KR101993408B1 - Automatic grafting apparatus - Google Patents

Abstract

Disclosed is an automatic grafting device. The automatic grafting device provided by an embodiment of the present invention includes: a graft fixing unit including a first seating surface on which seed leaves are seated, and a pressure pin which closely attaches the graft leaves to the first seating surface; a graft cutting unit including a first clamp which fixates a graft stem and a first cutter which cuts the graft stem between the pressure pin and the first clamp; a rootstock fixing unit including a second seating surface on which the root of a rootstock is seated, and a second clamp which fixates the stem of the rootstock; a first rootstock cutting unit including a second cutter which cuts the central part of the rootstock stem; a second rootstock cutting unit including a third cutter which cuts the seed leave part of the rootstock stem and a protective cover which surrounds the third cutter; a first horizontal transferring unit horizontally moving the graft fixing unit toward the rootstock fixing unit; and an input unit receiving one of a stem cutting signal for driving the first rootstock cutting unit and a seed leaf cutting signal for driving the second rootstock cutting unit.

Description

{AUTOMATIC GRAFTING APPARATUS}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grafting apparatus, and more particularly, to an automatic grafting apparatus used for grafting a stem and a receipt.

Most vegetable growers adopt the grafting method as part of the pest control measures. At present, the proportion of grafted seedlings produced at about 550 cooperative nurseries around the country is said to account for about 60% of the total vegetable area.

Conventional graft cultivation has mostly been carried out by hand, requiring a skilled technical manpower.

However, due to the continuous decrease in the rural population and the aging of the population, it was difficult to supply and receive labor.

In addition, there was a problem of labor cost burden due to the increase in the minimum wage and the time required for the grafting operation compared to the total working time in the joint nursery to about 40%.

Accordingly, efforts have been made to reduce the labor cost burden by automating all or a part of the grafting operation.

However, there is a demand for automated facilities that can simultaneously perform the grafting of cucurbitacease vegetable and solanacease vegetable. However, due to product design that does not take into account differences in the grafting operation of both vegetables, It has been difficult to carry out the grafting of pork, vegetables, branches and vegetables at the same time.

Particularly, in the case of branches and vegetables, it is sufficient to cut a predetermined portion of the stem of the tree, for example, the central portion, while the leaves and vegetables have to be cut in accordance with the cotyledon portion of the stem of the stem of the tree. There is a problem that the operator is injured by the cutter blade in the process of aligning the cutter blade to the cotyledon part of the stem of the stem.

Korean Registered Patent No. 10-1834746 (2018.03.09, a graft robot and its operation method)

The embodiment provides an automatic grafting device capable of changing the operation mode according to the kind of vegetables.

The problems to be solved in the embodiments are not limited to these, and the objects and effects that can be grasped from the solution means and the embodiments of the problems described below are also included.

According to an aspect of the present invention, there is provided a receiving apparatus comprising: a receiving fixture including a first seating surface on which a receiving cotyledon is seated, and a pressing piece for sealing the receiving cotyledon against the first seating surface; A reception cutter including a first clamp for fixing the reception stem, and a first cutter for cutting the reception stem between the pressing piece and the first clamp; A second placing surface on which the root of the root is placed, and a second clamp for fixing the root of the root; And a second cutter for cutting a central portion of the stem of the tree; A second cutter including a third cutter for cutting the cotyledon part of the stem of the stem and a protective cover surrounding the third cutter; A first horizontal conveyance part for horizontally moving the reception fixing part toward the block fixing part; And an input unit for receiving one of a stem cutting signal for driving the first block cutting unit and a cotyledon cutting signal for driving the second block cutting unit.

And a first vertical transfer unit for vertically moving the reception cut unit.

Wherein the reception cutting section comprises: a first conveying frame coupled to the first up-and-down conveying section and vertically conveyed by the first up-down conveying section; A first cutter frame disposed on the first transfer frame; A first cutter driving unit mounted on the first transfer frame for moving the first cutter frame; And a first clamp driving unit mounted on the first transfer frame for driving the first clamp, wherein an upper surface of the first cutter frame includes a first seating groove on which the first cutter is seated, 1 cutter can be formed at both ends of the cutter blade so that the cutter blade can be replaced.

A second horizontal conveyance part horizontally moving the block fixing part toward the reception fixing part; A second vertical transferring unit for vertically moving the first block cutting unit; And a third vertical transferring unit for vertically moving the second block cutting unit. When the first block cutting unit and the second block cutting unit are raised by the second vertical transferring unit and the third vertical transferring unit, Can be placed in the movement path.

Wherein the first section cutting section includes: a second transporting frame coupled to the second up-down transporting section and vertically transported by the second up-down transporting section; A second cutter frame disposed on the second transfer frame; And a second cutter driving unit mounted on the second transfer frame for moving the second cutter frame, wherein an upper surface of the second cutter frame includes a second seating groove on which the second cutter is seated, The second cutter can be formed at both ends of the cutter blade so that the cutter blade can be replaced.

The second section cutting section includes a third conveying frame coupled to the third up-and-down conveying section and vertically conveyed by the third up-and-down conveying section; A third cutter frame disposed on the third transfer frame; And a third cutter driving unit mounted on the third transfer frame for moving the third cutter frame, wherein an upper surface of the third cutter frame includes a third seating groove on which the third cutter is seated, The protective cover may be rotatably coupled to the third transfer frame so as to cover the upper surface of the third cutter.

The cutter blade may be formed at both ends of the third cutter so that the cutter blade can be replaced.

The protective cover may include a guide groove on which the stem is installed.

And a control unit for controlling the second horizontal transfer unit, the second vertical transfer unit and the third vertical transfer unit according to a signal input through the input unit.

Wherein when the stem cutting signal is inputted through the input unit, the control unit elevates the first block cutting unit while lowering the second block cutting unit, wherein the moving block fixing unit horizontally moves the first block cutting unit close to the first block cutting unit, When the cotyledon cutting signal is inputted through the input part, the first block cutting part is lowered while the second block cutting part is raised, and the block fixing part can be horizontally moved close to the second block cutting part.

According to the embodiment, in the case of branches and vegetables cutting the central part of the stem of the tree roots, the stem cutting signal for driving the first root cutting section is used, and in the case of the roots and vegetables cutting the cotyledon part of the rootstock, You can change the work mode by entering a cut signal.

In addition, in the case of the second cutting portion, the protective cover can minimize the exposed portion of the cutter, thereby preventing a safety accident.

The various and advantageous advantages and effects of the present invention are not limited to the above description, and can be more easily understood in the course of describing a specific embodiment of the present invention.

1 is a view showing a process of grafting of branches and vegetables,
Fig. 2 is a view showing a process of grafting of foil and vegetables,
3 is a front view of an automatic grafting apparatus according to an embodiment of the present invention,
Fig. 4 is a plan view of Fig. 3,
Fig. 5 is a front view showing another operation example of Fig. 3,
FIG. 6 is a front view showing another operation example of FIG. 3,
7 is a view showing an input unit,
8 is a view showing a control unit,
Fig. 9 is a left side view of Fig. 3,
Fig. 10 is a right side view of Fig. 3,
FIG. 11 is a view of the reception cutting portion of FIG. 3 viewed from direction A,
FIG. 12 is a view of the first block cutting portion of FIG. 3 viewed from the direction B,
Fig. 13 is a view of the second block cutting portion in Fig. 3 viewed in the direction C,
FIG. 14 is a diagram showing a state in which the emergency display icon of FIG. 7 is lit,
FIG. 15 is a view illustrating an input screen switched when the manual mode icon of FIG. 7 is touched.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, preferred embodiments of the automatic grafting device according to the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components, The description will be omitted.

FIG. 1 is a view showing a process of grafting of branches and vegetables, and FIG. 2 is a diagram showing a process of grafting of beans and vegetables.

1 and 2, the receiving unit 10 may include a receiving cotyledon 11, a receiving stem 13, and a receiving root 15, and the receiving unit 20 may include a cotyledon leaf 21, (23) and a root (25).

Referring to FIG. 1, in the case of branches and vegetables, the reception unit 10 cuts a predetermined portion, for example, a central portion of the reception stem 13 and uses the portion including the reception cotyledon 11 for the grafting operation, The tree block 20 can be used for a grafting operation by cutting a predetermined portion of the tree roots 23, for example, a central portion thereof and including the root roots 25.

Referring to FIG. 2, in the case of foil and vegetables, the acceptance 10 cuts a predetermined portion, for example, a central portion of the accepting stem 13, and uses the portion containing the accepting cotyledon 11 for the grafting operation , The tree roots 20 can be used for the grafting operation by cutting the portion of the rootstock 23 near the cotyledon leaf, specifically the portion near the rootstock cotyledon 21, and including the rootstock root 25. At this time, the growth point of the tree roots 20 can be removed together with the tree roots 21. As described above, since the pork and vegetables are required to cut a portion close to the root leaf 21 unlike branches and vegetables, it is necessary for the operator to accurately align the cut portion with the cutter blade in order to secure cutting reliability.

3 is a front view of an automatic grafting apparatus according to an embodiment of the present invention, Fig. 4 is a plan view of Fig. 3, Fig. 5 is a front view showing another operation example of Fig. 3, Fig. 7 is a diagram showing an input section, and Fig. 8 is a diagram showing a control section.

3 to 8, an automatic grafting apparatus according to an embodiment of the present invention includes a receiving fixture 100, a first horizontal transfer unit 110, a block fixing unit 200, a second horizontal transfer unit 210, A first upper and lower transferring unit 310, a first upper and lower transferring unit 400, a second upper and lower transferring unit 410, a second main cutting unit 500, a third upper and lower transferring unit 510, an input unit 600 And a control unit 700. [0031] FIG.

Fig. 9 is a left side view of Fig. 3; Fig.

3, 4, 8, and 9, the receiving and fixing unit 100 includes a first seating surface 101 on which the receiving cotyledon is seated, and a receiving cotyledon placed on the first seating surface 101, And a pressing piece 103 which is brought into close contact with the seating surface 101.

The pressing piece 103 can be rotatably coupled to the frame of the receiving and fixing unit 100 and the frame of the receiving and fixing unit 100 can be loaded with the pressing piece driving unit 105 for rotating the pressing piece 103 have.

The pressure piece driving unit 105 may be controlled by the control unit 700 to operate according to a predetermined time table or a sensed value of a sensor that senses a receiving cotyledon that is seated on the first seating surface 101. [

The pressure piece driving unit 105 may be a pneumatic or hydraulic cylinder, but is not limited thereto.

Referring to FIGS. 3 and 6, the first horizontal transfer unit 110 can move the receiving and fixing unit 100 in the horizontal direction toward the block fixing unit 200. Therefore, it is possible to reduce the number of cuts that are fixed to the reception fixing part 100 and are cut by the reception cutting part 300 and fixed to the block fixing part 200 and cut by the first block cutting part 400 or the second block cutting part 500 The cut surfaces of the block can be arranged close to each other, and the operator can graft the block to the block using a fixing clip or the like. As another example, the block fixing part 200 may also be moved to the reception fixing part 100 side by the third horizontal transfer part. That is, the receipt and the block can be disposed close to each other only by the movement of the reception fixture 100, or they can be arranged close to each other by the movement of the reception fixture 100 and the block fixture 200.

The first horizontal transfer unit 110 may be mounted on the base frame F. [

The first horizontal transfer unit 110 may be controlled by the control unit 700 to operate according to a predetermined time table. For example, the first horizontal transfer unit 110 can operate in a state in which both the reception cutting unit 300, the first block cutting unit 400, and the second block cutting unit 500 are lowered.

The first horizontal transfer unit 110 may be a pneumatic or hydraulic cylinder, but is not necessarily limited thereto.

Fig. 10 is a right side view of Fig. 3; Fig.

3, 4, 8 and 10, the block fixing part 200 includes a second seating surface 201 on which the root of the root can be seated, and a stem of the main stem that is seated on the second seating surface 201 And a second clamp 203 for fixing the first clamp 203 and the second clamp 203.

The cross-section of the second seating surface 201 may be concave, for example V-shaped or U-shaped.

The second clamp 203 may include a pair of second jigs that are movably coupled to the frame of the block fixing part 200 in a horizontal direction. The frame of the block fixing part 200 may include a pair of second And a second clamp driving unit 205 for moving the jigs close to or away from each other can be mounted.

The second clamp driving unit 205 may be controlled by the controller 700 to operate according to a sensed value of a sensor that senses the root of the root of the root placed on the predetermined time table or the second seating surface 201.

The second clamp drive unit 205 may be a pneumatic or hydraulic cylinder, but is not limited thereto.

3 and 5, the second horizontal transfer part 210 can move the block fixing part 200 in the horizontal direction toward the receiving part 100. [ Therefore, the block fixed to the block fixing portion 200 can be moved to the first position, which can be cut by the first block cutting portion 400, and the second position, which can be cut by the second block cutting portion 500.

The second horizontal transfer unit 210 may be mounted on the base frame F. [

The second horizontal transfer unit 210 may be controlled by the control unit 700 to operate according to a predetermined time table. For example, the second horizontal transfer unit 210 may operate after the block is fixed to the block fixing unit 200. At this time, both of the first block cutting section 400 and the second block cutting section 500 may be in a lowered state, but the present invention is not limited thereto.

The second horizontal transfer unit 210 may be a pneumatic or hydraulic cylinder, but is not necessarily limited thereto.

FIG. 11 is a view of the reception cutting portion of FIG. 3 viewed from direction A. FIG.

3, 4, 8 and 11, the reception cutting section 300 includes a first transfer frame 301, a first cutter frame 302, a first cutter 303, a first cutter driving section 304 ), A first clamp 305 and a first clamp driving unit 306. [

The first transfer frame 301 may be coupled to the first transfer unit 310 and may be vertically transferred by the first transfer unit 310.

The first cutter frame 302 may be disposed on the first transfer frame 301. The first cutter frame 302 may be rotatably coupled to the first transfer frame 301 through the first rotation axis S1.

The first cutter 303 may be disposed in the first seating groove 302a formed on the upper surface of the first cutter frame 302. [ The first seating groove 302a may have a shape in which one side is open. Therefore, when the first cutter frame 302 rotates in the clockwise direction, for example, the receiving stems come into contact with the first cutter 303 through the opened one side of the first seating groove 302a, As shown in Fig.

The first cutter 303 may be disposed between the pressing piece 103 and the first clamp 301. [ Therefore, the first cutter 303 can cut the receiving stalks between the pressing piece 103 and the first clamp 301.

The first cutter 303 can be formed at both ends with a cutter blade. For example, the first cutter 303 may be a double-sided blade sold on the market. Therefore, when one end of the cutter blade of the first cutter 303 is worn, the first cutter 303 can be turned over and the other end cutter blade of the first cutter 303 can be used.

The first cutter driving unit 304 can be mounted on the first transfer frame 301 to rotate the first cutter frame 302.

The first cutter driving unit 304 may be controlled by the control unit 700 to operate according to a preset time table. For example, the first cutter driving part 304 can be operated with the receiving stem fixed by the first clamp 305.

The first cutter driving unit 304 may be a pneumatic or hydraulic cylinder, but is not limited thereto.

The first clamp 305 can fix the receiving stem.

The first clamp 305 may include a pair of first jigs that are movably coupled to the first transfer frame 301 in the horizontal direction.

The first clamp driving unit 306 may be mounted on the first transfer frame 301 to drive the first clamp 305. For example, the first clamp driving unit 306 may move the pair of first jigs to move them closer or further away from each other.

The first clamp drive unit 306 may be controlled by the controller 700 to operate according to a sensed value of a sensor that senses the received cotyledon that is seated on the predetermined time table or the first seating surface 101. [

The first clamp driving unit 306 can operate simultaneously with or sequentially with the pressing piece driving unit 105.

The first clamp drive unit 306 may be a pneumatic or hydraulic cylinder, but is not limited thereto.

The first vertical transfer unit 310 can move the reception cut 300 in the vertical direction. The receiving cut portion 300 can cut the receiving staple fixed to the receiving portion 100 while the receiving cut portion 300 is lifted by the first vertical transfer portion 310 and the receiving portion 100 can cut the receiving staple 100, And can be conveyed by the first horizontal conveyance unit 110 in a state of being lowered by the upper and lower conveyance unit 310.

The first up-and-down transfer unit 310 may be mounted on the base frame F. [

The first up-and-down transfer unit 310 may be controlled by the control unit 700 to operate according to a predetermined time table. For example, the first vertical transfer unit 310 may lower the reception cut 300 after the reception staple is cut by the reception cut 300.

The first vertical transfer unit 310 may be a pneumatic or hydraulic cylinder, but is not limited thereto.

Fig. 12 is a view of the first block cutting portion of Fig. 3 viewed from the direction B; Fig.

3, 8, and 12, the first cutting portion 400 includes a second feeding frame 401, a second cutter frame 402, a second cutter 403, and a second cutter driving portion 404, . ≪ / RTI >

The second transfer frame 401 may be coupled to the second vertical transfer unit 410 and may be vertically transferred by the second vertical transfer unit 410.

The second cutter frame 402 may be disposed on the second transfer frame 401 so as to be capable of sliding movement, for example.

The second cutter 403 may be disposed in the second seating groove 402a formed on the upper surface of the second cutter frame 402. [ The second seating groove 402a may have a shape in which one side is open. Accordingly, when the second cutter frame 402 moves, the stem is brought into contact with the second cutter 403 through one opened side of the second seating groove 402a and can be cut obliquely by the second cutter 403 have.

The second cutter 403 can be formed at both ends with a cutter blade. For example, the second cutter 403 may be a double-sided blade sold on the market. Therefore, when one end of the cutter blade of the second cutter 403 is worn, the second cutter 403 can be turned upside down and the other end cutter blade of the second cutter 403 can be used.

The second cutter driving unit 404 can be mounted on the second transfer frame 401 to move the second cutter frame 402.

The second cutter driver 404 may be controlled by the controller 700 to operate according to a predetermined time table. For example, the second cutter driving part 404 can be operated after the first block cutting part 400 rises by the second up-and-down conveying part 410 and the stem is fixed to the block fixing part 200.

The second cutter driver 404 may be a pneumatic or hydraulic cylinder, but is not limited thereto.

The second vertical transfer part 410 can move the first block cutting part 400 in the vertical direction. The first block cutting section 400 can cut the stem of the block fixed to the block fixing section 200 while being raised by the second vertical transfer section 410 and the block fixing section 200 can cut the first block cutting section 400 Can be conveyed by the second horizontal conveyance unit 210 in a state in which the second conveyance unit 410 is lowered by the second conveyance unit 410.

And the second up-and-down transfer unit 410 may be mounted on the base frame F. [

The second vertical transfer unit 410 may be controlled by the controller 700 to operate according to a predetermined time table. For example, the second vertical transfer part 410 can lower the first block cutting part 400 after the stem is cut by the first block cutting part 400.

The second vertical transfer part 410 may be a pneumatic or hydraulic cylinder, but is not limited thereto.

Fig. 13 is a view of the second block cutting section in Fig. 3 viewed in the direction C; Fig.

3, 8, and 13, the second cutting section 500 includes a third feeding frame 501, a third cutter frame 502, a third cutter 503, a protective cover 504, 3 cutter driving unit 505. [

The third conveyance frame 501 may be coupled to the third up-and-down conveyance unit 510 and vertically conveyed by the third up-down conveyance unit 510.

The third cutter frame 502 may be disposed on the third transfer frame 501. The third cutter frame 502 may be rotatably coupled to the third transfer frame 501 via the second rotation axis S2.

The third cutter 503 may be disposed in the third seating groove 502a formed on the upper surface of the third cutter frame 502. [ The third seating groove 502a may have a shape in which one side is open. Accordingly, when the third cutter frame 502 is rotated counterclockwise, for example, the stem is brought into contact with the third cutter 503 through one opened side of the third seating groove 502a, and the third cutter 503 ). ≪ / RTI >

The third cutter 503 can be formed at both ends with a cutter blade. For example, the third cutter 503 may be a double-sided razor sold on the market. Therefore, when one end of the cutter blade of the third cutter 503 is worn, the third cutter 503 may be turned upside down to use the other end cutter blade of the third cutter 503. [

The protective cover 504 can be rotatably coupled to the third conveyance frame 501 through the third rotation axis S3.

The protective cover 504 can cover the upper surface of the third cutter 503 to minimize or remove the exposed portion of the cutter blade.

The protective cover 504 may have a guide groove 504a on which the stem of a tree is placed. Therefore, the operator can align the portion to be cut of the stem of the tree roots in the guide groove 504a. At this time, since the third cutter 503 is not exposed by the protective cover 504, a safety accident can be prevented. On the other hand, when the third cutter frame 502 is rotated, the third cutter 503 can cut the stem in a state of being placed in the guide groove 504a while being drawn out of the protective cover 504.

The third cutter driving unit 505 can be mounted on the third transfer frame 501 to rotate the third cutter frame 502.

The third cutter driving unit 505 may be controlled by the control unit 700 to operate according to a predetermined time table. For example, the third cutter driving unit 505 can be operated after the second block cutting unit 500 is raised by the third up-and-down transfer unit 510 and the stem is fixed to the block fixing unit 200.

The third cutter driving part 505 may be a pneumatic or hydraulic cylinder, but is not limited thereto.

The third vertical transferring unit 510 can move the second block cutting unit 500 in the vertical direction. The second block cutting section 500 can cut the stem of the block fixed to the block fixing section 200 in a state of being raised by the third upper and lower transfer section 510. [

The third up-and-down transfer unit 510 may be mounted on the base frame F. [

The third up-and-down transfer unit 510 may be controlled by the controller 700 to operate according to a predetermined time table. For example, the third vertical transferring unit 510 can lower the second block cutting unit 500 after the stem is cut by the second block cutting unit 500.

The third up-and-down transfer unit 510 may be a pneumatic or hydraulic cylinder, but is not limited thereto.

14 is a diagram showing a state in which the emergency display icon in Fig. 7 is lighted.

3, 7, 8, and 14, the input unit 600 includes one of a stem cutting signal for driving the first block cutting unit 400 and a cotyledon cutting signal for driving the second block cutting unit 500 Input can be received.

The input unit 600 may include a touch screen, but is not limited thereto.

The input unit 600 includes an operation selection icon for selecting a cutting operation or a stem cutting operation, an operation icon for selecting a work progress according to a time table or a movement to a previous step, a graft time setting for controlling a time required for the grafting operation An AIR time setting icon for setting an air injection time for an icon, a reception screen, or a section of a tree, a manual mode icon for switching from automatic mode to manual mode, a device initialization icon, and a workflow initialization icon.

The input unit 600 may display an operation progress status, for example, an emergency display icon for displaying an emergency situation such as a device error, a work quantity icon for displaying the total scheduled work or finished quantity, A rice number icon to be displayed, a stem quantity icon indicating a stem cutting operation scheduled completion quantity, and the like.

When a signal is inputted through the input unit 600, the control unit 700 can automatically control the automatic grafting device according to a predetermined time table stored in the database 800, for example.

For example, when the stem cutting signal is input through the input unit 600, the control unit 700 raises the first block cutting unit 400 while lowering the second block cutting unit 500, And can be horizontally moved close to the block cutting section 400. [ At this time, the reception cut portion 300 can be controlled to be in an elevated state.

When the operator places the receiving stems and stem in the receiving and fixing unit 100 and the block fixing unit 200 within a predetermined time, the control unit 700 controls the reception fixing unit 100 and the block fixing unit 200, So that the receiving stem and the stem can be fixed.

Next, the control unit 700 can cut the reception stem and the stem of the tree by the reception cut-out unit 300 and the first plant cutting unit 400.

Next, the control unit 700 can move the reception fixing unit 100 to the block fixing unit 200 side after the reception cutting unit 300 and the first block cutting unit 400 are lowered.

Next, when the operator attaches the receiving stem and the stem to be struck with each other within a predetermined time with a fixing clip or the like, the control unit 700 can release the fixed state by the reception fixing unit 100 and the block fixing unit 200 have.

In another example, when the cotyledon cutting signal is inputted through the input unit 600, the controller 700 moves down the first block cutting unit 400 while raising the second block cutting unit 500, And can be horizontally moved close to the block cutting unit 500. [ At this time, the reception cut portion 300 can be controlled to be in an elevated state.

When the operator places the receiving stems and stem in the receiving and fixing unit 100 and the block fixing unit 200 within a predetermined time, the control unit 700 controls the reception fixing unit 100 and the block fixing unit 200, So that the receiving stem and the stem can be fixed.

Next, the control unit 700 can cut the reception stems and the stem of the stem by the reception cut-out unit 300 and the second plant cutting unit 500.

Next, the controller 700 can move the receiving fixture 100 to the block fixing part 200 side after lowering the reception cutting part 300 and the second block cutting part 500.

Next, when the operator attaches the receiving stem and the stem to be struck with each other within a predetermined time with a fixing clip or the like, the control unit 700 can release the fixed state by the reception fixing unit 100 and the block fixing unit 200 have.

FIG. 15 is a view illustrating an input screen switched when the manual mode icon of FIG. 7 is touched.

15, the operator can select each of the Y0 icon, Y1 icon, Y2 icon, Y3 icon, Y3 icon, Y4 icon, Y5 icon, Y6 icon, Y7 icon, Y8 icon, Y9 icon, YA icon, Touch to activate the corresponding icon (OFF → ON).

When the Y0 icon is activated, the pressure piece driving unit can be operated. When the Y1 icon is activated, the reception cutting section can be lowered by the first up-and-down conveying section. When the Y2 icon is activated, the first cutter driving portion can be operated. When the Y3 icon is activated, the second clamp driving unit can be operated.

When the Y4 icon is activated, the first block cutting section can be lowered by the second upper and lower transfer section. When the Y5 icon is activated, the second cutter driving portion can be operated. When the Y6 icon is activated, the wood block fixing portion can horizontally move to the receiving stationary side by the third horizontal feed portion.

When the Y7 icon is activated, the second horizontal conveyance portion is switched from the second position to the second position, which can be cut by the second block cutting section, or from the second position to the first position, from the first position where the block holding portion can be cut by the first block cutting section . When the Y8 icon is activated, the reception fixing portion can be moved horizontally toward the main frame fixing portion.

When the Y9 icon is activated, the second section cutting section can be lowered by the third upper and lower transfer section. When the YA icon is activated, the third cutter driving unit can be operated. When the YB icon is activated, the first clamping driver can be activated to achieve centering alignment of the receiving stems.

When the operator touches the YC icon, air can be delivered to the receiving side or to the cross section of the tree. To this end, the automatic grafting device may include an air injector for injecting air for a predetermined time.

The operator can monitor the operation status of the device through the sensor icon. For example, the X0 icon may light up when the XO sensor senses the UP of the pressure piece. The X1 icon can light up when the X1 sensor detects a down (DOWN) of the receiving cut. The X2 icon can light up when the X2 sensor senses the advance (FRONT) of the first cutter frame. The X3 icon can be turned on when the X3 sensor senses the locked state of the second clamp driving unit (UNCLAMP).

The X4 icon may light up when the X4 sensor senses the DOWN of the first cutting section. The X5 icon can light when the X5 sensor detects the forward (FRONT) of the second cutter frame. The X6 icon can be turned on when the X6 sensor senses the back of the block fixing unit by the third horizontal conveyance unit.

The X7 icon may light up when the X7 sensor senses the forward (FRONT) movement of the block by the second horizontal transfer part. The X8 icon can be lit when the X8 sensor detects the back of the receiving station (BACK). The X9 icon can light up when the X9 sensor senses a fall of the second cutting section.

The XA icon can be turned on when the XA sensor detects the return of the third cutter frame (BACK). The XB icon can be turned on when the XB sensor senses that the first clamp driver is in the locked state (UNCMALP). The XC icon can be turned on when the XC sensor senses a return (RETURN) by the second horizontal transfer unit.

The operator can stop the operation of the device by touching the E / STOP icon (emergency switch), touch the left arrow icon to move to the previous step, and touch the right arrow icon to resume the work progress.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

F: base frame S1: first rotation axis
S2: second rotation axis S3: third rotation axis
10: Reception desk 11: Reception desk cottage
13: Reception Stem 15: Reception Root
20: passage 21:
23: rootstock stem 25: rootstock rootstock
100: Reception fixing portion 101: First seating surface
103: pressing piece 105: pressing piece driving part
110: first horizontal conveyance part 200:
201: second seating surface 203: second clamp
205: second clamp driving part 210: second horizontal conveying part
300: reception cutting section 301: first transporting frame
302: first cutter frame 302a: first seat groove
303: first cutter 304: first cutter driving part
305: first clamp 306: first clamp drive
310: first up-and-down transfer unit 400: first block cutting unit
401: second transfer frame 402: second cutter frame
402a: second seating groove 403: second cutter
404: second cutter driving part 410: second upper and lower conveying part
500: second block cutting section 501: third transfer frame
502: third cutter frame 502a: third seat groove
503: Third cutter 504: Protective cover
504a: guide groove 505: third cutter driving part
510: Third up-and-down conveying unit 600: Input unit
700: control unit 800: database

Claims (10)

A receiving seat having a first seating surface on which the received cotyledon is seated and a pressing piece for sealing the received cotyledon against the first seating surface;
A reception cutter including a first clamp for fixing the reception stem, and a first cutter for cutting the reception stem between the pressing piece and the first clamp;
A second placement surface having a concave cross-section so that the root of the root can be seated, and a second clamp for fixing the root of the rootstock;
And a second cutter for cutting a central portion of the stem of the tree;
A second cutter including a third cutter for cutting the cotyledon part of the stem of the stem and a protective cover surrounding the third cutter;
A first horizontal conveyance part for horizontally moving the reception fixing part toward the block fixing part;
A first vertical transfer unit for vertically moving the reception cut portion;
A second horizontal conveyance part horizontally moving the block fixing part toward the reception fixing part;
A second vertical transferring unit for vertically moving the first block cutting unit;
A third vertical transferring unit for vertically moving the second block cutting unit;
And an input unit for receiving one of a stem cutting signal for driving the first block cutting unit and a cotyledon cutting signal for driving the second block cutting unit,
Wherein the first section cutting section and the second section cutting section are disposed on a moving path of the block fixing section when the first block cutting section and the second block cutting section are raised by the second upper and lower feeding section and the third upper and lower feeding section,
Wherein the reception cutting section cuts the reception stems fixed to the reception fixing section in a state in which the reception cut section is lifted by the first upper and lower transfer section and the reception fixing section is arranged in a state in which the reception cut section is lowered by the first upper and lower transfer section, Conveyed by a conveying section,
Wherein the first block cutting section or the second block cutting section cuts the stem of the block fixed to the block fixing section in a state of being raised by the second upper transfer section or the third upper and lower transfer section, The second horizontal transfer section is moved by the second horizontal transfer section while the second horizontal transfer section is lowered by the second vertical transfer section and the third vertical transfer section,
When the first seating surface of the reception fixing portion and the second seating surface of the block fixing portion are arranged close to each other by the first horizontal transfer portion and the second horizontal transfer portion, And a cut face of the block fixed by the block fixed portion and cut by the first block cutting portion or the second block cutting portion is manually engaged.
delete The method according to claim 1,
The reception cut-
A first transfer frame coupled to the first transfer unit and vertically transferred by the first transfer unit;
A first cutter frame disposed on the first transfer frame;
A first cutter driving unit mounted on the first transfer frame for moving the first cutter frame; And
And a first clamp driving unit mounted on the first transfer frame for driving the first clamp,
Wherein an upper surface of the first cutter frame includes a first seating groove on which the first cutter is seated,
Wherein the cutter blade is formed at both ends of the first cutter so that the cutter blade can be replaced.
delete The method of claim 3,
The first section cutting section includes:
A second conveying frame coupled to the second up-and-down conveying unit and vertically conveyed by the second up-down conveying unit;
A second cutter frame disposed on the second transfer frame; And
And a second cutter driving part mounted on the second transfer frame for moving the second cutter frame,
And an upper surface of the second cutter frame includes a second seating groove on which the second cutter is seated,
Wherein the cutter blade is formed at both ends of the second cutter so that the cutter blade can be replaced.
6. The method of claim 5,
Wherein the second section cutting section
A third conveying frame coupled to the third up-and-down conveying unit and vertically conveyed by the third up-down conveying unit;
A third cutter frame disposed on the third transfer frame; And
And a third cutter driving unit mounted on the third transfer frame for moving the third cutter frame,
Wherein an upper surface of the third cutter frame includes a third seating groove on which the third cutter is seated,
And the protective cover is rotatably coupled to the third transfer frame to enclose an upper surface of the third cutter.
The method according to claim 6,
And the cutter blade is formed at both ends of the third cutter so that the cutter blade can be replaced.
The method according to claim 6,
Wherein the protective cover has a guide groove on which the stem is secured.
The method according to claim 1,
And a control unit for controlling the second horizontal transfer unit, the second vertical transfer unit, and the third vertical transfer unit according to a signal received through the input unit.
10. The method of claim 9,
Wherein,
Wherein when the stem cutting signal is inputted through the input unit, the first block cutting unit is raised while the second block cutting unit is lowered, the block fixing unit is horizontally moved close to the first block cutting unit,
Wherein when the cotyledon cutting signal is inputted through the input unit, the first block cutting portion is lowered while the second block cutting portion is raised, and the block fixing portion is horizontally moved close to the second block cutting portion.

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