WO2018012678A1

WO2018012678A1 - Grafting robot and operation method therefor

Info

Publication number: WO2018012678A1
Application number: PCT/KR2016/012148
Authority: WO
Inventors: 강동현; 이시영; 박민정; 최홍기; 김종구
Original assignee: 대한민국(농촌진흥청장)
Priority date: 2016-07-14
Filing date: 2016-10-27
Publication date: 2018-01-18
Also published as: KR20180007761A; KR101834746B1

Abstract

Provided are a grafting robot and an operation method therefor. The grafting robot comprises: a standby part for fixing rootstocks and scions supplied from the outside; a cutting part for cutting the rootstocks and the scions; an imaging part for photographing cutting surfaces of the rootstocks and the scions; a grafting part for grafting the rootstocks and the scions which have been cut; a moving part for pulling the fixed rootstocks and the scions from the standby part and rotating and moving the rootstocks and the scions to the cutting part and the grafting part; and a control part for calculating a rotation correction angle from the cutting part, the imaging part, the grafting part and image data photographed by the imaging part and reflecting the rotation correction angle during the movement of the moving part. Thus, it is possible to provide a grafting robot which increases the grafting adhesiveness between rootstocks and scions and enhances agricultural productivity, and an operation method therefor.

Description

Graft robot and its operation method

The present invention relates to a grafting robot and a method of operating the same, and more particularly, to a grafting robot for grafting a reception and a large tree and a method of operating the same.

Most crop farmers adopt the grafting method as part of the pest control method, which aims to improve high quality crop yield through ultra-preservation.

The grafting method is a cultivation method that combines the reception and the large tree, and can be used as a method of cultivating fruits and vegetables including cucumbers and watermelons such as watermelons and vegetables, and eggplants such as peppers and tomatoes.

In fact, fruit and vegetable such as watermelon, cucumber, tomato, etc. use about 50% of seedlings produced at the process nursery, and a large part of them are produced by grafting method.

This, grafting cultivation method has a great influence on the sticking and acclimatization of grafting seedlings depending on the degree of grafting of large trees and reception. In other words, the precise grafting of large and large crops can greatly influence the improvement of crop productivity. Accordingly, grafting cultivation is performed manually by the whole work, and requires skilled technical personnel. However, there is a difficulty in popularization due to the continuous decline of rural population and aging society.

Accordingly, Republic of Korea Patent Registration 10-0976555 (Application No. 10-2008-0025571, Applicant Rural Development Administration of the Republic of Korea) discloses a grafting robot for reducing the labor force and stable supply of grafting seedlings at the seedling site. The grafting robot grafting fruit and vegetable is a base for fixing a tree and a reception, a tree and a reception cutting device for cutting the tree and the reception to a predetermined height, and gripping the tree and the reception to supply the cutting to the tree and the reception cutting device. And a tree supply and reception supply device for turning the cut tree and the reception to face each other so as to face the clip supply device, and a clip supply device for grafting the tree and reception cut and installed at one side of the base with a clip. And by configuring a controller for controlling the support means, it has been described the effect of maximizing the efficiency of production and work by variably producing various kinds of grafted seedlings such as gourd and vegetables and eggplant and vegetables in fruit and vegetables.

However, the conventional grafting robot is cut by the grafting and the large tree by the rotational reaction of the receiving cutting device is formed in a curved surface, there is a disadvantage that the close grafting when receiving and grafting the tree is difficult. In addition, the grafting accuracy is lowered because the rotation of the receiving and supplying device rotates at an angle without considering the stem bending of the tree and the receiving.

Accordingly, one technical problem to be solved by the present invention is to provide a high efficiency grafting robot and its operation method.

Another technical problem to be solved by the present invention is to provide a low-cost grafting robot and its operation method.

Another technical problem to be solved by the present invention is to provide a high-precision graft robot and its operation method.

Another technical problem to be solved by the present invention is to provide a highly reliable grafting robot and its operation method.

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

According to an embodiment of the present disclosure, the graft robot includes a waiting unit, a cutting unit, an image unit, a grafting unit, a moving unit, and a controller. The waiting unit includes a log waiting unit for fixing a log supplied from the outside and a reception waiting unit for fixing a reception supplied from the outside. The cutting portion includes a log cutting portion for cutting the tree and a reception cutting portion for cutting the reception. The imaging unit includes a tree imaging unit for photographing a cut surface of the tree cut by the tree cutting unit and a reception image unit for photographing a cut surface of the reception cut by the reception cutting unit. The grafting portion grafts the log and the reception cut by the cutting portion. The moving unit includes a tree moving unit and a reception moving unit. In the case of the large-size moving part, the first large size movement, the second large size movement, and the third large size movement are included. The first tree movement pulls the tree from the tree waiting. The second tree movement rotates the pulled tree to the tree cutting unit based on the z-axis. The third large tree movement rotates the large tree cut by the large tree cutting unit about the z axis to the grafting unit. In the case of the reception moving unit, the first reception movement includes a first reception movement, a second reception movement, and a third reception movement. The first reception movement pulls the reception from the reception waiting portion. The second reception movement causes the reception of the pulled reception to rotate around the z axis to the reception cutout. The third reception movement rotates the reception cut by the reception cutting unit on the z axis to the grafting unit. The controller controls an 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 image unit, so that the third part movement and the third reception movement are performed. Reflect the rotation compensation angle.

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 by a predetermined length from one side of the cutting piston portion, by the reciprocating linear motion by the cutting piston portion, the cutting surface of the tree and the reception can be cut in a plane.

According to an embodiment of the present disclosure, the waiting unit of the grafting robot may further include a stem support part supporting the stem of the tree and the reception when cutting the tree and the reception.

According to an embodiment, the moving part of the grafting robot may include a holder, a swivel, and a motor part. The holder can pull the tree or the reception from the waiting section by a reciprocating linear motion. The swivel may rotate the holder connected to one side by a rotational movement left and right about the z-axis. The motor unit may provide power to the holder and the rotating table.

According to one embodiment, the grafting portion of the grafting robot may provide a fixing pin for grafting the tree and the reception. The fixing pin may include at least one of a forceps or a clip.

In order to solve the above technical problem, the present invention provides a method of operation of the graft robot.

According to one embodiment, the operation method of the grafting robot, the step of fixing the tree and the reception supplied from the outside to the standby, towing the tree and the reception fixed by the standby to the moving unit, towed Moving the moving part to face the cutting part and the receiving part so as to face the cutting part, cutting the large part and the receiving part facing the cutting part, the image part photographing the cutting surface of the large part and the receiving part, from the image part Calculating a rotation correction angle by the control unit based on the photographed image data, rotating the moving unit to the grafting unit, and grafting the tree and the reception located at the grafting unit. When the moving unit rotates to the grafting unit, the tree and the receiving unit may further move by a radius of the calculated rotation correction angle.

According to one embodiment, in the step of fixing the tree and the reception of the operation method of the grafting robot, the stem may further include a stem support for supporting the stem of the tree and the reception.

According to an embodiment of the present disclosure, when the moving part rotates in the moving method of the grafting robot, the moving directions of the large moving part and the receiving moving part may be opposite to each other.

In the graft robot and its operation method according to an embodiment of the present invention, the cutting surface of the tree and the reception is cut in a plane by the reciprocating linear motion of the cutting unit, thereby increasing the adhesion rate when the tree and the reception are grafted, thereby carrying out grafting of high efficiency. can do.

In addition, the graft robot and its operation method according to an embodiment of the present invention by calculating the rotation correction angle is applied during the movement of the moving part, it is possible to improve the graft efficiency when grafting the tree and the reception graft cultivation of high reliability have.

In addition, the grafting robot and its operation method according to an embodiment of the present invention can automatically implement the grafting cultivation was carried out by hand, it can be possible to cultivate low-cost grafting through a reduction in manpower.

1 is a perspective view for explaining the configuration of the graft robot according to an embodiment of the present invention.

FIG. 2 is a partial perspective view illustrating a waiting part and a moving part of the graft robot according to an exemplary embodiment of the present invention. FIG.

Figure 3 is a partial perspective view for explaining a large cut portion of the graft robot according to an embodiment of the present invention.

Figure 4 is a partial perspective view for explaining the cutting cut portion of the graft robot according to an embodiment of the present invention.

5 is a partially enlarged view for explaining a reception cut portion of the graft robot according to an embodiment of the present invention.

6A is a conceptual diagram for explaining a cut surface of a large tree and a reception by a conventional grafting robot.

6B is a conceptual diagram for explaining a cut surface of a tree and a reception by the grafting robot according to an embodiment of the present invention.

7 is a conceptual diagram for explaining the stem bending of the tree and the reception fixed to the graft robot according to an embodiment of the present invention.

8 is Conceptual diagram for explaining the rotation correction angle of the moving part of the graft robot according to an embodiment of the present invention.

9 is a conceptual diagram illustrating the graft of the passage and the reception in which the rotation correction angle is reflected in the moving part of the graft robot according to the embodiment of the present invention.

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

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar components. In the accompanying drawings, the dimensions of the structures may be exaggerated than actual for clarity of the invention.

Terms such as first and second 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 the second component, and similarly, the second component may also be referred to as the 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. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "having" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described in the specification, and that one or more other features It should be understood that it does not exclude in advance the possibility of the presence or addition of numbers, steps, actions, components, parts or combinations thereof. In addition, A and B are 'connected' and 'coupled' means that in addition to A and B being directly connected or combined, another component C is included between A and B so that A and B are connected or combined. It includes things.

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. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

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

Referring to FIG. 1, the grafting robot may include a waiting unit 1000, a moving unit 2000, a cutting unit 3000, an imaging unit 4000, a grafting 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 components.

1 and 2, the waiting unit 1000 may wait for reception and passage supplied from the outside for grafting.

The waiting part 1000 may include a fixing bracket 1030 and a finger part 1050. The fixing bracket 1030 may be attached to an upper surface of the work table and may support the finger portion 1050.

The fixing bracket 1030 may be height-adjustable based on the z-axis. In other words, the height of the fixing bracket 1030 may be adjusted in the vertical direction. Accordingly, the finger portion 1050 connected to one end of the fixing bracket 1030 may be height-adjustable to be positioned on a horizontal line with the fixing finger 1055 to be described later. Therefore, the fixing finger 1055 to be described later can easily pull the reception and the passage fixed to the fixing bracket 1030.

The finger part 1050 may be connected to an upper end of the fixing bracket 1030 as described above.

The finger unit 1050 may include a finger holder 1053 and a fixing finger 1055. More specifically, the finger holder 1053 is connected to the upper end of the fixing bracket 1030, the fixing finger 1055 protrudes by a predetermined distance in the x-axis direction from one side of the finger holder 1053. Can be formed.

The fixing finger 1055 may be in the form of a forceps. Accordingly, the tree and the reception provided from the outside may be fixed between the gaps T of the fixing fingers 1055. The gap T may be adjusted according to the thickness of the stem of the tree and the reception.

The waiting unit 1000 may further include a stem support unit 1070 supporting the stem of the tree and the reception. The stem support part 1070 may be easily towed by the moving part 2000 to be described later by supporting the stem and the stem of the reception.

The waiting part 1000 may include a large waiting part 1300 and a reception waiting part 1500. The tree waiting unit 1300 and the reception waiting unit 1500 may include the components of the waiting unit 1000 described above in common. In other words, the bar waiting unit 1300 and the reception waiting unit 1500 may include the fixing bracket 1030 and the finger unit 1050 in common.

The large part waiting part 1300 may be located at one side of the upper surface of the work table. In addition, the fixing finger 1055 of the large-diameter waiting portion 1300 may fix the large-diameter supplied from the outside.

The reception waiting unit 1500 may be located at the other side of the upper surface of the work table. In other words, the reception waiting unit 1500 may be located on the upper surface of the work table and spaced apart from the large-area waiting unit 1300 by a predetermined distance.

The fixing finger 1055 of the reception waiting unit 1500 may fix the reception supplied from the outside.

The moving part 2000 may be positioned to be spaced apart from the fixed finger 1055 by a predetermined distance with respect to the y axis.

The moving part 2000 may include a moving piston part 2010, a swivel 2030, and a motor part 2050. The moving piston part 2010 may again include a moving piston 2013 and a holder 2015.

The moving piston 2013 may be attached to one end of the rotating table 2030 to be described later. The moving piston 2013 may perform a 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, during the piston movement of the moving piston 2013, the holder 2015 may perform a linear movement by a predetermined distance in the front-rear direction. In other words, when the moving piston 2010 is positioned to face one side of the fixed finger 1055, the holder 2015 is connected to the fixed finger 1055 by the piston movement of the moving piston 2013. Perspective can be adjusted. According to one embodiment, when the moving piston 2013 is expanded, the holder 2015 is moved forward in close proximity to the fixed finger 1055, according to another embodiment, the moving piston 2013 is compressed In this case, the holder 2015 may be moved back away from the fixing finger 1055.

Like the fixing finger 1055, the holder 2015 may have a tong shape. Accordingly, when the holder 2015 is close to the fixing finger 1055, the holder 2015 may grip and pull the part and the reception fixed to the fixing finger 1055.

The holder 2015 may support the stem and the stem of the reception by having a predetermined thickness. Accordingly, when cutting the tree and the reception by the cutting unit 3000 to be described later, the stem of the tree and the reception may be prevented from being pushed backward by the force of the cutting blade to be described later.

The swivel 2030 may be provided in a cylindrical shape of a predetermined height. The swivel table 2030 may be rotated left and right about the z-axis by the motor unit 2050 to be described later. Accordingly, the holder 2015 connected to the upper portion of the swivel 2030 may be positioned to face the cutting portion 3000 and the grafting portion 5000 which will be described later.

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

The motor unit 2050 may provide power to the moving piston unit 2010 and the swivel table 2030. In other words, the moving part 2000 may pull or rotate the part and the reception by the motor part 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 grips the first movement, the passage and the reception by which the holder 2015 pulls the passage and the reception from the waiting unit 1000 by the motor unit 2050. A second movement to rotate the holder 2015 to the cutting part 3000 to be described later, and a third movement of the tree moved to the cutting part 3000 and the reception to the grafting part 5000 to be described later The move can be performed.

The moving unit 2000 may include a large moving unit 2300 and a reception moving unit 2500. The tree moving unit 2300 and the reception moving unit 2500 may include the above-described

components

2010, 2030, and 2050, respectively. In other words, the large moving part 2300 and the receiving moving part 2500 may include the moving piston part 2010, the swivel table 2030, and the motor part 2050 in common.

In addition, the large-size moving unit 2300 and the receiving moving unit 2500 may perform the first to third movements described above in common. In this case, the moving part 2300 and the reception moving part 2500 may have opposite rotation directions when the second moving part and the third moving part are moved. In more detail, the large-diameter moving unit 2300 may rotate in the counterclockwise direction during the second movement and the third movement, and the reception movement unit 2500 may move the second movement and the third movement. Can be rotated clockwise.

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

The reception moving unit 2500 may be spaced apart from the fixed finger 1055 by a predetermined distance with respect to the + y axis. In more detail, the reception moving unit 2500 may be spaced apart from one side of the fixing finger 1055 by a predetermined distance.

3 to 5 are views for explaining a cutting portion of the graft robot according to an embodiment of the present invention. More specifically, FIG. 3 is a partial perspective view for explaining a large cut portion of the grafting robot, FIG. 4 is a partial perspective view for explaining a receiving cut portion of the grafting robot, and FIG. 5 is an enlarged portion A of FIG. It is an enlarged view.

Referring to FIGS. 1 and 3 to 5, the cutout 3000 may cut the tree and the reception that are gripped and moved by the holder 2015. In other words, the cutting part 3000 may cut the stem of the second tree and the receiving portion moved by the holder 2015.

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

The cutting part 3000 may include a cutting piston part 3010 and a cutting blade 3030. The cutting piston unit 3010 may perform a piston movement by the controller (not shown).

The cutting blade 3030 may be connected to protrude a predetermined distance from one side of the cutting piston portion 3010. Thereby, the stem of the said tree and the said reception can be cut | disconnected in the horizontal direction.

6 is a view for explaining the cut surface of the tree and the reception formed by the cut portion according to an embodiment of the present invention. More specifically, Figure 6a is a conceptual diagram for explaining the cutting surface of the tree and the reception by the conventional grafting robot, Figure 6b is a conceptual diagram for explaining the cutting surface of the tree and reception by the grafting robot according to an embodiment of the present invention to be.

Referring to FIG. 6A, in the conventional grafting robot, the cutting blade is rotated at the time of cutting the stem of the large tree B and the receiving device T. Due to the rotational force of the cutting blade, it is possible to form a smooth cut surface of the wood (B) and the receiving (T), but the cut surface of the wood (B) and the receiving (T) is curved surface (R _B , R _T ) Formed. As a result, the grafting efficiency was lowered due to the voids H formed by the curved surfaces R _B and R _T when the cut surfaces were grafted between the cut logs B and the reception T.

In the grafting robot according to an embodiment of the present invention, as described above with reference to FIGS. 3 to 5, the cutting blade 3030 performs a linear movement in the front-rear direction by the piston movement of the cutting piston part 3010. can do.

Referring to FIG. 6B, the grafting robot may be provided with the cutting surfaces S _B and S _{T of} the tree B and the reception T flat by the piston motion of the cutting blade 3030 described above. Can be. Accordingly, when the grafting of the tree (B) and the reception (T) can be in close contact can improve the grafting efficiency. In addition, as described with reference to FIG. 2, the stem and the stem of the reception are supported by the holder 2015 having a predetermined thickness, thereby obtaining a flat cut surface without being pushed even by the movement of the cutting blade 3030. Can be.

3 to 5, the cutout 3000 may include a large cut 3300 and a cut cut 3500. The wood cutting part 3300 may be attached to one side of the work table, and may be positioned in front of the wood moving part 2300 based on the x-axis.

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

The log cut part 3300 and the reception cut part 2500 may include the above-described

components

3010 and 3030, respectively. In other words, the large cutting part 3300 and the receiving cutting part 3500 may include the cutting piston part 3010 and the cutting blade 3030 described above in common.

The large-diameter cutting part 3300 may further include a leaf fixing part 3350. More specifically, in general, during the cutting of the tree for the grafting of the tree and the reception, it is cut leaving a sprouted leaf portion on one side. Thus, the leaf fixing portion 3350 may fix the leaf portion sprouting to one side when the cutting of the large tree cutting part 3300 for easy cutting of the large tree.

The leaf fixing part 3350 is attached to the upper surface of the workbench, and may be positioned to be spaced a predetermined distance in the -y axis direction with respect to the large-diameter cutting part 3300.

The leaf fixing part 3350 may include a fixing piston 3333 and a leaf holder 3355. The fixed piston 3333 may perform a piston movement in a B ₁ direction by the controller (not shown).

The leaf holder 3355 may be formed to protrude by a predetermined distance to the other side surface of the fixing piston 3333. The leaf holder 3355 may fix one leaf of the tree. Thereafter, the cutting piston unit 3010 is expanded in the B ₂ direction in the state in which the leaf of the tree is fixed by the leaf holder 3355, and the tree may be cut.

Referring back to FIG. 1, the imaging unit 4000 may capture the cut surface of the tree and the reception cut by the cutting unit 3000. The photographed image data may be used when the rotation correction angle is calculated by the controller (not shown).

In the grafting unit 5000, the cut and the tree cut may be grafted. In more detail, in the grafting portion 5000, the cut surface of the reception and the tree that is cut may be grafted by a fixing pin.

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

The fixing pin may be provided by the fixing pin supply unit 5500. The fixing pin supply unit 5000 may be located behind the grafting unit 5000 based on the y-axis.

The controller (not shown) may control the moving part 2000, the cutting part 3000, the image part 4000, and the grafting part 5000.

7 to 9 are views for explaining the rotation correction angle of the graft robot according to an embodiment of the present invention. More specifically, Figure 7 is a conceptual diagram for explaining the stem bending of the tree and the reception, Figure 8 is a conceptual diagram for explaining the rotation correction angle of the moving part, Figure 9 is the tree reflected the rotation correction angle to the moving part And a conceptual diagram for explaining grafting of the reception.

2 and 7 to 9, the controller (not shown) may calculate the rotation correction angle θ. The rotation correction angle θ may be a correction angle calculated as an angle of the bending degree of the stem of the tree and the stem in order to increase the grafting efficiency of the tree and the stem. More specifically, when the stem B of the stem B and the reception A is positioned at the grafting part 5000 while being bent, the degree of warpage of the stem B and the reception A is in a certain range. When exceeding, grafting may not occur by the fixing pin 5550. Accordingly, the grafting robot according to an embodiment of the present invention calculates the degree of bending of the stems of the tree B and the reception A and reflects them in the third movement of the moving part 2000, thereby reflecting the tree B. ) And the grafting efficiency of the reception (A) can be improved.

The rotation correction angle θ may be calculated through a first process and a second process.

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

The control unit (not shown) is a cutting surface from the central portion (M) of the reception (R) by the log (B) and the reception holder (2515) gripped by the log holder 2315 during the first process. 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 warpage of the stems of the trunk B and the reception R measured in the first process into angle data θ. 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 θ.

The second process may be calculated by the following Equations 1. and 2.

------------------------- Formula 1.

------------------------- Equation 2.

G: distance data

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

θ: angle data (rotation correction angle)

The calculated rotation correction angle θ may be applied when the third movement of the moving part 2000 is performed. As described above, in the conventional grafting robot, when the stem of the tree and the reception is cut and moved to the grafting part, the conventional grafting robot is moved at right angle rotation without considering the stem bending of the tree and the reception. For this reason, when the degree of warpage of the passage and the reception exceeds a predetermined range that can be corrected by the fixing pin, the passage and the reception could not be grafted. Accordingly, the grafting robot according to an embodiment of the present invention adds the rotation correction angle θ to a right angle movement that is a basic movement angle during the third movement, thereby causing stem bending of the tree B and the reception T. Improvement was made to correct the degree. The tree (B) and the reception (T) further moved by the rotation correction angle (θ) enters a predetermined range that can be corrected by the fixing pin (5550), the graft can be easily carried out.

Referring back to FIG. 1, the conveyor 6000 may be located on an x-axis line at which the center of the work bench is located. The conveyor 6000 may move the grafted seedling grafted from the grafting portion 5000.

The monitor 7000 may display a captured image of the image unit 4000 described above. The user can monitor the degree of stem bending of the tree and the reception.

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

1 to 10, the tree and the reception are supplied from the outside and fixed to the waiting unit 1000 (S110). In more detail, when the tree is supplied from the outside, the tree may be fixed to the fixing finger 1055 of the tree waiting unit 1300, and when the reception is supplied from the outside, the reception is The fixing finger 1055 of the reception waiting unit 1500 may be fixed.

The tree and the reception fixed to the waiting unit 1000 may be towed to the moving unit 2000 (S120). More specifically, the passage and the reception queued to the fixed finger 1055 of the passage waiting unit 1300 and the reception standby unit 1500 are respectively the first passage by the holder 2015. The move and the first accept move can be performed.

According to an embodiment of the present disclosure, when the tree is positioned on the fixing finger 1055 of the tree waiting unit 1300, the holder 2015 located on the tree moving unit 2300 may be the controller (not shown). Power may be transmitted from the motor unit 2050. As described above, the holder 2015 of the large-diameter moving part 2300 which receives the power may protrude forward by the piston expansion of the moving piston 2313. Accordingly, the holder 2015 may grasp the passage fixed to the fixing finger 1055. The holder 2015 holding the large tree may be towed from the fixed finger 1055 to the large moving unit 2300 by the compression of the moving piston 2013.

According to another embodiment, when the reception is positioned on the fixing finger 1055, the holder 2015 of the reception movement unit 2500 is connected to the motor unit 2050 by the controller (not shown). Can be powered by The holder 2015 receiving the power may protrude forward by the expansion of the piston of the moving piston 2013 as described above. Accordingly, the holder 2015 may grasp the reception fixed to the fixing finger 1055. The holder 2015 holding the reception may draw the reception from the fixed finger 1055 to the reception moving part 2500 by compression of the movement piston 2013.

The moving part may be rotated so that the pulled part and the reception face the cutting part 3000 (S130). In other words, the passage and the reception moved to the passage moving unit 2300 and the reception moving unit 2500 may perform a second passage movement and a third reception movement, respectively. In more detail, the second large-scale movement and the second reception movement may be rotated by the rotation table 2030 by a predetermined angle, such that the holder 2015 holding the large-diameter and the reception may rotate by a predetermined angle. have. In this case, the passage and the reception may be rotated in opposite directions during the movement of the second passage and the movement of the second reception, respectively. In more detail, the tree may rotate in a counterclockwise direction when the second tree moves, and the reception may rotate in a clockwise direction when the second reception moves. The tree and the receiver rotated by a predetermined angle may be positioned to face the cutting unit 3000, respectively.

According to an embodiment of the present disclosure, the rotating table 2030 of the large-size moving unit 2300 may receive rotational power from the motor unit 2050 by the controller (not shown). Accordingly, the swivel 2030 may be moved to the large-diameter cutting portion 3300 to be described later. The large-diameter cutting unit 3300 may be spaced apart by a predetermined angle in one direction with respect to the large-diameter waiting unit 1300. For example, the tree cutting part 3300 may be located at a distance of 90 degrees in one direction from the tree waiting part 1300. Accordingly, the holder 2015 positioned at one end of the swivel table 2030 may be moved to face the large cut portion 3300 by the second large size movement.

According to another embodiment, the swivel table 2030 of the reception moving unit 2500 may receive a rotational power from the motor unit 2050 by the controller (not shown). Accordingly, the swivel table 2030 may be moved to the reception cut part 3500 to be described later. The reception cut part 3500 may be spaced apart by a predetermined angle in one direction with respect to the reception wait part 1500. For example, the reception cutout 3500 may be located 90 degrees away from the reception waiter 1500 in the other direction. Accordingly, the holder 2015 positioned at one end of the swivel table 2030 may be moved to face the reception cut part 3500 by the second reception movement.

The second tree movement and the second reception movement of the tree and the reception may be cut by the tree cutting unit 3300 and the reception cutting unit 3500, respectively. In other words, the tree and the reception facing the cutting part 3000 may be cut (S140).

According to an embodiment, as described with reference to FIG. 1, the large-diameter cutout 3300 may be located in front of the large-diameter moving part 1300 based on the x-axis. The cutting piston part 3010 of the large-diameter cutting part 3300 may be positioned to be inclined upward at an angle of 45 degrees from the work table.

The cutting blade 3030 formed to protrude by a predetermined distance from one side surface of the cutting piston part 3010 may cut the tree while being linearly moved by the expansion of the cutting piston part 3010.

According to another embodiment, as described with reference to FIG. 1, the reception cut part 3500 may be positioned in front of the reception moving part 1500 based on the x-axis. The cutting piston part 3010 of the reception cut part 3500 may be inclined downward at an angle of 45 degrees toward the work table. The cutting blade 3030 formed to protrude by a predetermined distance from one side of the cutting piston part 3010 may cut the reception while linearly moving downward at an angle of 45 degrees by the expansion of the cutting piston part 3010. .

The log is formed with a cut surface in the upward 45 degree direction, and the reception is formed with a cut surface in the downward 45 degree direction, so that the cut surface and the cut surface of the log are positioned when the grafting portion 5000 is positioned by the third movement. The cutting plane of can be matched harmoniously. At this time, the position angle of the cutting piston portion 3010 of the passage and the reception is not limited to 45 degrees, and the sum of the angles of the cutting piston portions 3010 of each of the passage and the reception measured based on the Z axis is In the case of 90 degrees, all cases can be applied.

The tree and the reception where the stem is cut by the tree cutting unit 3300 and the reception cutting unit 3500 may be photographed by the tree image unit 4300 and the reception image unit 4500, respectively. (S150).

The rotation correction angle θ may be calculated based on the image data of the tree and the reception photographed by the imaging unit 4000 (S160). The rotation correction angle θ is a value calculated from angle data of the degree of warpage of the stem and the stem of the reception, and may be reflected during the third movement of the mass moving unit 2300 and the reception moving unit 3500. have.

The large-size moving unit 2300 and the reception moving unit 2500 may be rotatably moved to the grafting unit 5000 (S170). In other words, the large-size moving unit 2300 and the receiving moving unit 3500 may perform the third large-scale movement and the third receiving movement toward the grafting unit 5000. In this case, as described above, the third and third reception movements may be values in which the rotation correction angle θ and the rotation correction angle θ of the reception are respectively reflected.

The passage and the reception positioned in the grafting part 5000 by the third movement of the large passage 2300 and the receiving movement 3500 and the third reception movement are received by the fixing pin 5550. Can be grafted (S180). The fixing pin 5550 may be provided by the fixing pin supply unit 5500.

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

The grafting robot is provided by the reciprocating linear motion of the cutting unit to provide a flat cutting surface of the tree and the reception, and the stem bending of the tree and the reception is corrected by the image unit and the control unit, thereby improving the grafting efficiency of the high reliability grafting robot This may be provided.

In the detailed description of the present invention described above with reference to the preferred embodiments of the present invention, those skilled in the art or those skilled in the art having ordinary skill in the art will be described in the claims to be described later It will be understood that various modifications and variations can be made in the present invention without departing from the scope of the present invention.

Claims

A waiting unit including a log waiting unit for fixing a log supplied from the outside and a reception waiting unit for fixing the reception supplied from the outside;

A cutting part including a cutting part cutting a large part and a receiving cutting part cutting the receiving part;

An imaging unit including a large-diameter imaging unit for photographing a cut surface of the large tree cut by the large-sized cutting unit and a reception image unit for photographing a cut surface of the reception cut by the reception cutting unit;

A grafting portion for grafting the large tree and the reception cut by the cutting portion;

The first tree movement to pull the tree from the tree waiting portion, the second tree movement for moving the pulled tree to the tree cutting part about the z axis and the tree cut by the tree cutting part to the grafting part a first moving part including a third moving part which rotates and rotates about the z axis, and a first receiving movement to pull the reception from the reception waiting part, and the moving reception of the pulled reception to the reception cutting part based on the z axis. A moving unit including a reception moving unit including a second reception movement and a third reception movement for rotating the reception cut by the reception cutting unit on the z-axis to the grafting unit; And

A first step of controlling operations of the cutting unit, the image unit, the moving unit, and the grafting unit, and a rotation correction angle in consideration of the bending of the stem from the image data photographed from the image unit to calculate the third large-scale movement and the first And a control unit including a second process to be reflected at the time of receiving the movement. 3.
According to claim 1,

The cut portion

Including cutting piston part and cutting blade,

The cutting blade is protruded by a predetermined length from one side of the cutting piston portion is connected,

And a cutting surface of the large part and the receiving part is cut in a plane by performing a reciprocating linear motion by the cutting piston part.
According to claim 1,

The waiting section

Grafting robot further comprising a stem support portion for supporting the tree and the reception when fixing the tree and the reception.
According to claim 1,

The moving part

A holder for pulling the part or the reception from the waiting part by a reciprocating linear motion;

A swivel table configured to rotate left and right about the z-axis with the holder connected to one side by a rotary motion; And

Grafting robot comprising a; motor portion for providing power to the holder and the swivel.
According to claim 1,

The graft is

Providing a fixing pin for grafting the passage and the reception,

The fixing pin is a graft robot, characterized in that it comprises at least one of the clip or clip.
Fixing the log and reception received from the outside to the atmosphere;

Towing the passage and the reception fixed by the waiting unit to the moving unit;

Rotating the moving part so that the pulled part and the reception face the cutting part;

Cutting the tree and the reception facing the cut portion;

Photographing, by the imaging unit, a cut surface of the tree and the reception;

Calculating, by the controller, a rotation correction angle based on the image data photographed from the image unit;

Rotating the moving part to the grafting part; And

And a step of grafting the tree and the reception located in the grafting part. Operation method of grafting robot.
The method of claim 6,

In the case of fixing the passage and the reception,

And a stem support for supporting the stem of the tree and the reception.
The method of claim 6,

The rotation method of the grafting robot, characterized in that the moving direction of the large-piece moving unit and the receiving movement unit is opposite to each other.