JPH11113395A - Grafting robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an arrangement compacted by the layout of the component members of a grafting robot, excellent in operability for supplying the seedlings and in the safety of works and useful for the clip grafting of the seedlings, wherein the layout is suitable for the supply, cutting and grafting of stock seedlings and scion seedlings. SOLUTION: This grafting robot is obtained by disposing a stock seedling- supplying section for supplying stock seedlings on one side on the flat view, disposing a scion seedling-supplying section for supplying scion seedlings on the other side, disposing a grafting section for grafting the stock seedlings to the scion seedlings at an intermediate position between the stock seedling- supplying section and the scion seedling-supplying section, and arranging the grafting section, the stock seedling-supplying section and the scion seedling- supplying section on an approximately straight line. Therein, the stock seedlings and the scion seedlings are carried from their supply sections, respectively, on a flat surface.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafting robot for producing grafted seedlings for automatically supplying and grafting rootstock seedlings and spikelet seedlings, and more particularly to a layout and clip joining of members constituting the grafting robot. Related to the device.

[0002]

2. Description of the Related Art Conventional robots for producing grafted seedlings are known, for example, as disclosed in Japanese Utility Model Laid-Open No. 3-27933 and Japanese Utility Model Laid-Open No. 4-49935. The grafting robot described in the above-mentioned publication is characterized in that rootstock seedlings arranged in advance in a plurality of seedling support holes radially provided on the outer periphery of the disk stand and scion seedlings arranged on a disk stand having the same structure are each 3
While rotating 60 degrees, adjacent to the disk base, 3
The seedlings are transferred one by one to fixed hands protruding from the rootstock processing disk part and the scion processing disk part that rotate by 60 degrees, and the cutting device is rotated at a position where each seedling processing disk part rotates by a predetermined angle. This is a device that cuts rootstock seedlings and scion seedlings respectively, rotates these seedlings further by a predetermined angle, rotates and transports them to a position where the rootstock and scion can be joined, and joins the stock and scion with clips. .

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to further improve the above-mentioned conventional grafting robot and to provide a grafting robot which can be easily used. More specifically, the present invention has a compact configuration due to the layout of each component suitable for supply, cutting, and joining of rootstock seedlings and spikelets of grafting robots, and is excellent in seedling supply workability and work safety. It is intended to provide an arrangement for joining clips.

[0004]

The present invention employs the following technical means to achieve the above object. In other words, in plan view, one side is provided with a rootstock seedling supply section for supplying rootstock seedlings, and the other side is provided with a rootstock seedling supply section for supplying earling seedlings. In the middle of the joint, a joining portion for joining the rootstock seedling and the scion seedling that has been transported in the lateral direction from the respective supply units is provided, and the joint, the stockstock seedling supplying unit, the scion seedling supplying unit, and the substantially straight line The grafting robot provided above.

[0005] Then, in plan view, one of the above is provided with a rootstock seedling supply unit for supplying rootstock seedlings, and the other is provided with a rootstock seedling supply unit for supplying earstock seedlings. At the intermediate part of the seedling supply part, a joining part is provided for joining the rootstock seedling and the scion seedling conveyed in a planar manner from the respective supply parts, and the joining part, the rootstock seedling supply part and the scion seedling supply part are provided. Is provided on a substantially straight line, with respect to a straight line connecting the rootstock seedling supply section and the joint, a rootstock seedling cutting section for cutting the rootstock seedling at a position substantially 90 degrees from the center of the straight line, A grafting robot comprising a cutting part for cutting a seedling at a position approximately 90 degrees from a center of the straight line connecting the supply part for a seedling and a joint part and a side on which the cutting part for the rootstock cutting is provided; did.

[0006] A rootstock transporting section for transporting the rootstock seedlings from the rootstock seedling supplying section to the junction in an arc shape, and a scion transporting section for transporting the scionling seedlings from the earling seedling supply section to the junction in an arc shape. 3. A grafting robot according to claim 2, further comprising:

[0007]

The rootstock seedlings are supplied to the rootstock seedling supply section, and the scion seedlings are supplied to the scion seedling supply section. The rootstock seedlings are cut by the rootstock seedling cutting section on the way from the rootstock seedling supply section to the junction, and then transported laterally toward the junction. After being cut by the cuttings of the cuttings on the way, they are transported laterally to the joint. Then, the cut rootstock seedling and ear tree seedling are gripped by the joint at the joint, and the grafting is completed.

[0008]

[Effect] The rootstock seedling supply part, the spikelet seedling supply part, and the joint can be rationally arranged in a substantially straight line, so that the rootstock seedling supply part and the spikelet seed supply provided with the junction therebetween are brought closer. And a compact grafting robot can be constructed. And although being compact, the rootstock seedling supply part and the earling seedling supply part can be provided at the most distant positions, so that the rootstock seedling supply to the rootstock seedling supply part and the seedling seedling supply part It is possible to carry out the supply of the young seedlings without any trouble.

Further, as described above, the grafting robot can be made compact, but the cutting stock cutting section for cutting the stock seedling and the cutting stock cutting section for cutting the scion seedling are provided between both cutting devices. Since the space between the seedling supply and the junction can be made large, when the seedling supply work is performed manually, the work can be performed safely and the cutting waste cut by each cutting device can be removed from the junction. It can be discharged to a distant position and does not hinder the joining work at the joining portion.

[0010] Since the rootstock seedlings and the scion seedlings are conveyed in an arc shape in each conveying section, a passage from the seedling supply section through the cutting section of the seedling to the joining section can be rationally formed.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. A plan view of the grafting robot of this embodiment is shown in FIG. 1 (a view with the top plate removed), an enlarged view of the portion (grafted portion) is shown in FIG. 2, and a front view is shown in FIG. 3 (a view with the front cover removed). Figure 4 shows the side view
(The side view of the stock with the side cover removed) is shown in each figure. The grafting robot comprises a clip feeder 1 and a graft 2, and the graft 2 comprises a stock 3, a scion 5, and a joint 6 therebetween.

The clip bowl 7 of the clip feeder 1
A clip guide rail 9 is provided from the outer periphery, and the graft 2 is made to be adjacent to the distal end thereof. The robot manipulators 10 and 11 and the seedling supply plates 13 and 14 for grasping and transporting the stock and the scion, respectively, are suspended on the top plate 15 (FIG. 3) of the graft 2. Since all the movements are assembled on one top plate 15, dimensional accuracy is improved. In addition, the top plate 15 plays a role of a cover and a strength member of the grafting robot, and prevents scattering of cutting residues from the stock and scion. FIG. 2 is an enlarged view of the graft portion 2 shown in FIG. The stock 3 is composed of a stock seedling supply device 17, a stock seedling transfer device 18 and a stock cutting device 19, and the scion part 5 is likewise a scion seedling supply device 21, a scion conveyance device 22. And a scion cutting device 23.

A rootstock seedling supplied manually to the rootstock seedling supply device 17 is transported to a position (cutting position) of a rootstock cutting device 19 by a rootstock transporting device 18 rotating in the direction of the arrow (a) in FIG. Then, the cutting device 19 is rotated (see FIG. 4), and the cutting blade leaves one cotyledon of the rootstock seedling, and the other cotyledons are cut off. The stock cutting device 19 is a rotary cutter having a cutting blade attached to the tip, and rotates in the direction of arrow (c) in FIG. The rootstock that has been cut and leaves one cotyledon is transported in the direction of the arrow (b), and is joined to the scion by the joining device 25 at the joining part 2.

Similarly, the scion supply device 21 is also manually operated.
Is fed by the scion conveying device 22 in the direction of arrow (d), and the scion cutting device 23 rotating in the direction of arrow (f) at the cutting position leaves the tissue above the hypocotyl portion. The hypocotyl and the root are partially cut off. And the scion with cotyledons is transported in the direction of the arrow (e),
The stock and the joint 2 are joined by the clip supplied from the clip feeder 1, the grafting operation is completed, and the tree is dropped and collected below the graft 2.

Next, a stock supply device 17 and a transport device 18
I will explain. First, the stock supply device 17 will be described mainly with reference to FIGS. The rootstock seedling supply plate 13 is composed of a holding part 13b having a structure for receiving a rootstock at an angle to come into contact with the back surface of both cotyledons opened in a direction facing the receiving groove 13a larger than the rootstock seedling axis diameter. ing. Receiving groove 1
Since the diameter of 3a is larger than the diameter of the cotyledon development base of the rootstock, the rootstock of the rootstock is stably held by the holding portion 13b. Further, the holding unit 1 is held at an angle so as to contact the back of the cotyledon.
Since the rootstock 3b is provided, the seedlings can be placed on the supply plate 13 in substantially the same direction without setting the direction of the cotyledons accurately when feeding the rootstock seedlings.

The rootstock seedlings set on the rootstock supply plate 13 are gripped by the rootstock transport device 18 and are transported sequentially to the cutting position and the joining position. FIG. 5 shows a detailed view of the stock carrier 18. 5 (a) is a top view, FIG. 5 (b) is a side view, and FIG. 5 (c) is a bottom view of the tip of the transfer device. A rotation actuator 29 for transporting the rootstock of the rootstock transporting device 18 is supported by the top plate 15, and a rootstock transport arm support 30 is provided below the actuator 29.
1 is rotatably supported. The stock transfer arm support 30 includes a stock transfer arm extruding cylinder 33 supported by the support 30, a stock transfer arm 34 fixed to the cylinder 33, and a stock grip 35 at the tip of the transfer arm 34. (Rootstock hypocotyl hand 37, rootstock root fixing hand 38, rootstock neck hanging piece 39, and cylindrical roller 41) are provided. The hands 37 and 38 are controlled to be opened and closed by an air cylinder (not shown) provided in the box 42 of the stock transfer arm 34 so as to hold the stock. As shown in FIG. 5 (c) which is a bottom view of the hands 37 and 38 in FIG. 5 (b), the rootstock hypocotyl hand 37 is made of rubber inside the hand 37 so as not to damage the hypocotyl of the rootstock. It has become. The rootstock fixing hand 38 is made of a curved plate that grips the cylindrical side surface of the rootstock 43 so as not to lose the shape of the rootstock 43 (FIG. 5B).

The stock transport arm 34 has a stock neck suspension piece 3 for holding a stock cotyledon deployment base 40 (see FIG. 8).
9 and a cylindrical roller 41, and a neck hanging piece supporting arm 45 for supporting them and a neck hanging piece rotating actuator 46 attached to the lower surface of the supporting arm 45 for rotating the stocking hanging piece 39 in a horizontal plane direction. Rootstock neck suspension 4
7 are provided. In addition, the stock carrier arm support 30
Also, there is provided a rootstock cotyledon lifting rotary actuator 49 for rotating the rootstock neck hanging tool 47 in the vertical direction at the time of joining with the scion, and lifting the rootstock cotyledon.

The air cylinders of the rootstock embryonic hand 37 and rootstock fixing hand 38 at the end of the rootstock transfer arm 34 pushed out to the rootstock seedling supply plate 13 at the set position of the rootstock seedling operate to operate the rootstock. The seedlings are gripped (FIG. 8). At this time, the cotyledon deployment base 40 is above the hand 37 at a distance. At the same time as the operations of the hands 37 and 38, the rotation actuator 29 for the stock carrier arm also operates, and
The rootstock seedling grasped at 38 is transported to the cutting position. At the cutting position, the hands 37 and 38 are turned off for a predetermined time,
At this time, since the rootstock neck hanging piece 39 (which is at the position indicated by the broken line in FIG. 5A when the seedling is received by the rootstock seedling supply plate 13) has already reached the position indicated by the solid line in FIG. The cotyledon deployment base 40 of the seedling is in a state of being supported by the neck hanging pieces 39 (FIG. 5).
(B)). Immediately thereafter, the rootstock hypocotyl hand 37 and the rootstock fixing hand 38 grip the hypocotyl again, and the rootstock is gripped at the set cutting position in the hypocotyl direction.

This rootstock neck hanging tool 47 supports the rootstock 40 of the rootstock of the rootstock with the neck hanging piece 39, and positions the cutting position of the rootstock with the rootstock suspended. Difference in thickness of cotyledon development base 40 of seedlings of the same variety is 0.2 to
Since it is within the range of 0.3 mm, the cutting position in the direction of the hypocotyl of the rootstock with the rootstock hanging member 47 can be constant for each type of plant.

At the time of cutting, the rootstock cotyledon presser 50 located above the rootstock cutting position on the front side of the rootstock transporting rotary actuator 29 shown in FIG. 4 comes down and presses the cotyledons as shown in FIG. In this manner, the cotyledon is sandwiched between the cylindrical roller 41 and the cotyled retainer 50, and a stock with one cotyledon easily obtained with the cutting blade of the cutting device 19 can be obtained. Also, at the time of joining with the scion,
As shown in (2), the stock neck suspension 47 is rotated in the vertical direction to lift the cotyledons left on the stock, so that the clip can grip the stock shaft.

Next, the scions will be described in detail. First, the scion supply device 21 will be described. As is clearly shown in FIG. 2, the scion seedling supply device 21 is provided with a scion seedling supply plate 14 having a scion receiving groove 14c opened at the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is manually inserted into the groove 14c to support the scion seedling.

The scion seedlings supported by the scion seedling supply plate 14 are gripped by the scion conveying device 22 and sequentially conveyed to a cutting position and a joining position. FIG. 9 shows a detailed view of the scion transport device 22. 9A is a top view (illustration of a rotary actuator 73 for carrying a scion described later is omitted), and FIG. 9B is a side view. The scion conveying device 22 has a scion conveying rotation actuator 73 and a scion conveying arm support 75 below the actuator 73 supported rotatably about the actuator rotation shaft 76. Hogi transfer arm support 75
A scribing transfer arm extruding cylinder 77 supported by the support 75, a scion transfer arm 79 which is extended and contracted by the cylinder 77, and a scion gripper 80 at the tip of the transfer arm 79.
And cotyledon holding hand 81 and hogi hypocotyl hand 8
3. A scalloped hand 84 is provided. The hands 81 and 83 are opened and closed by an air cylinder 89 provided in a hand support member 85 at the tip of the scion transfer arm 79 so as to grip the scion. Hogi Koba Holder Hand 8
The inside is made of rubber to prevent damage to the cogs and leaves.

At the scion supply position, only the scion hypocotyl hand 83 supports the scion, and the scion cotyledon holding hand 81 grips the cotyledon at the cutting position so as not to hinder the cutting of the hypocotyl portion ( (See FIG. 10). A support plate 87 for supporting the scion root fixing hand 84 is fixed to one side surface of the scion transport arm 79.

The fixed hand 84 is attached to the support plate 87 from a horizontal position to a vertical position.
A pneumatically driven rotary actuator 88 is provided so as to be able to rotate. When the hypocotyl near the spike root is sandwiched and supported by the spike root fixing hand 84, and when the spike hypocotyl is cut by the scion cutting device 23 at the cutting position, the hand 84 is rotated directly downward ( (See FIG. 11), so that the scallops do not get in the way.

As described above, the scion grasping portion is constituted by the scion cotyledon holding hand 81, scion hypocotyl hand 83, scion root fixing hand 84 and the like. The scribing transfer arm 79 is pushed out by a transfer arm push-out cylinder 77, and the pushing amount is adjusted by a pushing amount adjusting shim 91. A backing guide 92 is fixed to a lower portion of the scaffolding transfer arm pushing cylinder 77, and when the scaffolding transfer arm 79 comes to a retracted position, the guide piece 92a at the tip of the backing guide 92 is moved to the embryo of the scion. The hypocotyl is backed when the shaft is cut (see FIG. 11). When the backing guide 92 cuts the scion, the guide piece 9
The cutting by the cutter can be reliably performed by supporting the hypocotyl backing by 2a. The direction of rotation of the scion cutting device is shown in FIG.
As shown in FIG. 11, it is rotated in the opposite direction to the stock cutting device 19. The reason is that it is more advantageous to cut one cotyledon from the hypocotyl side to the cotyledon side while cutting one cotyledon in the hypocotyl when cutting the rootstock. This is for the purpose of effectively holding down the guide piece 92a at the tip of the contact guide 92 and for preventing the shape of the acute angle portion at the tip formed by cutting the hypocotyl.

Next, the cutting apparatus will be described with reference to FIG. The cutting device is provided in each of the stock 3 and the scion 5, but has a mechanism common to both. FIG. 12 shows a cutting device on the stock 3 side. FIG. 12A is a top view of the same (direction viewed from the top of the grafting robot).
FIG. 12B is a side view as seen from the direction of arrow A in FIG. 12A (the direction as viewed from the side wall on the side of the scion part of the grafting robot). The cutter driving motor 111 is supported by a vertical column 112, and a cutter arm 115 is attached to a rotating shaft 113 of the motor 111. A cutting blade 117 is attached to a cutting blade support piece 116 provided at a tip of the cutter arm 115 in a direction orthogonal to the arm 115.
Is attached. The attachment position of the cutting blade support piece 116 to the cutter arm 115 is performed by an adjusting tool such as an adjusting screw 119 provided on the cutter arm 115. Adjustment of the mounting height of the cutter driving motor 111 is performed by the support 11.
The adjustment is performed by using an adjustment tool such as an adjustment screw 120 provided in the apparatus 2.

Further, the cutter arm 115 is used to lift the cotyledon (cotyledon to be cut off) of the seedling within the rotation locus of the cutting blade 117 before the cutter 117 hits the hypocotyl so as not to hinder the cutting of the hypocotyl. Cotyledon lifting guide 12
2 are provided. The scion cutting device 23 of the scion shown in FIG. 2 shows a state in which the cutting blade 117 is on the same vertical plane as the support 112.

Next, a description will be given of the clip feeder unit 1 and the graft unit 2 which are characteristic parts of this embodiment. As shown in FIG. 1, the clip feeder unit 1 is provided with a clip guide rail 9 from the outer periphery of the bowl 7 and a graft portion is made adjacent to the distal end of the clip guide rail 9. At this graft portion, a scion and a stock are supplied and joined, respectively. So that the clip 123 (FIGS.
17) and the supply direction of the seedlings do not interfere with each other, so that a rational work arrangement is possible.

Further, as shown in FIG. 3, a robot manipulator 10 for grasping and transporting each of the stock and the scion,
Since the 11 and the seedling supply plates 13 and 14 are suspended on the top plate 15 of the graft portion 2, all the movements are assembled on one top plate 15, so that the dimensional accuracy is improved. In addition, the top plate 15 plays a role of a cover and a strength member of the grafting robot, and prevents scattering of cutting residues from the stock and scion.

As shown in FIG. 13 (a), notches 15a are provided at both corners of the grafted top plate 15, so that when the worker feeds the seedlings while observing from diagonally above, the seedling supply portion is It will be easier to see. Notch 1 on both sides of top plate
The lower side of 5a exposes the frame 131 of the grafting robot, and the exposed portion 131 can be used as a handle when the grafting robot moves.

As shown in FIGS. 13 (b) and 13 (c), foot switches 132 are provided respectively for the stock and hogi suppliers as emergency stop switches for the grafting robot.
When any one of the foot switches 132 is turned on, the grafting robot stops operating. Therefore, even if two people are working, an emergency stop can be performed with the will of one of the workers, and the emergency stop can be performed because the foot switch 132 is used even when the hands are full.

When the clip feeder driving motor 133 shown in FIG. 1 is disposed on the opposite side of the bowl 7 with respect to the clip guide rail 9, the center connecting the center of the bowl 7 of the clip feeder unit 1 and the center of the clip feeder driving motor 133 is formed. Since the line is substantially perpendicular to the center line of the clip guide rail 9, the weight balance of the body is improved by bringing the position of the center of gravity closer to the center of the body of the grafting robot.

As shown in FIG. 14, when the direction of travel of the vibrating clip guide rail 9 of the clip feeder and the direction of travel of the clip hooking device 124 at its tip are arranged differently, FIG. As a result, the weight balance of the grafting robot is improved, and the bowl 7 of the clip feeder 1 does not protrude as compared with FIG.

Since the graft clip 123 is used several times repeatedly, it may be supplied to the bowl 7 of the clip feeder unit 1 with dirt such as dirt adhered thereto. Although it may cause a mistake, if the portion 1a where the misaligned clips are dropped during the aligning operation of the clip feeder unit 1 is meshed, only the soil is sieved from the meshed portion and the clips are automatically cleaned. It became possible to. Also, a clip hooking device 12 connected to the tip of the clip feeder unit 1
As shown in FIG. 3, the clip joining device 25 has rods 135 and 136 that can be adjusted and fixed independently in two directions, the up-down direction and the left-right direction. By finely adjusting the positional relationship between the set of rootstocks and the clips 123, grafting of many items becomes possible.

Also, a vibrating clip feeder bowl 7
A clipping device 12 for joined seedlings fixed to the tip of the vibrating clip guide rail 9 in a straight line from
By arranging 4, a large amount of clips 123 can be supplied without stopping the operation of the grafting robot. Further, by arranging the clip hooking device 124 directly on the clip feeder unit 1, mistakes in feeding the clip 123 are reduced, and the distance between the robot manipulators 10 and 11 of the stock and the scion can be shortened.

Further, since the clip hooking device 124 is fixed to the frame 131 and the clip guide rail 9 is slidably attached to the clip hooking device 124, the vibration of the clip feeder 1 is applied to the clip hooking device 124. Is not transmitted. And the clip hooking device 12
By securely fixing the frame 4 and the frame 131, the joining rate can be stabilized.

As shown in FIG. 13 (FIG. 13 (a) is a top view, FIG. 13 (b) is a side view, and FIG. 13 (c) is a front view). Is provided. The discharge chute 139 is divided into three parts, and the grafted seedling immediately below the joining position of the rootstock and the scion is forward of the grafting robot (arrow (a)) as shown in FIGS. 13B and 13C. The cutting direction is regulated so that the cut pieces are discharged in the direction of the cut piece box 141 (arrow (b)) below the clip feeder unit 1 on both sides of the joining position. As described above, the bonded seedlings and the cut pieces are separated and the discharge locations are different, so that there is no interference between the work of transporting the bonded seedlings and the work of discharging the cut pieces. Further, it is possible to discharge the joined seedlings and cut pieces without interfering with the seedling suppliers sitting on both sides of the grafted portion.

A rotatable door 140 is provided outside the seedling supply section for each of the rootstock and the scion of the grafted section.
When the door 14 is open, it is arranged to be a desk.
When 0 is opened, the seedling supplier can use this as a stocking place for seedlings to be supplied, and when the door 140 is closed, the manipulator, which is a delicate machine in the apparatus, is protected when the grafting robot is stored and transported. Play a role.

As is apparent from FIG. 13 (b), since there is a space below the grafted portion 2, when a human feeds the scion and the stock from both sides of the grafted portion 2, the seating posture is set. , The foot enters the lower space of the joint 2 and the user can work in a comfortable posture. In addition, the rigid frame 131 of the grafting robot is assembled so as to surround the four sides of the clip feeder unit 1 which is a vibration source, and the grafting unit 2 is provided at one end of the frame. Therefore, vibration to the entire grafting robot can be minimized. The graft 2 can be extended and suspended.

Next, FIGS. 15 to 17 show a clip supply device and a clip joining device. As shown in FIG. 1, the clip feeder unit 1 of the clip supply device
The both ends of the handle 123a of the clip 123 (see FIGS. 15, 16 and 17) are attached to a vibration type parts feeder (vibration system NB-300: Mortron Co., Ltd.) having a spiral ascending path along the inner surface of the clip 123. A clip guide rail 9 formed of a vibration trough having a groove for guiding is connected, and a leading end of the guide rail is connected to a clip hooking device 124 facing the graft 2.

FIG. 15 is a top view of a main part of a clip hooking device 124 (= clip joining device 25) connected to the coupling (clip) guide rail 9, and FIGS. 16 and 17 are side views thereof. As shown in FIG. 15, the tip of the guide rail 9 narrows the guide interval between both ends of the handle 123 a of the clip 123 immediately before the joint between the stock and the scion of the graft 2, and the grip 123 b of the clip 123. Is connected to the stenosis guide rail 125 for releasing the stenosis. Here, the clip 123 moved forward with the grip portion 123b opened.
When (FIG. 15A) comes to the joining position of the stock and the scion, the clip opening / closing tool 126 is moved to the handle 123 a of the clip 123.
(FIG. 15 (b)), and the rootstock and the scion are maintained in a joined state by the gripping part 123b.

The grip portion of the clip is a portion for gripping the seedling at the tip of the clip.
In the example of 23, a clip tip 1 for grasping a stem of a seedling
23b, the clip handle is a base for opening and closing the tip of the clip against the biasing force of the clip spring, and if a human grasps the clip and opens the tip, it is a portion grasped by a finger. In FIG. 13, it is illustrated by a handle 123a.

The advance of the clip 123 is performed as follows in the procedure shown in FIGS. First, when the clip 123 supplied from the clip feeder unit 1 via the guide rail 9 reaches the position of the base of the stenosis guide rail 125 (see the plan view of FIG. 15) (FIG. 16A), the clip pushing cylinder 127 is moved. When the cylinder 12 starts operating,
The clip pusher 128, which is a metal elastically deformable band and is fixedly supported at the tip of the clip pusher 7, moves forward, and when viewed from the side of the clip pusher 128, the plane of the tip of the bent portion in the shape of a letter "L" is formed. By pressing the shoulder of the handle 123a of the clip 123, the clip 123 is placed on the stenosis guide rail 125 (FIG. 16B). At this time, the grip 123b of the clip 123 is opened because the handle 123a of the clip 123 is forcibly pushed in the narrow space of the stenosis guide rail 125 (see FIG. 15A). As shown in FIG. 15B, the clip 123 operates so as to release the pressing from both sides of the handle 123a, so that the grip 123b of the clip 123 can tighten the graft, and simultaneously press the shoulder of the handle 123a. The clip pusher 128 moves forward to drop the graft together with the clip 123 toward the ground (FIG. 17).
(A)). The tip of the clip pusher 128 has the same shape as the upper corner of the clip grip portion 123b as shown in the figure,
In addition, since this is a metal band-like body that is easily elastically deformed when viewed from the side and is inclined from the front end to the base, and when the clip pushing cylinder 127 is retracted, it is next attached to the narrow guide rail 125. The inclined portion of the clip pusher 128 hits the clip holding portion 123b of the clip 123 waiting to be supplied, and the clip pusher 12
8, the inclined portion is deformed and can get over the clip grip portion 123b (FIG. 17).
(B)). Note that a sensor 129 for detecting the presence or absence of a clip is provided above the clip hooking device 124, and the operation is automatically stopped when the clip 123 is not supplied.

Next, an operation procedure of the grafting robot of this embodiment will be described. First, the operation sequence of the grafting robot will be described with reference to FIG. The rootstock seedling set on the rootstock seedling supply plate 13 is gripped by the rootstock embryonic shaft hand 37 and rootstock fixing hand 38 at the tip of the extruded rootstock transport arm 34, and is rotated and transported 90 degrees. After the rootstock is suspended while supporting the rootstock 50 of the rootstock of the rootstock with the neck hanging pieces 39, the rootstock is changed by the rootstock hypocotyl hand 37 and the rootstock fixing hand 38, and the cotyledon is cut at the cutting position. , And cut off the other cotyledons.

Further, the scion set on the scion seedling supply plate 14 is also pushed simultaneously with the transfer of the stock from the supply position to the cutting position. Hogi Hypocotyl Hand 83 and Hokine Root Fixation Hand 8
4 and transported to the cutting position. At this point, the scion is fixed outside the locus of the cutting blade by the root fixing hand 84 so that the hypocotyl can be easily cut. The cut stock and scion are each transported 90 degrees to the joining position, where the clip 12
3 are joined. At this time, the cotyledon remaining in the rootstock and the pair of cotyledons in the direction opposite to each other are joined in a direction orthogonal to each other. The stock transfer arm 34 and the scion transfer arm 79 return to the initial positions, ie, the stock supply position and the scion supply position, by rotating back 180 degrees.

At this time, since the cutting devices 19 and 23 of this embodiment are machines used by rotating the cutting blade 117, they have the following safety devices. First, the foot switch 132 (FIG. 13) is provided on the stock side and the scion side. In this way, the rootstock seedlings and the hogi seedlings need to be set on the respective supply plates 13 and 14 by different persons, and when one of the two persons wants to stop the robot, the robot must be stopped at any time. Can be. Further, since the front surface of the grafting section 2 of the grafting robot is covered with a safety cover (not shown), the robot stops when the safety cover is opened.
Further, when the clip presence / absence sensor 129 (FIGS. 16 and 17) detects that the clip 123 has disappeared, grafting of the stock and scion cannot be performed, so that the operation is also stopped in this case.
However, in this case, when the clip 123 is set,
Work continues with the reset switch. Clip 123
If the grafting robot stops other than when the robot disappears, the operation of the grafting robot is restarted from the beginning.

Next, a time chart (FIGS. 19 to 2)
The operation of the grafting robot will be described with reference to 1). First, the movement of each device of the stock will be described. Rootstock seedling supply plate 1
In order to grasp the rootstock seedling set in 3, air is supplied to the rootstock transport arm extrusion cylinder 33 and the transport arm 34
Moves forward. At the rootstock receiving position, the air cylinder (located in the rootstock transport arm box 42) of the rootstock embryo hand 37 and rootstock fixing hand 38 at the tip of the arm 34 is operated to grip the rootstock seedling (FIG. 8). ). These hands 37, 3
At the same time as the operation of step 8, the stock transport rotation actuator 29 is also operated, and the stock held by the hands 37 and 38 is transported to the cutting position. At this time, since the cylindrical roller 41 is brought into contact with the back side of the cutting position of the stock, the stock transfer arm pushing cylinder 33 is turned off, and the transfer arm 34 is retracted. In the cutting position, the hands 37 and 38 are off for a predetermined time. At this time, since the stock root neck hanging piece 39 has already come to the position indicated by the solid line in FIG. 5A, the root stock 40 of the stock is supported by the neck hanging piece 39 (FIG. 5B). ). Immediately thereafter, the hypocotyl hand 37 and the fixed root hand 38 are turned on, and the set cutting position of the hypocotyl of the stock is determined. Next, the rootstock cotyledon presser 50 is turned on (FIG. 6). In this state, one of the rootstock cotyledons is left, and the other cotyledons are cut off by the cutting blade 117 as shown by the arrow in FIG.
Next, the rotary actuator 29 is turned on again, and the rootstock leaving one cotyledon is transported to a position near the joining position. In the vicinity of the joining position, the transfer arm pushing cylinder 33 is turned on again, and the rootstock advances to a position where it is joined to the scion. The rotation actuator 29 remains on until the clip 123 is pushed out and the joining is completed. Note that the clip pushing position in the time chart of FIG. 19 is a clip pushing first stage position described later.

At the joining position, one cotyledon left on the rootstock is lifted by the cylindrical roller 41 so as to be easily joined.
The rotation actuator 49 for lifting the rootstock cotyledon rotates a predetermined angle as shown in FIG. After joining, the hypocotyl hand 3
7, root fixing hand 38, transport rotary actuator 29
And the cotyledon lifting rotary actuator 49 is turned off, and each returns to the stock supply position.

It should be noted that the rotation actuator 29 for transporting the rootstock
Is a two-stage actuator (manufactured by New Error Co., Ltd.), which can sequentially perform 90-degree rotational conveyance from the stock supply position to the cutting position and 90-degree rotational conveyance from the cutting position to the joining position. Next, the operation of various devices in the scion part is shown in FIG.
This will be described with reference to the time chart of FIG.

In order to grasp the scion seedling set on the scion seedling supply plate 14, air is supplied to the scrub transfer arm pushing cylinder 77, and the scion transfer arm 79 moves forward. At the scion receiving position, the scion hypocotyl hand 83 at the tip of the transfer arm 79
Actuating air cylinder 89 operates to grip the hypocotyl of the scion seedling. At the same time as the operation of the hypocotyl hand 83, the rotation actuator 73 for transferring the scion is also operated to convey the scion grasped by the hand 83 to the cutting position. At this time, in order to make the back side of the cut portion of the hypocotyl of the scion abut against the backing guide piece 92a, the scrubbing transfer arm pushing cylinder 77 is turned off, and the transfer arm 79 is retracted. Further, while the scion is being transported to the cutting position, the root fixing hand 84 fixes the scion as shown in FIG. This is because when the hypocotyl of the scion is cut by the cutting blade as shown by the arrow in FIG. 11, the scallops do not obstruct the operation of the cutting blade. At the cutting position, the cotyledon holding hand 81 is operated to bundle the cotyledons of the scion as shown in FIG. 11 so that the cotyledons do not obstruct the operation of the cutting blade.

When the hypocotyl of the scion is cut, a part of the hypocotyl and the scion are cut off, and the remaining hypocotyl and cotyledons are cut with both hands.
While being held by 1, 83, it is rotated and transported to the vicinity of the joining position by the operation of the rotary actuator 73 for transporting the scion. In the vicinity of the joining position, the transfer arm pushing cylinder 77 is turned on again to advance the scion to a position where it is joined to the stock. The rotary actuator 73 for conveying the scions is provided with a clip 123.
Is kept on until it is pushed out and bonding is completed.
Note that the clip pushing position in the time chart of FIG. 20 is a clip pushing first stage position described later.

It should be noted that the rotary actuator 73 for conveying the scion is used.
Is a two-stage actuator (manufactured by New Error Corporation) similar to the rotation actuator 29 for transporting the stock. next,
The operation of the various devices of the clip supply unit will be described with reference to the time chart of FIG. When the stock and scion are supplied to the joining position, the clip pushing cylinder 1 shown in FIG.
27 pushes the clip 123 to the clip pushing position (first stage pushing position). Clip extrusion cylinder 127
Is a two-stage air cylinder, in which the clip push-out is temporarily stopped, and the clip opening / closing member 126 (FIG.
5) operates to open the biasing end of the clip, thereby closing the tip of the clip. In synchronization with the operation of the opening / closing tool 126, the clip pushing cylinder 127 further pushes out the joined seedling to the position shown in FIG. 17A (the second-stage pushing position) and drops it into the joined seedling receiving portion. Thereafter, the clip 123 retreats to the original position. This operation is repeated for each joining.

[Brief description of the drawings]

FIG. 1 is a plan view of a grafting robot according to an embodiment of the present invention.

FIG. 2 is a plan view of a graft portion of the graft robot according to one embodiment of the present invention.

FIG. 3 is a front view of a graft portion of the graft robot according to one embodiment of the present invention.

FIG. 4 is a side view of a graft portion of the graft robot according to one embodiment of the present invention.

FIG. 5 is a view of a stock transfer device of the grafting robot according to one embodiment of the present invention.

FIG. 6 is a diagram showing the vicinity of a stock transporter when the graft is cut by the grafting robot according to one embodiment of the present invention.

FIG. 7 is a diagram of a rootstock transporter when the rootstock and the scion of the grafting robot of one embodiment of the present invention are joined.

FIG. 8 is a diagram of a rootstock transfer device in a state of being received from a rootstock supply device of the grafting robot according to one embodiment of the present invention.

FIG. 9 is a view of a scion transport device of the grafting robot according to one embodiment of the present invention.

FIG. 10 is a diagram of a scion transporting apparatus before cutting a scion seedling by a grafting robot according to one embodiment of the present invention.

FIG. 11 is a diagram showing the vicinity of a scion transport device when cutting a scion of the grafting robot according to one embodiment of the present invention.

FIG. 12 is a diagram of a cutting device of a grafting robot according to one embodiment of the present invention.

FIG. 13 is a view showing a layout of a clip feeder unit and a graft unit of the grafting robot according to one embodiment of the present invention, and a supporting frame thereof.

FIG. 14 is a diagram showing a layout of a clip feeder unit of the grafting robot according to one embodiment of the present invention.

FIG. 15 is a plan view of the clipping device of the grafting robot according to one embodiment of the present invention.

FIG. 16 is a side view of the clipping device of the grafting robot according to one embodiment of the present invention.

FIG. 17 is a side view of the clipping device of the grafting robot according to one embodiment of the present invention.

FIG. 18 is a diagram showing an operation sequence of the grafting robot according to one embodiment of the present invention.

FIG. 19 is a diagram showing a time chart of a stock of a grafting robot according to an embodiment of the present invention.

FIG. 20 is a diagram showing a time chart of a scion part of the grafting robot of one embodiment of the present invention.

FIG. 21 is a diagram showing a time chart of a clip supply unit of the grafting robot according to one embodiment of the present invention.

[Explanation of symbols]

1: clip feeder section, 2: graft section, 3: base stock section, 5
... Hoki part, 6 ... Joint part, 9 ... Clip guide rail, 1
0: Rootstock robot manipulator, 11: Hogi robot manipulator, 13: Rootstock seedling supply plate, 14: Rootstock seedling supply plate, 15: Top plate 18: Rootstock transfer device, 19: Rootstock cutting device, 22: scion conveying device, 23: scion cutting device, 25: clip joining device, 29: rotary actuator for stock transfer, 33: extruding cylinder of the stock transfer arm, 34: stock transfer arm, 35
… Rootstock gripping part, 37… rootstock embryo shaft hand, 38… rootstock root fixed hand, 39… rootstock neck hanging piece, 41… cylindrical roller, 47
... Neck hanging tool, 49 ... Rotary actuator for lifting cotyledons,
50: Rootstock cotyledons, 73: Rotary actuator for scribing transport, 77: Crushing extruding cylinder for scaffolding, 79: Scaffolding transporting arm, 80: Scaffolding gripper, 81: Handheld scaffolding coping hand, 83: Spikelet Wood germ axis hand, 84: Hand ridge fixed hand, 92: Backing guide, 117: Cutting blade, 123: Clip, 124: Clip hooking device, 125: Stenosis guide rail, 126: Clip opening / closing device, 127: Clip pushing cylinder , 128 ... clip pusher, 13
1 ... grafted robot frame, 132 ... foot switch,
133: clip feeder drive motor, 135: vertical adjustment fixed rod, 136: left / right adjustment fixed rod,
139: chute, 140: door, 141: cut piece box

Claims (3)

[Claims] 1. A planer seedling is supplied to one side in a plan view.
Sapling seedling supply section, and sapling seedlings to supply sapling seedlings to the other
A supply section, and an intermediate portion between the rootstock seedling supply section and the spikelet seedling supply section.
Rootstock seedlings that have been transported in a plane from their respective supply units
And a joint for joining the ear tree seedling, and the joint and the rootstock seedling are provided.
A grafting machine comprising a supply section and a spikelet seedling supply section provided substantially on a straight line.
Bots. 2. A planer seedling is supplied to one side in a plan view.
Sapling seedling supply section, and sapling seedlings to supply sapling seedlings to the other
A supply section, and an intermediate portion between the rootstock seedling supply section and the spikelet seedling supply section.
Rootstock seedlings that have been transported in a plane from their respective supply units
And a joint for joining the ear tree seedling, and the joint and the rootstock seedling are provided.
Providing a supply section and a spikelet seedling supply section on a substantially straight line;
From the center of the straight line connecting the supply unit and the joint,
Rootstock cutting section for cutting rootstock at approximately 90 degrees
The straight line selecting the spikelet supply section and the joint section
At approximately 90 degrees from the center of the straight line and at the rootstock cutting section
A grafting robot in which a cutting part of a hogi seedling is provided on the side provided with a. 3. A rootstock transporter for transporting rootstock seedlings from a rootstock seedling supply section to a junction in an arc shape, and an earwood transporter for transporting rootstock seedlings from an earlet seedling supply section to a junction in an arc shape. 3. The grafting robot according to claim 2, further comprising a part.