KR100211278B1 - The automatic apparatus for grafting seedlings - Google Patents

Abstract

The present invention relates to a seedling automatic grafting apparatus which can automatically grafting gourds, vegetables, for example watermelon, melon, cucumber, pumpkin, tomato, pepper, melon, eggplant, etc. by using an electro-hydraulic system. In addition, the seedling automatic grafting apparatus according to the present invention is installed on the base plate and the seedling seedling and receiving seedling conveying means for transferring the seedling seedling and the receiving seedling at a constant speed according to the driving of the driving motor, and the seedling seedling and the receiving seedling conveying Seedling and receiving seedling support detecting means for detecting whether the seedling support member is accurately positioned at a specific position according to the movement of the upper chain and the lower chain of the means, and the upper chain and the lower part of the seedling and receiving seedling conveying means. When the tree seedling and the receiving seedling support member are accurately positioned at a specific position according to the movement of the chain, the tree seedling and the receiving seedling to the seedling seedling and the receiving seedling support member Seedling and seedling detection means for detecting whether the seedlings are held or supported by the seedling and receiving seedling support member driven by the seedling and receiving seedling conveying means, and transferred to a specific position Gripping and seedling gripping means for holding and transporting to the grafting position, a vibrating hopper for discharging the clip chute while vibrating and aligning the clip by vibrating means, and detecting the amount of the clip transferred from the vibrating hopper. A clip quantity detecting means installed in the clip chute through a bracket to support a tree seedling and a receiving seedling from the opposite side of the knife, and at the same time accommodates a clip conveyed from the clip chute. Clip insert means for pushing the clip to clamp the clamp, and the knife to cut the grafting part of the tree seedling and the grafting seedling Forwarding or reversing according to the operation of the hydraulic valve for moving, and transporting the grafting seedlings falling through the grafting seedling discharge port formed in the base plate and the knife that the cutting angle is adjusted by the knife position angle adjustment means to the grafting seedling collection container And a controller for controlling each component.

Description

Seedling Automatic Grafting Device

The present invention relates to an automatic grafting apparatus for grafting seedlings by applying an electro-pneumatic system, and particularly, a vegetable and vegetable, such as watermelon, melon, cucumber, pumpkin, tomato, pepper, melon, eggplant, etc. It is related with the seedling automatic grafting apparatus which can be grafted automatically.

In the description of the present invention, the phalaenopsis is cut into a straight line by a predetermined depth at the same angle so that the stems of the tree seedling and the seedling seedlings can be inserted into each other, and then the upper stem part of the cutout portion of the seedling seedling is inserted into the cutout of the tree seedling. By means of bundling the outer peripheral surface with a thread, tape, string or clamped with a clamp means that the root side is used as the root of the tree seedling, and the stem side is grafted to be used as the stem of the seedling to be grown. Generally, pumpkins are used as tree seedlings, and watermelons, melons, cucumbers, pumpkins, tomatoes, peppers, melons, and eggplants are used as seedlings.

According to the statistics of 1993, Korea produced 10,151,8M / T of vegetables at 3,783,000 ha, accounting for about 12% of total farm household income. In particular, the cultivation area and output of fruit and vegetable are increasing every year, and recently, the plant cultivation area is rapidly increasing to produce high-quality horticultural crops.

As of 1994, the fruit vegetable growing area was 78030 ha, and about 7.9 billion seedlings were required for these growing areas. It is estimated that the grafted seedlings account for about 480 million, or 60% of the cultivated seedlings.

In particular, watermelons, melons, cucumbers, melons, etc., which are severely damaged, can be cultivated with good quality watermelons, melons, cucumbers, melons, etc., only after cultivation.

In view of such a situation, the cam driven type seedling grafting machine developed and manufactured and marketed by Yufeng Machinery Co., Ltd. recently has been developed. However, the conventional simple seedling grafting machine has a low adhesion rate because the joining precision of the seedling seedling and the seedling seedling is not constant. Work speed also fell, there was a problem that can not improve the graft yield.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a seedling automatic grafting apparatus that can improve the grafting precision while improving the grafting yield.

Still another object of the present invention is to provide an automatic seedling grafting device that allows a worker to work in a comfortable posture.

Still another object of the present invention is to provide a seedling automatic grafting device having a simple configuration and easy maintenance and repair.

In order to achieve the above object, the seedling automatic grafting device according to the present invention is installed on the base plate, the seedling seedling and the seedling transfer means for transferring the seedling seedling and the seedling seedling at a constant speed according to the driving of the driving motor, and the seedling seedling And tree seedling and receiving seedling support detecting means for detecting whether the tree seedling support member is accurately positioned at a specific position according to the movement of the upper chain and the lower chain of the receiving seedling conveying means; A tree seedling detecting whether the tree seedling and the receiving seedling support are held by the tree seedling and the receiving seedling support member when the tree seedling and the receiving seedling support member are accurately positioned at a specific position according to the movement of the upper chain and the lower chain. And the seedling detecting means and the seedling seedling and receiving seedling conveying means are supported by the seedling seedling and the receiving seedling support member in accordance with driving. The seedling and receiving seedling holding means for holding the seedlings and seedlings that have been transported to the right position and transporting them to the grafting position, and the vibrating hopper which discharges the clip chute while vibrating and aligning the clips by vibrating means; Clip amount detecting means provided in the clip chute through the bracket to detect the amount of the clip conveyed from the rating hopper, and clips that are transferred from the clip chute while supporting the seedlings and the receiving seedlings from opposite sides of the knife. And a clip insert means for pushing the clip clamping the grafting part of the tree seedling and the receiving seedling, and moving forward or backward according to the driving of the knife driving pneumatic valve to cut the grafting part of the seedling seedling and the receiving seedling. Knife whose cutting angle is adjusted by adjusting means, and grafting seedlings formed on the base plate A grafting seedling conveying conveyor for transporting the grafting seedlings falling through the discharge port to the grafting seedling collecting container, and a controller for controlling each component.

1 is a schematic perspective view of a seedling automatic grafting apparatus according to an embodiment of the present invention.

2 is an enlarged perspective view of the main portion of FIG.

3 is a control block diagram for controlling the seedling automatic device according to an embodiment of the present invention.

4 is a perspective view schematically showing a clip for clamping the grafting seedlings applied to an embodiment of the present invention.

5 is a perspective view schematically showing a reception seedling support member or a tree seedling support member for supporting a reception seedling or a tree seedling applied to an embodiment of the present invention.

6 is a view schematically showing a state at the time of cutting of the tree seedling and the seedling seedlings according to an embodiment of the present invention.

* Explanation of symbols for main parts of the drawings

2: controller 4: first chuck driving pneumatic valve

5: first forward pneumatic valve 6: first rotation pneumatic valve

7: Pneumatic valve for ascent 14: Pneumatic valve for second chuck drive

15: second forward pneumatic valve 16: second rotation pneumatic valve

17: third pneumatic valve 18: fourth pneumatic valve

30: tree seedling transfer means 31a: upper chain

31b: lower chain 32: drive sprocket

33: first driven sprocket 34: second driven sprocket

35: chain tension adjusting means 37: tree seedling support member

38: support plate 40: receiving seedling transfer means

41a: upper chain 41b: lower chain

42: driving sprocket 43: second driven sprocket

44: second driven sprocket 45: chain tension adjusting means

47: tree seedling support member 48: support plate

50: tree seedling holding means 51: first chuck

52: first arm 53: first slider

54: first guide rail 55; first support member

56: first rotating plate 57: first fixing plate

60: receiving grave holding means 61: second chuck

62: second arm 63: second slider

64: second guide rail 65: second support member

66: second rotating plate 67: second fixing plate

70: tree seedling support means 80: tree seedling detection means

90: receiving seedling support support means 100: receiving seedling detection means

110: vibrating hopper 112: clip

114: clip chute 115: vibration means

116: clip amount detection means 119: bracket

120: clip insert means 121: piston

121a: tip portion 122: receiving portion

122a: contraction portion 123: guide rail

124: position fixing plate 130: knife

132: knife fixing plate 134: knife position angle adjustment means

140: grafting seedling conveying conveyor 141: conveyor driving motor

145: Grafting seedling collection container

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic perspective view of a seedling automatic grafting apparatus according to an embodiment of the present invention. 2 is an enlarged perspective view of the main part of FIG. 1, and FIG. 3 is a control block diagram for controlling the seedling automatic device according to an embodiment of the present invention, and FIG. 4 is a graft applied to an embodiment of the present invention. 5 is a perspective view schematically illustrating a clip clamping the seedlings, and FIG. 5 is a perspective view schematically illustrating a receiving seedling supporting member or a large seedling supporting member for supporting a receiving seedling or a large seedling applied to an embodiment of the present invention; 6 is a view schematically showing a state at the time of cutting of the tree seedling and the seedling seedlings according to an embodiment of the present invention.

1 to 5, reference numeral 30 is provided on the base plate 1 to serve as a tree seedling transfer means for transferring the tree seedlings at a constant speed according to the driving of the first driving motor 39. The tree seedling conveying means 30 includes an upper and lower chains 31a and 31b, a driving sprocket 32 for supporting the upper and lower chains 31a and 31b so as to be transported at a predetermined interval, and the driving soup. First and second driven sprockets 33 and 34 installed at a predetermined distance from the racket 32 to support the upper and lower chains 31a and 31b to be transported at a predetermined interval, and the upper and lower chains. Chain tension adjusting means 35 for adjusting the tension of 31a and 31b, a seedling support member 37 disposed between the upper chain 31a and the lower chain 31b to clamp the tree seedling, and the The driving sprocket 32 and the first and second driven sprockets 33 and 34 are supported in parallel at a predetermined interval. It consists of a support plate (38).

Reference numeral 40 is the same configuration as the tree seedling conveying means 30, is installed on the base plate (1) like the tree seedling conveying means 30, according to the drive of the second drive motor 49 The seedling transfer means 40 transfers the upper and lower chains 41a and 41b and the upper and lower chains 41a and 41b to the receiving seedling conveying means for transferring the receiving seedlings at the same speed as that of the tree seedling. A drive sprocket 42 for transportably supporting at a predetermined interval and a distance apart from the drive sprocket 42 are installed to support the upper and lower chains 41a and 41b so as to be transportable at a predetermined interval. First and second driven sprockets 43 and 44, chain tension adjusting means 45 for adjusting the tension of the upper and lower chains 41a and 41b, and the upper chain 41a and lower chain 41b. Tree seedling support to be excised between They consist of a material 47, and the driving soup brackets 42 and the first and second driven soup brackets support plate (48) parallel to the support with a 43, 44 a predetermined distance.

In the above description, the upper and lower chains of the tree seedling support member 37 and the seedling transfer means 40 which are fixed to the upper and lower chains 31a and 31b of the tree seedling transfer means 30 and support the tree seedlings. Receiving seedling support member 47 fixed to (41a, 41b) to support the receiving seedling is of the same structure, the tree seedling support member 37 is the body 37a and the back of the body 37a Protruding portions 37b and 37c respectively formed with fastening holes 37d and 37e so as to protrude from both ends toward the upper and lower chains 31a and 31b of the seedling tree seedling conveying means 30, respectively, and the body ( A pair of support plates 37g protruding toward the front of 37a and having concave grooves 37f for supporting the tree seedlings, and protruding portions 37i protruding from one end of the body 37a. Equipped with.

The receiving seedling support member 47 protrudes at both ends toward the rear of the body 47a and the body 47a, and is fixed to the upper and lower chains 41a and 41b of the receiving seed conveying means 40. A pair of projections 47b and 47c each having fastening holes 47d and 47e formed therein, and a recessed groove 47f which protrudes toward the front of the body 47a and supports a tree seedling. A support plate 47g and a detection protrusion 47i protruding from one side end of the body 47a are provided.

Reference numeral 50 is a graft position (specifically, the front position of the knife to be described later) supported by the tree seedling support member 37 in accordance with the drive of the tree seedling conveying means 30 and gripping the tree seedling transferred to the point P. As the tree seedling holding means for transferring to the first, the tree seedling holding means 50 includes a first chuck 51 for holding a tree seedling, a first arm 52 for supporting the first chuck 51, and A first slider 53 on which a first arm 52 is installed, a first guide rail 54 slidably supporting the slider 53 so as to extend or contract the first arm 52, A first supporting member 55 supporting the first guide rail 54, a first rotating plate 56 on which the first supporting member 55 is installed, and a first rotating plate 56 rotatably The first fixing plate 57 is fixed to the base plate 1 so as to be supported, and the first chuck 51 is disposed on the first chuck 51 to As shown in FIG. 6, the stem 10 is provided with the first elastic means 58 for shaping convexly toward the receiving seedling side.

In FIG. 3, the first chuck driving pneumatic valve 4 is discharged from the controller 2 such that the first chuck 51 of the tree seedling holding means 50 grips the tree seedling at the point P. The first forward pneumatic valve 5 is opened in response to the output control signal, and the first chuck 51 of the reception seedling holding means 60 when the tree seedling is gripped by the first chuck 51. ) Is turned off (closed) to retreat, and the rotary pneumatic valve 6 is opened to rotate the tree seedling holding means 50 to the grafted position when the tree seedling is gripped by the first chuck 51. The rising pneumatic valve 7 cuts (partly cuts) the tree seedlings and the seedlings with a knife to be described later, and then inserts the cutout portions of the seedling seedlings between the cutouts of the seedlings. 50) to raise.

Reference numeral 60 denotes a graft position (specifically, the front position of the knife to be described later) supported by the reception seed support member 47 and driven to the Q point according to the operation of the reception seed transport means 30. As the receiving seedling holding means for conveying until the receiving seedling holding means 60 includes: a second chuck 61 for holding the receiving seedling; a second arm 62 supporting the second chuck 61; A second slider 63 on which a second arm 62 is installed, and a second guide rail 64 slidably supporting the second slider 63 so as to extend or contract the second arm 62. And a second supporting member 65 supporting the second guide rail 64, a second rotating plate 66 on which the second supporting member 65 is installed, and rotating the second rotating plate 66. The second fixing plate 67 fixed to the base plate 1 and the second chuck 61 are disposed on the base plate 1 so as to be supported, and the grafting part of the receiving grave The stem of the second elastic means 68 convexly formed to the call (弧) shape toward the passage myocheuk as shown for 12 in Figure 6 and a.

Further, the second chuck driving pneumatic valve 14 is in accordance with a control signal output from the controller 2 to hold the receiving seedling at the Q point by the second chuck 61 of the receiving seedling holding means 60. The second forward pneumatic valve 15 is turned off to reverse the second chuck 61 of the receiving seedling holding means 60 when the receiving seedling is gripped by the second chuck 61. (Closed), the second rotary pneumatic valve 16 is opened to rotate the receiving seedling holding means 60 to the grafting position when the receiving seedling is held by the second chuck 61.

In the above description, the tree seedling holding means 50 has the same structure as the reception seedling holding means 60, and is provided symmetrically with respect to the grafting position.

In FIG. 3, reference numeral 70 designates a point P of the tree seedling support member 37 according to the movement of the upper chain 31a and the lower chain 31b of the receiving seedling conveying means 30. The seedling support support detecting means for detecting whether or not it is accurately located at the point of gripping by the first chuck 51 of the means 50, the seedling support support detecting means 70 is a photosensor, a micro switch or a proximity switch. 80 is used when the tree seedling support member 37 is accurately positioned at the point P according to the movement of the upper chain 31a and the lower chain 31b of the tree seedling conveying means 30. As the tree seedling detecting means for detecting whether or not the tree seedling is held by the tree seedling supporting member 37, the tree seedling detecting means 80 is similar to the photo seedling support detecting means 70 such as a photosensor, a micro switch or A proximity switch is used.

In FIG. 3, reference numeral 90 denotes that the receiving seedling support member 47 holds the Q point (accepting the receiving seedling seedlings) as the upper chain 41a and the lower chain 41b of the receiving seedling conveying means 40 move. A receiving seedling support detecting means for detecting whether or not it is accurately positioned at a point held by the second chuck 51 of the means 60, the receiving seedling support detecting means 90 is a photosensor, a micro switch or a proximity switch. And the like, and when the receiving seedling support member 47 is accurately positioned at the Q point according to the movement of the upper chain 41a and the lower chain 41b of the receiving seedling conveying means 40, As the receiving seedling detecting means for detecting whether the receiving seedling is held by the receiving seedling supporting member 47, the receiving seedling detecting means 100 is similar to the receiving seedling support detecting means 90 such as a photosensor, a micro switch or Proximity switch is used. .

In addition, reference numeral 110 denotes a vibrating hopper for discharging the clip 112 to the clip chute 114 while vibrating and aligning by the vibration means 113, and the clip chute 114 on the outer wall of the vibrating hopper 110. Is provided, and the clip chute 114 is provided with clip amount detecting means 116 for detecting the amount of the clip 112 conveyed from the vibrating hopper 110 via the bracket 119. . The clip amount detecting means 116 may use a photo sensor, a micro switch or a proximity switch. The clip amount detecting means 116 vibrates when a predetermined number or more of clips 112 are supplied to the clip chute 114. Outputting a signal to the controller 2 to stop the operation of the means 115 to stop the operation of the vibrating hopper 110 to stop the supply of the clip 112 to the clip chute 114, the clip chute When the number of clips 112 is equal to or less than a certain number of times, the signal is controlled to supply the clip 112 to the clip chute 114 by operating the vibrating hopper 110 by operating the vibrating means 115. 2) to output.

The clip insert means 120 installed on the base 117 on which the vibration means 115 is installed supports the large seedlings and the receiving seedlings from the opposite side of the knife 130 and is transferred from the clip chute 114. By receiving the clip 112 and pushing the clip 112 which clamps the grafting part of the tree seedling and the receiving seedling, the clip insert means 120 pushes the protrusion 121a at the tip end to push the clip 112 out. The piston 121, the receiving part 122 which slidably accommodates the piston 121, and which receives the clip 112 from the clip chute 114, and the receiving part 122 And a guide rail 123 for supporting and guiding backwards, and a fixing plate 124 for the receiving seedling and the seedling seedling which is installed at the tip of the receiving portion 122 to fix the seedling seedling and the receiving seedling. have.

The position fixing plate 124 is the third inlet valve 17 is on (on) when the receiving portion 122 advances along the guide rail 123 when the advancing to the grafting position to the tree seedling holding means 50 Positioning of the grafting position of the grafting seedling held by the first chuck 51 and the grafting position of the receiving seedling held by the second chuck 61 of the receiving seedling holding means 60, and the piston 121 6), the tree seedlings and the seedlings as shown in FIG. 6 are fixed by the positioning plate 124, and then cut by the knife 132, and at the same time, the seedlings of the cutouts 13 of the tree seedlings When the upper cutout is inserted, it is advanced when the fourth inlet valve 18 is turned on to grasp the grafting portion of the tree seedling and the reception seedling with the clip 112.

In the above description, the clip 112 is a plastic injection-molded product having a generally A-shaped cross-section as shown in FIG. 4, and includes a pair of wings 112a and 112b and a pair of wings 112a. And a support portion 112c connecting the 112b, and a space portion for accommodating the grafting portion of the tree seedling and the grafted seedling formed by the pair of wing portions 112a and 112b and the connection support 112c. 112d) and the opening part 112e which opens so that the grafting part of a tree seedling and a grafting seedling may pass, when the pair of wing parts 112a and 112b are pressed simultaneously.

The knife 130 is to cut (cut) the grafting part of the tree seedlings and grafting seedlings, it is fixed to the knife fixing plate 132, the knife fixing plate to adjust the cutting angle of the tree seedlings and grafting seedlings ( At the rear of the 132 (opposite to which the knife 130 is attached), a knife position angle adjusting means 134 is provided.

In FIG. 1 and FIG. 3, reference numeral 140 denotes a grafting seedling conveying conveyor for transporting the grafting seedlings falling through the grafting seedling discharge port 1a formed in the base plate 1 to the grafting seedling collection container 145. The grafting seedling conveyance conveyor 140 is driven in accordance with the operation of the conveyor driving motor 142 by a control signal output from the controller (2).

In FIG. 3, reference numeral 150 denotes an operation panel for inputting an operator's work command, 2 denotes a controller for controlling each component, and 160 denotes separation of the received seedling supported by the reception seedling support member 47. Although not shown in FIG. 1, a protection member is installed on one side of the tree seedling transfer means 30 to prevent the seedlings supported by the tree seedling support member 37 from being separated. Of course it is.

Next, the operation and effects of the seedling automatic graft device according to the embodiment of the present invention configured as described above will be described.

First, by operating the operation panel 150 to operate the seedling automatic grafting device, while the vibrating means 115 is vibrated under the control of the controller 2, the vibrating hopper 110 is vibrated and the clip contained therein ( 112 is supplied to the clip chute 114 while being aligned in a constant direction.

When the number of clips 112 is supplied to the clip chute 114 in a predetermined number, the clip quantity detecting means 116 detects this and outputs a detection signal to the controller 2, whereby the controller 2 vibrates ( Since the control signal is not output to 115, the clip 112 is not supplied to the clip chute 114 because the vibrating hopper 110 is not vibrated.

At the same time, the controller 2 outputs driving signals to the first and second driving motors 39 and 49 to drive the first and second driving motors 39 and 49, thereby providing the tree seedling conveying means 30. Rotate clockwise, rotate the receiving seedling conveying means 40 counterclockwise, and also drive the conveyor driving motor 141 by the control of the controller (2) for grafting seedling conveying conveyor 140 Rotate).

In this initial state, the tree seedling holding means 50 is located at point P, the receiving seedling holding means 60 is located at point Q, and the knife 130 is reversed to the knife fixing plate 132 side. The position fixing plate 124 (specifically, the receiving portion 122) is in a state of being retracted on the guide rail 123. Therefore, the piston 121 of the clip insert means 120 is also in the backward state.

At this point, when the worker fits the tree seedling into the concave groove 37f of the tree seedling supporting member 37 at the point C and inserts the receiving seedling into the concave groove 47f of the reception seedling supporting member 47, the The receiving seedling feeding means 30 rotates clockwise to transfer the tree seedling supporting member 37 to the point P, and the receiving seedling feeding means 40 rotates counterclockwise to receive the receiving seedling supporting member 47. ) To the Q point.

In this state, the tree seedling support member 37 detects whether the tree seedling support member 37 is located at the point P, and inputs the detection signal to the controller 2 by the tree seedling support detecting means 70. In the controller 2, the tree seedlings When it is determined that the support member 37 is at the point P, the tree seedling detecting means 80 detects whether or not the tree seedling is in the tree seedling support member 37, and detects the detected signal by the controller 2. If the tree seedling support member 37 does not have a tree seedling, the tree seedling transfer means 30 is additionally transferred by one step until the tree seedling support member 37 on which the tree seedling is supported is transferred. .

At the same time, the reception seedling support member 47 detects whether the reception seedling support member 47 is located at the Q point, and inputs the detection signal to the controller 2, and the controller 2 supports the reception seedling. When it is determined that the member 47 is at the Q point, the reception seedling detecting means 100 detects whether the reception seedling is in the reception seedling supporting member 47, and receives the detection signal from the controller 2. When there is no accepting seedling in the receiving seedling support member 47, the receiving seedling conveying means 40 is additionally transferred by one step until the receiving seedling supporting member 47 on which the receiving seedling is supported is transferred.

Next, when the tree seedling is supported by the tree seedling supporting member 37 at the point P by the tree seedling detecting means 80, the first forward pneumatic valve 5 is opened to open the first guide rail ( After advancing the first slider 53 along 54, the first chuck driving pneumatic valve 4 is opened to open the first chuck 51 to hold a tree seedling, and then the first The forward pneumatic valve 5 is closed to retract the first slider 53 along the first guide rail 54, and the first rotary pneumatic valve 6 is opened to hold the tree seedling holding means 50. ) Is moved to the grafting position (the front position of the knife 130). At the same time, when the receiving seedling is supported by the receiving seedling supporting member 47 at the Q point by the receiving seedling detecting means 100, the second forward pneumatic valve 15 is opened to open the second guide rail 64. After advancing the second slider 53 along), the second chuck driving pneumatic valve 14 is opened to open the second chuck 61 to hold the receiving seedling, and then the second The forward pneumatic valve 15 is closed to reverse the first slider 63 along the second guide rail 64, and the second rotary pneumatic valve 16 is opened to open the receiving seedling holding means 60. ) Is moved to the grafting position (the front position of the knife 130).

When the tree seedling and the receiving seedling are transferred to the grafting position by the tree seedling holding means 50 and the receiving seedling holding means 60, the first forward pneumatic valve 5 and the second forward pneumatic valve ( 15) is opened so that the first slider 53 and the second slider 63 are advanced on the first and second guide rails 54 and 64, and as shown in FIG. The first and second elastic members 58, 68 provided in the first and second chucks 51, 61 are abutted while being bent in an arc shape. At this time, the third pneumatic valve 17 is opened to move the receiving portion 122 of the clip insert means 120 along the guide rail 123, so that the position fixing plate 124 cuts the tree seedling and the receiving seedling knife 130 On the opposite side). At the same time, the knife 130, which has a blade formed at the front end, moves forward with the knife driving pneumatic valve 129 open to cut a tree seedling and a grafted seedling to form a cutout as shown in FIG. As the seedling holding means 50 is slightly raised as the pneumatic valve 7 is opened, the tree seedlings are cut more than the seedling seedlings, and the lower part of the cutouts 13 of the seedling seedlings is inserted between the cutouts of the tree seedlings. The knife driving pneumatic valve 129 is closed to reverse the knife 130. Thereafter, the clip 112, which is lowered from the clip chute 114 in the receiving portion 122 of the clip insert means 120, is opened to the distal end portion 121a of the piston 121 while the fourth pneumatic valve means 18 is opened. It passes through the contraction part 122a of the accommodating part 122 by this. At this time, both wing portions (112a, 112b) of the clip 112 is deformed into a substantially H-shape while being pressed by the side wall portion forming the contraction portion (122a) of the receiving portion 122 of the tree seedling and the seedling seedlings After clamping the grafting part, the piston 121 reverses as the fourth pneumatic valve means 18 is closed, and then the third pneumatic valve 17 is closed to receive the receiving portion 122 of the clip insert means 120. ) Retracts along the guide rail 123, the position fixing plate 124 is retracted to the initial state.

Then, the first chuck driving pneumatic valve 4 and the second chuck driving pneumatic valve 4 are closed to extend the first chuck second chucks 51 and 61 so that the grafting seedlings are placed on the base plate 1. It falls to the grafting seedling discharge port 1a formed. Accordingly, the grafting seedlings (grafted seedlings) are transported by the grafting seedling conveying conveyor 141 driven by the conveyor driving motor 141 and collected in the grafting seedling collection container 145.

On the other hand, the first chuck second chucks 51 and 61, which are expanded according to the closing of the first chuck driving pneumatic valve 4 and the second chuck driving pneumatic valve 4, discharge the grafted seedlings, The pneumatic valve 7 is closed and the tree seedling holding means 50 descends. Thereafter, the tree seedling holding means 50 and the grafting seedling holding means 60 are configured such that the first and second sliders 53 and 63 are closed by the closing of the first and second forward pneumatic valves 5 and 15. And after being retracted along the second guide rails 54, 64, P for holding the initial position, that is, the next tree seedling and the seedling seedling, by the operation of the first and second rotary pneumatic valves 6, 16; Return to point and Q point respectively and maintain initial state.

Therefore, the seedling automatic grafting apparatus of the present invention automatically moves the tree seedlings and the receiving seedlings to the grafting position, and while cutting with the knife 130 while holding these tree seedlings and the receiving seedlings, grafting the clip ( 112), the grafting yield can be improved and the grafting precision can be improved, and the operator can insert the tree seedling and the receiving seedling into the support of the tree seedling and the receiving seedling in a comfortable posture. It can work, and its simple configuration makes it easy to maintain and repair.

As described above, according to the seedling automatic grafting apparatus according to the present invention, the seedling seedling and the seedling transfer means, which is installed on the base plate to transfer the seedling seedling and the seedling seedling at a constant speed according to the driving of the driving motor, and the seedling seedling And tree seedling and receiving seedling support detecting means for detecting whether the tree seedling support member is accurately positioned at a specific position according to the movement of the upper chain and the lower chain of the receiving seedling conveying means; A tree seedling detecting whether the tree seedling and the receiving seedling support are held by the tree seedling and the receiving seedling support member when the tree seedling and the receiving seedling support member are accurately positioned at a specific position according to the movement of the upper chain and the lower chain. And the seedling seedling detecting means and the seedling seedling and the seedling supporting member according to the driving of the seedling seedling and the seedling seedling conveying means. The seedling and receiving seedling holding means for holding the seedlings and seedlings that have been transferred to a specific position and transferring them to the grafting position, the vibrating hopper which discharges the clip chute while vibrating and aligning the clip by vibrating means, and the vibrator Clip amount detecting means provided in the clip chute through the bracket to detect the amount of the clip conveyed from the rating hopper, and clips that are transferred from the clip chute while supporting the seedlings and the receiving seedlings from opposite sides of the knife. And the clip insert means for pushing the clip clamping the grafting part of the tree seedling and the seedling seedling, and the forward or backward according to the driving of the knife driving pneumatic valve to cut the grafting part of the tree seedling and the grafting seedling. Knife whose cutting angle is adjusted by adjusting means and grafting formed on the base plate A grafting seedling conveying conveyor for transporting the grafting seedlings falling through the seedling discharge port into the grafting seedling collecting container and a controller for controlling each component to automatically move the seedlings and the receiving seedlings to the grafting position. And cutting the seedlings while holding them with a knife, and grafting them and then clamping them with a clip, thereby improving grafting yield and improving grafting precision, and the worker supports the seedlings and seedlings in a comfortable posture. Since the tree seedling and the receiving seedling can be inserted into the member, the worker can work in a comfortable posture, and also, the configuration is simple and the maintenance and repair are easy.

Claims (5)

An operation panel for inputting an operator's work instruction, a tree seedling feeding means installed on the base plate to transfer tree seedlings at a constant speed according to the driving of the first driving motor, and a second drive motor installed on the base plate. Receiving seedling conveying means for conveying the seedling seedling at the same speed as the feed rate of the seedling seedling according to the driving of the seedling, and the seedling support member is accurately positioned at a specific position according to the movement of the upper chain and the lower chain of the seedling seedling transferring means. When the tree seedling support member is accurately positioned at a specific position according to the movement of the upper chain and the lower chain, the tree seedling support detecting means for detecting whether the tree seedling support means Tree seedling detecting means for detecting whether or not it is made, and according to the movement of the upper chain and the lower The receiving seedling support detecting means for detecting whether or not the receiving seedling support member is accurately positioned at a specific position, and the receiving seedling supporting member is accurately positioned at a specific position according to the movement of the upper chain and the lower chain. A seedling detecting means for detecting whether the receiving seedling is held by the receiving seedling support member, and a seedling seedling supported by the large seedling support member and driven to the specific position according to the driving of the large seedling transferring means; Grow seedling holding means for gripping and conveying to the grafting position, and receiving seedling gripping means for gripping and receiving the seedlings supported by the receiving seedling support member and transported to the grafting position according to the driving of the receiving seedling conveying means. And a vibrating hopper for discharging the clip into the clip chute while vibrating and aligning the clip by vibrating means; Clip amount detecting means provided in the clip chute through the bracket to detect the amount of the clip moving from the eating hopper, and the clip which is transferred from the clip chute while supporting the tree seedling and the receiving seedling on opposite sides of the knife. And the clip insert means for pushing the clip clamping the grafting part of the tree seedling and the grafting seedling, and the forward or backward according to the driving of the knife driving pneumatic valve to cut the grafting part of the seedling and the grafting seedling, the knife position angle A knife for adjusting the cutting angle by adjusting means, a grafting seedling conveying conveyor for transporting the grafting seedlings falling through the grafting seedling outlet formed in the base plate to the grafting seedling collecting container, and a controller for controlling each component. Raising seedling automatic grafting apparatus characterized in that it is provided. According to claim 1, The seedling transfer means and the seedling transfer means is the upper and lower chains, a drive sprocket for supporting the upper and lower chains to be transported at a predetermined interval, and a predetermined distance from the drive sprocket First and second driven sprockets which are installed apart from each other to support the upper and lower chains at a predetermined interval so as to be transportable, chain tension adjusting means for adjusting the tension of the upper and lower chains, and the upper and lower chains And a seedling support member disposed between and clamping the tree seedling, and a support plate for supporting the driving sprocket and the first and second driven sprockets in parallel at a predetermined interval, respectively. Grafting device. 2. The tree seedling holding means and the receiving seedling holding means further comprise: a chuck for holding a tree seedling and a receiving seedling, an arm supporting the chuck, a slider provided with the arm, and an extension or contraction of the arm. A guide rail for slidably supporting the slider, a support member for supporting the guide rail, a rotating plate on which the supporting member is installed, and a fixed plate fixed to the base plate to rotatably support the rotating plate; A seedling automatic grafting apparatus, each of which is provided with a chuck and has elastic means for shaping the stem of the grafted portion of the tree seedling into a convex shape convexly toward the receiving seedling side (or the tree seedling side). 2. The clip insert means according to claim 1, wherein the clip insert means includes a piston having a protruding portion at the distal end to push the clip, a receptacle for slidably accommodating the piston and receiving a clip from the clip chute; And a guide rail for guiding backward and supporting at the same time, and a position fixing plate installed at the tip of the receiving portion to fix the tree seedling and the seedling seedling. The outer wall of the vibrating hopper is provided with a clip chute, the clip chute is provided with a clip amount detection means for detecting the amount of the clip conveyed from the vibrating hopper via a bracket. Seedling automatic grafting device, characterized in that.

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