KR20180007761A - Grafting robot and operation method thereof - Google Patents

Grafting robot and operation method thereof Download PDF

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Publication number
KR20180007761A
KR20180007761A KR1020160089040A KR20160089040A KR20180007761A KR 20180007761 A KR20180007761 A KR 20180007761A KR 1020160089040 A KR1020160089040 A KR 1020160089040A KR 20160089040 A KR20160089040 A KR 20160089040A KR 20180007761 A KR20180007761 A KR 20180007761A
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South Korea
Prior art keywords
reception
cutting
cut
grafting
unit
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KR1020160089040A
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Korean (ko)
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KR101834746B1 (en
Inventor
강동현
이시영
박민정
최홍기
김종구
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대한민국(농촌진흥청장)
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Priority to KR1020160089040A priority Critical patent/KR101834746B1/en
Priority to PCT/KR2016/012148 priority patent/WO2018012678A1/en
Publication of KR20180007761A publication Critical patent/KR20180007761A/en
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
    • A01G17/04—Supports for hops, vines, or trees
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G2/00—Vegetative propagation
    • A01G2/30—Grafting
    • A01G2/32—Automatic apparatus therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Abstract

A grafting robot and an operation method thereof are provided. Wherein the grafting robot is provided with a waiting portion for fixing a work and a receipt supplied from the outside, a cutting portion for cutting the work and the receiving portion, an image portion for photographing a cutting surface of the work and the receiving portion, A moving part for pulling the wood block fixed on the base part and the receiving part and rotating the cutting part and the graft part, and a moving part for moving the cut part, the video part, the graft part, A grafting robot for improving the productivity of agriculture by raising the adhesion rate of the graft and the acceptance by including the control unit that calculates the rotation correction angle and reflects the rotation correction angle when the moving unit moves, have.

Figure P1020160089040

Description

TECHNICAL FIELD [0001] The present invention relates to a grafting robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a grafting robot and an operation method thereof, and more particularly, to a grafting robot for grafting a graft and a tree.

Most crop farmers are adopting the grafting method as part of the pest control measures to improve the yield of high quality crops by maintaining the starch.

The grafting method is a cultivation method which grafts and leaves are applied, and it can be utilized as a method of cultivating fruit and vegetables such as cucumbers and watermelons, fats and vegetables, and pepper and tomatoes.

In fact, in the case of fruit and vegetables such as watermelons, cucumbers and tomatoes, the percentage of the seedlings produced in the process nursery reaches about 50%, and many of them are produced by the grafting method.

Such a grafting method has a great influence on the grafting and finishing of the grafted seedlings depending on the degree of grafting between grafting and grafting. In other words, the precise grafting of grains and grains can greatly influence crop productivity. As a result, grafting is performed by hand throughout the work, requiring skilled technical personnel. However, it is experiencing difficulties in popularization due to the continuous decline of the rural population and the aging society.

Accordingly, Korean Patent Registration No. 10-0976555 (Application No. 10-2008-0025571, filed by the Korean Rural Development Administration) discloses a grafting robot for reducing the labor force at the nursery site and steadily receiving grafted seedlings. A grafting robot for grafting fruit and vegetables, comprising: a base for fixing a root and a receiving member; a root and a receiving cutting device for cutting the root and the reception to a predetermined height; And a feeding device for feeding the cut wood to the clip feeding device so that the cut wood and the receipt are opposed to each other so as to be opposed to each other and a clip feeding device And a controller for controlling the support means. Thus, it is possible to variably produce various types of grafted seedlings such as foil, vegetables, and branches and vegetables in fruits and vegetables, thereby maximizing the efficiency of production and work.

However, the conventional grafting robot has a disadvantage in that the grafting and the cross-section are cut off by the rotation recoil of the reception cutting device, so that the cut surface is formed into a curved surface, and it is difficult to graft the grafts closely. In addition, grafting accuracy is lowered because it rotates at a certain angle without taking into consideration the stiffness deflection of the stem and the acceptance at the time of turning the receiving and feeding device.

Korean Patent Publication No. 10-0976555

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a high-efficiency grafting robot and an operation method thereof.

Another object of the present invention is to provide a low-cost grafting robot and a method of operating the same.

Another object of the present invention is to provide a high-precision graft robot and an operation method thereof.

Another object of the present invention is to provide a high-reliability grafting robot and an operation method thereof.

In order to solve the above technical problems, the present invention provides a graft robot.

According to one embodiment, the grafting robot includes a standby portion, a cut portion, an image portion, a grafting portion, a moving portion, and a control portion. The waiting unit includes a block waiting portion for fixing the block supplied from the outside and a reception waiting portion for fixing reception received from the outside. The cutting section includes a cutting section for cutting the block and a receiving cut section for cutting the receiving section. Wherein the image portion includes a line image portion for photographing a cut surface of the tree cut by the tree cutting portion and a reception image portion for photographing a cut surface of the reception cut by the reception cutting portion. And the grafting unit grafts the tree cut with the cutting unit and the receiving unit. The moving unit includes a tree moving unit and a receiving moving unit. In the case of the tree-moving unit, the first tree-moving, the second tree-moving, and the third tree-moving are included. The first turning movement causes the turning of the block from the block turning base. And the second traverse movement causes the traversed traversing tree to rotate about the z-axis to the tree leg cutting section. And the third tree-moving movement rotates the tree-branch cut by the tree-branch cutting section to the grafting section about the z-axis. In the case of the reception moving unit, the first reception movement, the second reception movement and the third reception movement are included. The first reception movement pulls the reception from the reception standby section. The second reception movement rotates the attracted receipt to the reception cut section with respect to the z-axis. And the third reception movement rotates the receipt cut by the reception cut-out portion about the z-axis to the knotting portion. Wherein the control unit controls the operation of the cutting unit, the image unit, the moving unit, and the grafting unit, and calculates a rotation correction angle from the image data photographed by the imaging unit, The rotation correction angle is reflected.

According to one embodiment, the cutting portion of the grafting robot may include a cutting piston portion and a cutting blade. The cutting blade is protruded from the one side of the cutting piston by a predetermined length and is reciprocated linearly by the cutting piston so that the cutting face of the blade and the receiving face can be cut into a plane.

According to one embodiment, the waiting unit of the grafting robot may further include a stem support unit for supporting the stem and the stem of the stem when the stem and the stem are cut off.

According to one embodiment, the moving part of the grafting robot may include a holder, a rotating table, and a motor part. The holder can pull the stem or the receptacle from the standby portion by reciprocating linear motion. The turntable can rotate the holder, which is connected to one side portion by the rotational motion, to the left and right with respect to the z-axis. The motor unit may provide power to the holder and the swivel.

According to one embodiment, the grafting portion of the grafting robot may provide a fixing pin for grafting the stem and the receiving portion. The fixing pin may include at least one of a clip and a clip.

In order to solve the above-mentioned technical problems, the present invention provides a method of operating a graft robot.

According to one embodiment, the operating method of the grafting robot includes the steps of: fixing the stock and supply received from the outside to the standby portion; drawing the stock and receipt fixed by the standby portion to the moving portion; A step of rotating the moving section so as to face the cutter section and the reception section with respect to the cutter section and the reception section, cutting the tree section and reception section facing the cut section, photographing the cut section of the section and the reception section, Calculating a rotation correction angle based on the photographed image data, rotating the moving part to the grafting part, and grafting the grafting and receiving part located in the grafting part. And when the moving part rotates and moves to the knot, the root and receipt include additional movement by a radius of the calculated rotation correction angle.

According to an embodiment of the present invention, in the step of fixing the stem and the receptacle among the operation methods of the graft robot, the stem and the stem may be further supported to support the stem and the stem of the stem.

According to an embodiment of the present invention, when the moving unit rotates, among the operation methods of the grafting robot, the moving directions of the tree moving unit and the receiving moving unit may be opposite to each other.

According to the grafting robot and its operation method according to the embodiment of the present invention, the cross-section of the cross section and the acceptance is cut into planes by the reciprocating linear motion of the cut section, thereby increasing the adhesion rate of the cross section and the acceptance. can do.

Further, in the embodiment of the present invention, the grafting robot and its operation method calculate the rotation correction angle and apply it when moving the moving part, thereby improving the grafting efficiency at the time of grafting the graft and the graft, have.

In addition, the grafting robot and the operation method thereof according to the embodiment of the present invention can automatically perform grafting, which has been progressed manually, thereby enabling low-cost grafting through reduced manpower.

1 is a perspective view illustrating a configuration of a grafting robot according to an embodiment of the present invention.
2 is a partial perspective view for explaining a standby portion and a moving portion of the grafting robot according to the embodiment of the present invention.
FIG. 3 is a partial perspective view for explaining a cutting section of the grafting robot according to the embodiment of the present invention.
4 is a partial perspective view for explaining a reception cutting portion of the grafting robot according to the embodiment of the present invention.
5 is a partial enlarged view for explaining a reception cutting portion of the grafting robot according to the embodiment of the present invention.
Fig. 6A is a conceptual diagram for explaining a cross section of a crossing and reception by a conventional grafting robot. Fig.
FIG. 6B is a conceptual view for explaining a cross section of the crossing and reception by the grafting robot according to the embodiment of the present invention. FIG.
FIG. 7 is a conceptual diagram for explaining a stem fixed to the graft robot according to the embodiment of the present invention and stem bending of the stem. FIG.
Figure 8 6 is a conceptual diagram for explaining the rotation correction angle of the moving part of the grafting robot according to the embodiment of the present invention.
FIG. 9 is a conceptual diagram for explaining the connection between the robot and the receptionist, in which the rotation correction angle is reflected in the moving part of the graft robot according to the embodiment of the present invention.
FIG. 10 is a flowchart illustrating a method of operating the grafting robot according to an embodiment of the present invention.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. In the accompanying drawings, the dimensions of the structures may be exaggerated to illustrate the present invention.

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. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprising" or "having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof. In addition, A and B are 'connected' and 'coupled', meaning that A and B are directly connected or combined, and other component C is included between A and B, and A and B are connected or combined .

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

1 is a perspective view illustrating a configuration of a grafting robot according to an embodiment of the present invention.

Referring to FIG. 1, the grafting robot may include a starter 1000, a moving unit 2000, a cutting unit 3000, an image unit 4000, a graft unit 5000, and a controller (not shown). The grafting robot may further include a conveyor 6000 and a monitor 7000 in addition to the above-described configurations.

2 is a partial perspective view for explaining a standby portion and a moving portion of the grafting robot according to the embodiment of the present invention.

Referring to FIGS. 1 and 2, the waiting unit 1000 may wait for acceptance and passage supplied from outside for grafting.

The standby portion 1000 may include a fixing bracket 1030 and a fingering portion 1050. The fixing bracket 1030 is attached to the upper surface of the work surface and can support the fingering member 1050.

The fixing bracket 1030 may be adjustable in height with respect to the z-axis. In other words, the height of the fixing bracket 1030 can be adjusted in the vertical direction. Accordingly, the height of the finger 1050 connected to one end of the fixing bracket 1030 can be adjusted so as to be positioned on the horizontal line with the fixing finger 1055 to be described later. Therefore, the fixed finger 1055, which will be described later, can easily pull the receiving portion and the wood block fixed to the fixing bracket 1030.

The fingering member 1050 may be connected to the upper end of the fixing bracket 1030, as described above.

The finger 1050 may include a finger fixture 1053 and a stationary finger 1055. More specifically, the finger fixing base 1053 is connected to the upper end of the fixing bracket 1030, and the fixing finger 1055 protrudes from a side of the finger fixing base 1053 by a predetermined distance in the x- .

The fixed finger 1055 may be in the form of a tongue. Thus, the tree stock and the receipt provided from the outside can be fixed between the gaps (T) of the fixed finger (1055). The gap T can be adjusted according to the thickness of the stem and the stem of the acceptance.

The waiting portion 1000 may further include a stem support portion 1070 for supporting the stem and the stem of the stem. The stem support part 1070 can be easily pulled by the moving part 2000, which will be described later, by supporting the stem and the stem of the reception.

The waiting unit 1000 may include a root holding unit 1300 and a receiving standby unit 1500. The transfer gate standby portion 1300 and the reception standby portion 1500 may commonly include the configurations of the standby portion 1000 described above. In other words, the stock holding unit 1300 and the receiving standby unit 1500 may commonly include the fixing bracket 1030 and the fingering unit 1050, respectively.

The tree root blank 1300 may be located at one side of the upper surface of the work table. In addition, the fixed finger 1055 of the root portion 1300 can fix the tree block supplied from the outside.

The reception standby portion 1500 may be positioned on the other side of the upper surface of the work table. In other words, the reception standby portion 1500 may be positioned on the upper surface of the work table by a predetermined distance from the root portion 1300.

The fixed finger 1055 of the reception standby unit 1500 can fix the reception supplied from the outside.

The moving unit 2000 may be spaced a predetermined distance from the fixed finger 1055 with respect to the y-axis.

The moving unit 2000 may include a moving piston unit 2010, a rotating table 2030, and a motor unit 2050. The moving piston unit 2010 may again include a moving piston 2013 and a holder 2015.

The moving piston 2013 may be attached to one end of the swivel 2030 to be described later. The moving piston 2013 can perform the piston movement by the motor unit 2050 to be described later.

The holder 2015 may be connected to one side of the moving piston 2013. Accordingly, when the moving piston 2013 is moved by the piston, the holder 2015 can perform linear movement by a predetermined distance in the forward and backward directions. In other words, when the moving piston 2010 is positioned to face one side of the fixed finger 1055, the holder 2015 is moved by the piston movement of the moving piston 2013 with the fixed finger 1055 Perspective can be adjusted. According to one embodiment, when the moving piston 2013 is inflated, the holder 2015 is moved forward close to the fixed finger 1055. According to another embodiment, the moving piston 2013 is compressed The holder 2015 can be moved backward away from the fixed finger 1055. [

Like the fixed finger 1055, the holder 2015 may have a clamping shape. Accordingly, when the holder 2015 is close to the fixed finger 1055, the holder 2015 can grasp the trapezoid fixed to the fixed finger 1055 and the receptacle, and pull it.

The holder 2015 may have a predetermined thickness to support the stem and the stem of the acceptance. Accordingly, when cutting the tree stock by the cutting unit 3000, which will be described later, and the reception, it is possible to prevent the stem of the tree and the receiving stem from being pushed backward by a force of a cutting blade to be described later.

The turntable 2030 may be provided in a cylindrical shape having a predetermined height. The rotation unit 2030 can be rotated to the left or to the right with respect to the z axis by the motor unit 2050 to be described later. Therefore, the holder 2015 connected to the upper portion of the swivel 2030 may be positioned to face the cut portion 3000 and the graft 5000 described later.

The motor unit 2050 may be connected to the other end of the swivel 2030.

The motor unit 2050 may provide power to the moving piston unit 2010 and the rotating table 2030. In other words, the moving unit 2000 can pull or rotate the wood block and the receiving unit by the motor unit 2050. More specifically, the motor unit 2050 may provide piston power to the moving piston unit 2010, and the motor unit 2050 may provide rotational power to the rotating table 2030. Accordingly, the moving unit 2000 can be moved by the motor unit 2050 such that the holder 2015 can move the first movement of pulling the stock and the reception unit from the standby unit 1000, A second movement for rotating one of the holders 2015 to the cut part 3000 to be described later, and a third movement for rotating the tree transferred to the cutting part 3000 and the reception to the below- Movement can be performed.

The moving unit 2000 may include a tree moving unit 2300 and a receiving moving unit 2500. The tree transfer section 2300 and the reception movement section 2500 may commonly include the above-described configurations 2010, 2030, and 2050, respectively. In other words, the tree transfer unit 2300 and the reception transfer unit 2500 may commonly include the moving piston unit 2010, the rotation unit 2030, and the motor unit 2050 described above.

In addition, the tree transfer section 2300 and the reception movement section 2500 can commonly perform the first movement and the third movement described above, respectively. In this case, the turning movement part 2300 and the reception movement part 2500 may be rotated in opposite directions during the second movement and the third movement. More specifically, the tree transfer unit 2300 may rotate in the counterclockwise direction during the second movement and the third movement, and the reception movement unit 2500 may rotate the second movement and the third movement You can rotate clockwise.

As described above, the tree transfer section 2300 may be spaced apart from the stationary finger 1055 by a predetermined distance with respect to the -y axis. More specifically, the tree transfer part 2300 may be spaced apart from the other side of the fixed finger 1055 by a predetermined distance.

The reception movement part 2500 may be spaced apart from the fixed finger 1055 by a predetermined distance with respect to the + y axis. More specifically, the reception movement part 2500 may be spaced apart from the one side of the fixed finger 1055 by a predetermined distance.

FIGS. 3 to 5 are views for explaining cutting portions of the grafting robot according to the embodiment of the present invention. More specifically, Fig. 3 is a partial perspective view for explaining the cutting section of the grafting robot, Fig. 4 is a partial perspective view for explaining the reception cutting section of the grafting robot, Fig. 5 is a cross- Fig.

Referring to Figs. 1 and 3 to 5, the cutting unit 3000 can cut the wood block and the receiving unit, which are gripped by the holder 2015 and moved. In other words, the cutter 3000 can cut the stem of the second moved tree and the acceptance by the holder 2015.

The cutting unit 3000 may be attached to the upper surface of the work table and may be positioned at a predetermined distance from the moving unit 2000 with respect to the x axis. In other words, the cut part 3000 may be located on the front part of the moving part 2000.

The cutting portion 3000 may include a cutting piston 3010 and a cutting blade 3030. The cutting piston unit 3010 may perform piston motion by the control unit (not shown).

The cutting blade 3030 may protrude from the one side of the cutting piston 3010 by a predetermined distance. Accordingly, the stem and the stem of the acceptance can be cut in the lateral direction.

FIG. 6 is a view for explaining cut sections of a cross section and a reception section formed by the cut section according to the embodiment of the present invention. FIG. More specifically, FIG. 6A is a conceptual view for explaining a cutting face of a turning and acceptance by a conventional grafting robot, FIG. 6B is a conceptual view for explaining a cutting face of the turning and receiving by the grafting robot according to the embodiment of the present invention to be.

Referring to FIG. 6A, in the conventional grafting robot, the cutting blade is rotated when cutting the stem (B) and the acceptance (T). It is possible to form a smooth cut surface of the tree B and the reception T due to the rotational force of the cutting blade but it is also possible that the cutting surfaces of the tree B and the receiving T are curved surfaces R B and R T . Thereby, grafting efficiency deteriorates due to the gap H formed by the curved surfaces R B and R T when the cut ends of the tree block B and the acceptance T are cut.

3 to 5, the cutting blade 3030 performs a linear movement in the forward and backward directions by the piston movement of the cutting piston 3010. In other words, can do.

6B, the grafting robot is provided with the cutting surface S B , S T of the tree B and the receiving T flat by the piston movement of the cutting blade 3030 described above . Accordingly, it is possible to closely adhere to each other when the tree stock B and the receipt T are knotted, thereby improving the grafting efficiency. Also, as described with reference to FIG. 2, by supporting the stem and the stem of the acceptance by the holder 2015 having a predetermined thickness, it is possible to obtain a flat cut surface without being pushed by the movement of the cutting blade 3030 .

Referring again to FIGS. 3 to 5, the cutting unit 3000 may include a tree cutting unit 3300 and a receiving cutting unit 3500. The tree block cutting portion 3300 is attached to one side of the work table and may be positioned in front of the tree moving portion 2300 with respect to the x axis.

The reception cut portion 3500 may be positioned at a predetermined distance on the y-axis with respect to the holder 2015.

The thread cutting portion 3300 and the reception cutting portion 2500 may commonly include the structures 3010 and 3030 described above, respectively. In other words, the thread cutting portion 3300 and the receiving cutting portion 3500 may commonly include the cutting piston 3010 and the cutting blade 3030 described above, respectively.

The stem cutting portion 3300 may further include a leaf fixing portion 3350. More specifically, in general, when the tree is cut for the grafting of the tree and the reception, the leaves are cut while leaving the leaf portion on one side. Thus, the leaf fixing portion 3350 can fix the leaf portion protruding on one side at the time of cutting the tree-branch cutting portion 3300 for easy cutting of the tree.

The leaf fixing portion 3350 is attached to the upper surface of the work table and can be positioned at a predetermined distance in the -y axis direction with respect to the tree cutting portion 3300.

The leaf fixing portion 3350 may include a fixing piston 3333 and a blade fixing portion 3355. The fixed piston 3333 may perform the piston movement in the B 1 direction by the control unit (not shown).

The blade holder 3355 may protrude from the other side of the fixed piston 3333 by a predetermined distance. The leaf fixing base 3355 can fix one side of the leaves of the tree. Thereafter, the cutting piston 3010 is expanded in the B 2 direction in a state where the blade of the tree is fixed by the blade fixing table 3355, so that the blade can be cut.

Referring back to FIG. 1, the image portion 4000 can photograph the section cut by the cutting portion 3000 and the cut surface of the acceptance. The photographed image data can be utilized in calculating the rotation correction angle by the control unit (not shown) to be described later.

In the grafting part 5000, the cut and the tree can be grafted. More specifically, in the grafting part 5000, the cut receiving surface and the cut surface of the tree can be joined by a fixing pin.

The fixing pin may be at least one of a clip and a clip. For example, the fixing pin may be a clamp.

The fixing pin may be provided by a fixing pin supply part 5500. The fixing pin supply unit 5000 may be positioned behind the grafting unit 5000 with respect to the y axis.

The control unit (not shown) may control the moving unit 2000, the cutting unit 3000, the image unit 4000, and the graft unit 5000.

7 to 9 are views for explaining rotation correction angles of the grafting robot according to the embodiment of the present invention. 8 is a conceptual diagram for explaining the rotation correction angle of the moving part, and Fig. 9 is a view for explaining the turning correction angle of the moving part, And a concept for explaining the connection of the reception.

Referring to FIGS. 2 and 7 to 9, the controller (not shown) may calculate the rotation correction angle?. The rotation correction angle? May be a correction angle obtained by calculating an angle of warpage of the stem of the stem and the stem of the stem to increase grafting efficiency of the stem and the acceptance. More specifically, when the stem (B) and the stem of the stem (A) are positioned on the stem (5000) while being bent, the degree of warpage of the stem (B) The grafting by the fixing pin 5550 may not occur. Accordingly, the graft robot according to the embodiment of the present invention calculates the degree of warpage of the stem (B) and stem of the acceptance (A) and reflects it during the third movement of the moving part (2000) ) And the grafting efficiency of the receipt (A) can be increased.

The rotation correction angle? May be calculated through a first process and a second process.

The first process may be a process of measuring the degree of warpage of the stem and stem of the stem using the image data photographed from the imaging unit 4000.

In the first process, the control unit (not shown) rotates the cutting surface from the central portion M of the reception R by the spindle B held by the spindle holder 2315 and the reception holder 2515 It can be used to measure the passage (B) and the distance (G) of the x coordinate of the center (M 1) of the reception (R) of the formed spot.

The second process may be a process of converting the degree of bowing of the stem of the tree (B) and the stem of the acceptance (R) measured in the first step into angle data (?). In other words, the second process may be a process of converting the distance data G measured in the first process into the angle data?.

The second process can be calculated by the following equations (1) and (2).

Figure pat00001
------------------------- Equation 1.

Figure pat00002
------------------------- Equation 2.

G: Distance data

L: a y-axis length from the center of the rotating table 2030 to the center of the holder 2015

?: Angle data (rotation correction angle)

The calculated rotation correction angle [theta] may be applied at the third movement of the moving unit 2000. [ As described above, the conventional grafting robot has been rotated at right angles without taking into account stem bending of the stem and the stem when the stems of the grafting and acceptance are cut and moved to the grafting. Thus, when the degree of warpage of the wood block and the receiving portion exceeds a certain range that the fixing pin can calibrate, the wood block and the receiving portion can not be grafted. Accordingly, the grafting robot according to the embodiment of the present invention adds the rotation correction angle [theta] to the right angle movement which is the basic movement angle in the third movement, so that the stem B and the stem T of the reception T In order to correct the degree of deviation. The tree B and the receipt T which have been further moved by the rotation correction angle? May enter a certain range that the fixing pin 5550 can calibrate, so that grafting can proceed easily.

Referring again to FIG. 1, the conveyor 6000 may be positioned on the x-axis line where the center of the workbench is located. The conveyor 6000 can move the grafted grafts grafted from the grafting unit 5000.

The monitor unit 7000 may display the photographed image of the video unit 4000 described above. Accordingly, the user can monitor the degree of warpage of the stem and the stem of the stem.

The grafting robot according to the embodiment of the present invention has been described above. Hereinafter, an operation method of the grafting robot will be described.

FIG. 10 is a flowchart illustrating a method of operating the grafting robot according to an embodiment of the present invention.

Referring to FIGS. 1 to 10, the tree stock and the receipt may be supplied from the outside and fixed to the standby portion 1000 (S110). More specifically, when the tree is supplied from the outside, the tree can be fixed to the stationary finger 1055 of the block 1300, and when the reception is supplied from the outside, And may be fixed to the fixed finger 1055 of the reception standby unit 1500.

The block and the reception station fixed to the standby unit 1000 can be towed by the moving unit 2000 (S120). More specifically, the tree stock and the receipt that are respectively awaited in the fixed finger 1055 of the tree stock standby portion 1300 and the reception standby portion 1500 are received by the holder 2015, It is possible to perform the movement and the first reception movement.

According to one embodiment, when the tree is placed on the fixed finger 1055 of the tree sprocket 1300, the holder 2015 located in the tree moving unit 2300 is moved to the control unit (not shown) To receive power from the motor unit 2050. The holder 2015 of the tree moving part 2300 that has received the power can be forwardly projected by the piston expansion of the moving piston 2313 as described above. Accordingly, the holder 2015 can grasp the block fixed to the fixed finger 1055. [ The holder 2015 holding the block can be pulled from the fixed finger 1055 to the block moving part 2300 by compression of the moving piston 2013. [

The holder 2015 of the receiving moving part 2500 may be rotated by the motor part 2050 by the control part (not shown), which will be described later, when the receiving part is positioned on the fixed finger 1055. [ Lt; / RTI > The holder 2015, which receives the power, can be projected forward by the piston expansion of the moving piston 2013, as described above. Accordingly, the holder 2015 can grip the reception fixed to the fixed finger 1055. [ The holder 2015 holding the reception can pull the reception from the fixed finger 1055 to the reception moving part 2500 by the compression of the movement piston 2013. [

The moving unit may be rotated so that the drawn tree and the drawn tree are faced to the cut unit 3000 (S130). In other words, the tree transfer and the receipt moved to the tree transfer section 2300 and the acceptance transfer section 2500 can perform the second tree transfer and the third acceptance transfer, respectively. More specifically, in the second turning movement and the second receiving movement, the rotation axis 2030 is rotated by a predetermined angle so that the holder 2015 holding the tree and the reception can be rotated by a predetermined angle have. At this time, the tree stock and the receipt can be rotated in opposite directions respectively during the second tree traversing and the second receiving move. More specifically, the tree can be rotated counterclockwise at the time of the second turning movement, and the reception can be rotated clockwise at the time of the second reception movement. The wood block and the receipt rotated by a predetermined angle can be positioned facing the cut part 3000, respectively.

According to one embodiment, the rotation unit 2030 of the tree transfer unit 2300 can receive rotational power from the motor unit 2050 by the control unit (not shown). Accordingly, the swivel 2030 can be moved to the tree cutting unit 3300 to be described later. The plantation cut section 3300 may be positioned at a predetermined angle in one direction with respect to the planting frame base 1300. For example, the plantation cut section 3300 may be located at an angle of 90 degrees in one direction from the root section 1300. Accordingly, the holder 2015 located at one end of the swivel 2030 can be moved to face the block cutting portion 3300 by the second block moving.

According to another embodiment, the rotation unit 2030 of the reception movement unit 2500 may receive rotational power from the motor unit 2050 by the control unit (not shown). Accordingly, the turntable 2030 can be moved to the reception cutter 3500 to be described later. The reception cut portion 3500 may be positioned at a predetermined angle in one direction with respect to the reception standby portion 1500. For example, the reception cut-out portion 3500 may be located at an angle of 90 degrees from the reception standby portion 1500 in the other direction. Accordingly, the holder 2015 located at one end of the swivel 2030 can be moved to face the reception cut portion 3500 by the second reception movement.

The second and third tree moving and the second received and moved leaves can be cut by the tree cutting section (3300) and the receiving cut section (3500), respectively. In other words, the tree facing the cutting unit 3000 and the reception can be cut (S140).

According to one embodiment, as described with reference to FIG. 1, the tree section cutting section 3300 may be positioned in front of the tree moving section 1300 with respect to the x axis. The cutting piston portion 3010 of the block cutting portion 3300 may be positioned at an angle of 45 degrees from the work table.

The cutting blade 3030 protruded by a predetermined distance from one side of the cutting piston 3010 can be cut linearly while being linearly moved by the expansion of the cutting piston 3010.

According to another embodiment, as described with reference to FIG. 1, the reception cut portion 3500 may be positioned in front of the reception movement portion 1500 with respect to the x-axis. The cutting piston portion 3010 of the reception cutting portion 3500 may be positioned at a 45-degree angle to the work table. The cutting blade 3030 protruding from the one side of the cutting piston 3010 by a predetermined distance can be linearly moved downward at an angle of 45 degrees by the expansion of the cutting piston 3010 to cut the reception .

The cutting is formed in an upward direction at an angle of 45 degrees and the receiving is formed in a cutting direction in a downward direction at 45 degrees so that when the cutting is positioned at the joining part 5000 by the third movement, The cut surfaces of the first and second portions can be aligned in a harmonious manner. At this time, the position angle of the cutting piston 3010 of the wood block and the receiving block is not limited to 45 degrees, and the sum of the angles of the cutting piston 3010 of the wood block and the receiving portion measured on the Z- If it is 90 degrees, the number of all cases can be applied.

The section cut by the stem cutting section 3300 and the stem cutting section 3500 and the acceptance can be photographed by the legend image section 4300 and the acceptance imaging section 4500 respectively (S150).

The rotation correction angle? May be calculated based on the image of the tree taken by the image unit 4000 and the image data of the reception (S160). The rotation correction angle? Is a value obtained by calculating the degree of warpage of the stem and the stem of the reception using angular data, and may be reflected upon the third movement of the moving section 2300 and the reception moving section 3500 have.

The tree transfer part 2300 and the reception moving part 2500 can be rotated by the knocking part 5000 (S170). In other words, the tree transfer section 2300 and the reception transfer section 3500 can perform the third tree transfer and the third reception transfer toward the coupling section 5000. At this time, as described above, the third tree traversing movement and the third reception movement may be values reflecting the rotation correction angle [theta] of the tree and the rotation correction angle [theta] of the reception, respectively.

The wood block and the receipt located in the grafting part 5000 by the third and fourth receiving movements of the wood block moving part 2300 and the receiving moving part 3500 are fixed by the fixing pin 5550 (S180). The fixing pin 5550 may be provided by the fixing pin supply unit 5500.

The grafting robot according to the present invention and its operation method have been described above.

Wherein the grafting robot is provided with a cutting face of the threading and receiving face smoothly by reciprocating linear motion of the cutting portion and the threading deflection of the threading thread and the receiving thread is corrected by the image portion and the control portion, Can be provided.

While the present invention has been described in connection with what is presently considered to be practical and exemplary embodiments, 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.

1000; Base donation
1030; fixed bracket
1050; Fingering
1053: Finger holder
1055: Fixed finger
1070; Stem support
1300; Donation
1500; Reception desk donation
2000; The moving part
2010; The moving piston portion
2013: Moving piston
2015; holder
2030; Swivel
2050; The motor section
2300; [0040]
2500; The reception moving part
3000; Cutting section
3010; The cutting piston portion
3030; Cutting blade
3300:
3350:
3355; Leaf stand
3500: Reception cut section
4000; Image portion
4300:
4500: Reception image part
5000; Graft
5500; Fixed pin supply portion
5550; Fixing pin
6000: Conveyor
7000: Monitor section

Claims (8)

A waiting portion including a stock spring for fixing the block supplied from the outside and a reception waiting portion for fixing the reception supplied from the outside;
A cutting section including a section cut section for cutting the block and a reception cut section for cutting the reception section;
A video image portion including a moving image portion capturing a cut surface of the block cut by the block cutting portion and a reception image portion capturing a cut surface of the reception cut by the reception cut portion;
A grafting portion for grafting the host material cut by the cutting portion and the receiving material;
A second turning movement for rotating the trailed tree to the tree cutting section with respect to the z-axis, and a second turning movement for turning the turning tree by the tree turning section to the connecting section a first transfer movement for pulling the reception from the reception standby portion, a second reception movement for pulling the reception from the reception standby portion to the reception cut portion with respect to the z-axis, And a reception moving part including a second reception movement including a second reception movement and a third reception movement in which the reception cut by the reception reception cutter rotates about the z axis to the connection part; And
A first step of controlling operations of the cutting unit, the image unit, the moving unit, and the grafting unit, and a second process of calculating rotation correction angles in consideration of warpage of the stem from image data photographed from the image unit, 3. The grafting robot according to claim 1, further comprising:
The method according to claim 1,
The cut-
A cutting piston portion and a cutting blade,
The cutting blade is protruded from the one side of the cutting piston by a predetermined length,
Wherein the cutting surface of the stock and the receiving portion are cut into planes by reciprocating linear motion by the cutting piston portion.
The method according to claim 1,
The waiting unit
And a stem support portion for supporting the stem and the acceptance when the stem and the reception are fixed.
The method according to claim 1,
The moving unit
A holder for pulling said stock or said receptacle from said standby portion by reciprocating linear motion;
A rotating table which rotates the holder connected to the one side portion by the rotational motion in the left and right direction about the z axis; And
And a motor for providing power to the holder and the swivel.
The method according to claim 1,
The fitting
And a stationary pin for engaging with the wood block and the receiving block,
Wherein the fixing pin includes at least one of a clip and a clip.
A step of securing the stem and the receptacle supplied from the outside to the standby portion;
Pulling the block and receipt fixed by the standby portion to the moving portion;
Rotating the moving part so as to face the cut part with the drawn wood block and receiving part;
Cutting the wood block and the receiving portion facing the cut portion;
Photographing a cut surface of the block and accepting the image;
Calculating a rotation correction angle by the controller based on the image data photographed from the image unit;
Rotating the moving part to the knot; And
And a step in which the stem and acceptance located at the grafting portion are grafted to the grafting portion, wherein when the grafting portion rotates to the grafting portion, the grafting and grafting are further shifted by a radius of the calculated rotation correction angle Operation method of grafting robot.
The method according to claim 6,
In the case of fixing the tree and the reception,
Further comprising a stem support for supporting the stem and the stems of the staple.
The method according to claim 6,
Wherein when the moving part is rotated, the moving directions of the moving part and the receiving moving part are opposite to each other.
KR1020160089040A 2016-07-14 2016-07-14 Grafting robot and operation method thereof KR101834746B1 (en)

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PCT/KR2016/012148 WO2018012678A1 (en) 2016-07-14 2016-10-27 Grafting robot and operation method therefor

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KR20190094027A (en) * 2018-02-02 2019-08-12 박창민 A cutter for grafting
CN111165198A (en) * 2020-02-11 2020-05-19 山西农业大学 Nutrition pot seedling grafting machine
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KR20210156449A (en) 2020-06-18 2021-12-27 대한민국(농촌진흥청장) Method for culturing cucumber scion and rootstock in plant factory using artificial lights
KR20210156452A (en) 2020-06-18 2021-12-27 대한민국(농촌진흥청장) Method for culturing hot pepper scion and rootstock in plant factory using artificial lights

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CN110447405B (en) * 2019-09-19 2021-04-27 浙江山茶之都农业开发股份有限公司 Camellia culture method
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KR20190094027A (en) * 2018-02-02 2019-08-12 박창민 A cutter for grafting
CN111165198A (en) * 2020-02-11 2020-05-19 山西农业大学 Nutrition pot seedling grafting machine
KR20210156451A (en) 2020-06-18 2021-12-27 대한민국(농촌진흥청장) Method for culturing tomato scion and rootstock in plant factory using artificial lights
KR20210156449A (en) 2020-06-18 2021-12-27 대한민국(농촌진흥청장) Method for culturing cucumber scion and rootstock in plant factory using artificial lights
KR20210156452A (en) 2020-06-18 2021-12-27 대한민국(농촌진흥청장) Method for culturing hot pepper scion and rootstock in plant factory using artificial lights

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