the state of FIG. Plan view shown

FIG. 9 shows a state after the state shown in FIG. 8 and the first and second robot hands take out rootstock seedlings and spikelet seedlings from the terminal ends of the first and second seedling alignment mechanisms, and And a plan view showing a state of being carried to the position of the second cutter.

FIG. 10 shows a state in which the lower end of the cuttings of the cuttings whose lower part has been cut is placed in a predetermined posture by the first and second robot hands after the state of FIG. Plan view showing a state where the grafting process has been performed after joining

FIG. 11 is a plan view showing a state in which the seedlings after grafting have been transplanted to a temporary planting tray by the first robot hand after the state in FIG. 10;

FIG. 12 is a perspective view showing a state of a stock tray and a scion tray.

FIG. 13 is a side view showing a state where the first and second take-out mechanisms sandwich a rootstock seedling and a scionling seedling;

FIG. 14 is a front view showing the operation flow of the holding arm and the cutter arm in the first and second take-out mechanisms.

FIG. 15 is a plan view showing a holding arm and a cutter arm in the first and second extraction mechanisms.

FIG. 16 is a plan view showing a state where the first and second take-out mechanisms insert seedlings for rootstocks and seedlings for scions into the first and second seedling alignment mechanisms.

FIG. 17 is a perspective view of the first and second seedling alignment mechanisms.

FIG. 18 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. 19 is a side view showing a state in which an upper part of a rootstock seedling 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. 20: A lower end of a cutting of a cutting of which a lower part is cut is joined in a predetermined posture by a first and a second robot hand to an upper end of a stock of a rootstock whose cutting of an upper part is cut, and a clip is attached to the joining part. Is a side view showing a state in which the grafting process has been performed with the sheet sandwiched.

FIG. 21 is a side view showing a state in which a lower portion of a seedling after grafting is cut by a third cutter.

FIG. 22 is a perspective view showing a state in which seedlings after grafting, the lower part of which has been cut by a third cutter, are transplanted to a temporary planting tray by a first robot hand.

[Explanation of symbols]

 Reference Signs List 1 seedling for rootstock 2 seedling tray 4 seedling for scion 5 seedling tray 7 seedling after grafting treatment 8 Temporary planting tray 14 first seedling alignment mechanism 15 second seedling alignment mechanism 16 first cutting mechanism 17 second cutting Mechanisms 19 and 20 Grafting mechanism, transplanting mechanism 21 First take-out mechanism 22 Second take-out mechanism 28 Holding section 29 Cutting section

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yoshiaki Goto 64, Ishizukita-cho, Sakai-shi, Osaka Inside Kubota Sakai Works Co., Ltd. Within the Specified Industrial Technology Research Promotion Organization (72) Inventor Sadao Sasaya 1-440-2 Nisshin-cho, Omiya-shi, Saitama Address 2 Inside the Research Organization for Biological Sciences

Claims (3)

[Claims] 1. A first take-out comprising a holding portion capable of holding an upper portion of a rootstock seedling in a rootstock tray, and a cutting portion capable of cutting a lower portion of the rootstock seedling in the rootstock tray. A second take-out comprising a mechanism, comprising a holding portion capable of holding the upper portion of the seedling for the scion in the scion tray and a cutting portion capable of cutting the lower portion of the seedling for the scion in the scion tray. A mechanism is configured to perform a clamping operation of the upper part of the seedling for rootstock and the upper part of the seedling for scion by the clamping part, and then the lower part of seedling for rootstock and the seedling for scion by the cutting part. And cutting means for operating the first and second takeout mechanisms so as to cut the lower part of the rootstock and take out the rootstock seedlings and spikelet seedlings from the rootstock tray and spike tray. Cut the upper part of the rootstock seedlings removed by the first removal mechanism. A first cutting mechanism for cutting, a second cutting mechanism for cutting a lower portion of the seedlings for cuttings taken out by the second picking mechanism, and an upper end of the cutting for seedlings whose upper portion has been cut. An automatic grafting mechanism that joins the lower ends of the cuttings for the cuttings whose lower part has been cut in a predetermined posture and performs grafting processing, and a transplanting mechanism that transplants the seedlings after the grafting processing to a temporary planting tray. Grafting equipment. 2. A first take-out comprising a holding portion capable of holding an upper portion of a rootstock seedling in a rootstock tray, and a cutting portion capable of cutting a lower portion of the rootstock seedling in the rootstock tray. A second take-out comprising a mechanism, comprising a holding portion capable of holding the upper portion of the seedling for the scion in the scion tray and a cutting portion capable of cutting the lower portion of the seedling for the scion in the scion tray. A mechanism is configured to perform a clamping operation of the upper part of the seedling for rootstock and the upper part of the seedling for scion by the clamping part, and then the lower part of seedling for rootstock and the seedling for scion by the cutting part. And cutting means for operating the first and second takeout mechanisms so as to cut the lower part of the rootstock and take out the rootstock seedlings and spikelet seedlings from the rootstock tray and spike tray. The cotyledons of the rootstock seedlings removed by the first removal mechanism A first seedling alignment mechanism for aligning the orientation, a second seedling alignment mechanism for aligning the cotyledons of the seedlings for the scions taken out by the second extraction mechanism in a predetermined orientation, and a cotyledon having a predetermined orientation by the first seedling alignment mechanism. A first cutting mechanism for cutting the upper part of the seedlings for the rootstock aligned in the direction,
A second cutting mechanism for cutting the lower part of the seedling for the scion whose cotyledons are aligned in a predetermined direction by the second seedling alignment mechanism, and at the upper end of the stock for the rootstock whose upper part has been cut, An automatic grafting machine comprising a grafting mechanism for joining and grafting the lower ends of the cuttings for the scion whose lower part has been cut in a predetermined posture, and a transplanting mechanism for transplanting the grafted seedlings to a temporary planting tray. apparatus. 3. A holding portion capable of simultaneously holding an upper part of a row of rootstock seedlings in a rootstock tray, and a cutting part capable of cutting simultaneously a lower part of a row of rootstock seedlings in the rootstock tray. A first take-out mechanism comprising: a holding portion capable of simultaneously holding an upper portion of a row of scion seedlings in the scion tray; and a lower portion of a single row scion seedling in the scion tray simultaneously. A second seeding mechanism comprising a cutting part capable of cutting, a first seedling aligning mechanism for aligning cotyledons in a predetermined direction while supporting a plurality of seedlings for rootstock in a tandem manner; A second seedling aligning mechanism for aligning cotyledons in a predetermined direction while supporting the seedlings in a row in a row, the upper portion of the seedlings for one row of rootstock and the upper part of the seedlings for one row of scions by the holding portion. After performing the clamping operation of the lower part of the row of rootstock seedlings by the cutting section and By cutting the lower part of one row of scion seedlings, one row of rootstock seedlings and one row of scion seedlings are simultaneously removed from the rootstock tray and the scion tray and supported in a columnar manner. First control means for operating the first and second take-out mechanisms; and a row of rootstock seedlings and a row of seedlings taken out of the rootstock tray and scion tray and supported in tandem. And second control means for operating the first and second take-out mechanisms so as to be inserted into the first and second seedling arrangement mechanisms along a column. A first cutting mechanism for cutting the upper part of the seedlings for the rootstock aligned in a predetermined direction,
A second cutting mechanism for cutting the lower part of the seedling for the scion whose cotyledons are aligned in a predetermined direction by the second seedling alignment mechanism, and at the upper end of the stock for the rootstock whose upper part has been cut, An automatic grafting machine comprising a grafting mechanism for joining and grafting the lower ends of the cuttings for the scion whose lower part has been cut in a predetermined posture, and a transplanting mechanism for transplanting the grafted seedlings to a temporary planting tray. apparatus.