JP2880467B2 - Automatic grafting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grafting apparatus for grafting a scion to a stock.

[0002]

2. Description of the Related Art Grafting is a method in which a part of a plant (spike) is joined to another plant (stock) to obtain a plant having desired properties, thereby regulating the vigor and promoting flowering. As a result, it is possible to increase the amount of results and improve the quality. An example of an automatic grafting apparatus that automatically performs the grafting process as described above is disclosed in Japanese Utility Model Laid-Open No. 61-31038. In this automatic grafting device, as shown in FIG. 18 of the above publication, the stem of the scion is cut into a wedge shape,
Drill a hole at the upper end of the stem of the rootstock, and move the stem of the scion to the stem of the rootstock by approaching the stem of the scion obliquely from above to the stem of the rootstock in an upright state. Into the hole at the top,
The stem portion of the rootstock and the stem portion of the scion are joined to perform grafting.

[0003]

According to the automatic grafting apparatus described above, the stem of the scion comes close to the stem of the stock from a diagonal direction, and the stem of the stock and the stem of the scion come together. Are joined, so that when the approaching stem of the scion comes into contact with the stem of the stock, the stem of the stock and the stem of the scion cross diagonally and contact each other. It will be in a hit state.

Thus, when the stem of the soft rootstock and the stem of the scion are in the above-described state, a bending moment is generated as the stem of the scion comes into contact with the stem of the stock. In some cases, the stem of the rootstock or the stem of the scion is bent, and the joining of the stem of the stock and the stem of the scion may not be performed properly. An object of the present invention is to obtain a configuration in which an automatic grafting device can successfully join a stem of a stock and a stem of a stock without bending a stem of a stock and a stem of a stock. I have.

[0005]

[1]

From the rootstock holding means for holding the rootstock horizontally or diagonally horizontally, and from the stem of the rootstock held by the rootstock holding means,
A scion holding means for setting a virtual straight line extending along the stem, so that the scion of the scion follows the virtual straight line, and positions the scion in the virtual straight line and holds it sideways or obliquely sideways, The rootstock and spikes held by the rootstock and spikeholding means are brought closer to each other in a horizontal or diagonal direction along an imaginary straight line, thereby joining the stems of the rootstock and the spikelets. And joining means for making the connection.

[2] From the rootstock holding means for holding the rootstock horizontally or diagonally and the stem of the rootstock held by the rootstock holding means,
A scion holding means for setting a virtual straight line extending along the stem, so that the scion of the scion follows the virtual straight line, and positions the scion in the virtual straight line and holds it sideways or obliquely sideways, With the position of the rootstock holding means holding the rootstock fixed, the spike was held so that the stem of the splint approached the rootstock sideways or diagonally along the virtual straight line. There is provided joining means for joining the stem of the stock and the stem of the scion by moving the scion holding means.

[3] In the configuration of the above item [2], a stopper for mechanically stopping the movement of the scion holding means at a predetermined position where the stem of the scion is joined to the stem of the stock is provided.

[4] In the configuration of the above [2] or [3], the scion holding means moves the scion along a direction intersecting the virtual straight line so that the scion is positioned on the virtual straight line. Operating means for actuating.

[0009]

[Action]

[I] According to the features of claim 1, the stem of the rootstock and the stem of the scion are placed along one virtual straight line, so that the stem of the stock and the stem of the scion face each other. In this state, the stock and the scion approach each other in this state. When the stem of the stock and the stem of the scion come into contact with each other, the stem of the stock and the stem of the scion do not diagonally intersect and come into contact with each other. Stalk and scion stalk are almost straight (virtual straight line)
No bending moment is generated in the stem portion of the rootstock and the stem portion of the scion (the moment arm of the bending moment is zero).

[II] When the rootstock and the scion are held upward, the stem of the rootstock and the scion can be turned in any direction of 360 ° in the front, rear, left and right directions. On the other hand, when the stock and the scion are held sideways or obliquely by the stock and scion holding means as in the feature of claim 1, the stock and the stem of the scion will hang downward by their own weight. As such, the rootstock and the stem of the scion only attempt to turn in a particular direction, facing downward. Thereby, compared to the state where the rootstock and the stem of the scion try to turn 360 degrees in the front, back, left and right,
The state in which the stem of the stock and the stem of the spike tend to turn only in the specific direction of downward as in the feature of claim 1 can be dealt with in the specific direction of downward. , Stocks and scions are easy to handle.

[III] According to the feature of the second aspect, similar to the case of the first aspect, the "action" described in the above-mentioned [I] and [II] is provided, and in addition to this, the following "action" is provided. "Is provided. In the grafting process, after growing the rootstock in a growing container such as a rootstock tray or a growing pot, the root is cut from the root of the rootstock, and the stem of the scion is joined to the root of the rootstock. In some cases, the stem of the scion is joined to the stem of the stock without cutting the root from the stem of the stock. Accordingly, when the rootstock is handled by the rootstock holding means, particularly when the root is not cut, soil may be attached and the root of the relatively heavy rootstock may be swung.

According to the second aspect of the present invention, the scion is moved to the side of the stock while approaching the stock while the position of the stock is fixed, and the stem of the scion is joined to the stem of the stock. With this configuration, the root of the uncut rootstock is swung at the time of joining the stem of the rootstock and the stem of the scion, which are particularly important in grafting, so that the root of the rootstock and the stem of the scion are spun. A state in which joining with the part cannot be performed well is avoided beforehand.

[IV] According to the feature of the third aspect, similar to the case of the second aspect, the “action” described in the above-mentioned [I], [II], and [III] is provided. Action ". When the scion moves and approaches the rootstock with the rootstock fixed, the stem of the scion is joined to the stem of the stock when the stem of the scion is joined to the stem of the stock. If the stem of the rootstock or the stem of the scion is buckled and bent when it is further moved to the rootstock side after being joined to the part. Claim 3
According to the characteristic of the above, the movement of the scion holding means is mechanically stopped by the stopper at a predetermined position where the stem of the scion is joined to the stem of the stock, so that the stem of the scion is changed to the stem of the stock. This prevents the state of moving to the rootstock side after being joined to the part.

[V] According to the feature of claim 4, similarly to the case of claim 2 or 3, the "action" described in the above [I] to [IV] is provided, and in addition, It has such an "action".
When the grafting process of rootstock and spikelets is repeated by the automatic grafting device, it is necessary to shorten the time required for one grafting process as much as possible and to improve the working efficiency of the automatic grafting device. In the process of moving the scion to the rootstock side along the virtual straight line of the part and joining the stem of the scion to the stem of the stock, the splint is not so fast because the joining is performed reliably. It cannot be moved to the stock side.

According to a fourth feature of the present invention, the scion moves from the position deviating from the virtual straight line of the stem of the rootstock in a direction intersecting the virtual straight line and is positioned on the virtual straight line. The stem moves along the straight line toward the rootstock, and the stem of the scion is joined to the stem of the rootstock. In this case, if the position where the scion moves in the direction intersecting with the virtual straight line and reaches the virtual straight line is slightly separated from the stock, the scion is moved in the direction intersecting with the virtual straight line and positioned in the virtual straight line. Even if the scion is moved at a high speed when doing so, there is no problem that the scion comes into contact with the stock, and after this, the scion is moved slightly along the virtual straight line to the stock. Thus, the stem of the scion can be joined to the stem of the stock.

As described above, according to the feature of the fourth aspect, in a single grafting process, a step which cannot be performed at a high speed (the scion is moved to the stock along the virtual straight line, and The ratio of the process that can be performed at high speed (the process of moving the scion in the direction intersecting the virtual straight line and positioning it on the virtual straight line) can be reduced by reducing the ratio of the process of joining the stem portion to the stem portion of the stock. Can be bigger.

[0017]

According to the first aspect of the present invention, the stem of the rootstock and the stem of the scion are arranged substantially in a straight line (virtual straight line),
The rootstock and scion are brought close to each other and the stem of the rootstock and the scion of the scion are joined, so that the bending moment is suppressed and the stem of the stock and the scion are joined without bending. Will be able to Thereby, the failure rate of the grafting process in the automatic grafting device could be suppressed. According to the feature of claim 1, since the stock and the stem of the scion only change their orientation in a specific direction of downward, the handling of the stock and scion becomes easy. Even if the structure and function of the stock and scion holding means are simplified, the stock and scion can be handled without any trouble, which is advantageous in terms of simplification of the structure. Was.

According to the features of the second aspect, similar to the first aspect, the "effect of the invention" of the first aspect is provided, and in addition, the following "effects of the invention" are provided. . If the configuration is such that the scion is moved to the stock in a state where the position of the stock is fixed and the stem of the scion is joined to the stem of the stock as in the feature of claim 2, grafting processing is performed. At the time of joining the stem of the rootstock and the stem of the scion, which is particularly important in the prior art, it is possible to avoid a situation in which this joining cannot be performed properly. It could be further suppressed.

According to the feature of the third aspect, similar to the second aspect, the present invention has the above-mentioned "effect of the invention" of the second aspect, and additionally has the following "effect of the invention". . The stem of the rootstock is provided with a stopper for mechanically stopping the movement of the scion holding means at a predetermined position where the stem of the splint is joined to the stem of the rootstock. It was possible to prevent a state in which the stem or the stem of the scion buckles and bends, thereby further suppressing the failure rate of the grafting process in the automatic grafting device.

According to the feature of claim 4, claim 2 or 3
Similarly to the above, the present invention has the above-mentioned "effect of the invention" of claim 2 or 3, and additionally has the following "effect of the invention". According to the feature of claim 4, the ratio of steps that cannot be performed at a high speed in one grafting process can be reduced, and the ratio of steps that can be performed at a high speed can be increased. The time required for the grafting process was shortened. Thereby, the work efficiency of the automatic grafting device could be improved.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings showing embodiments thereof. As shown in FIGS. 1 and 2, a holding means 6 for individually holding a stock A and a scion B in a horizontal direction is provided, and the stock is trained in a flower pot 11 and arranged horizontally on a mounting table 12. A stock holding means 61 for elastically holding the tip side of A (the tip side of the stock A is roughly cut off as necessary) via a spring 61a so as not to be damaged;
The holding means 6 is composed of the scion holding means 62 for elastically holding the seedlings B sowed and germinated sideways via a spring 62a without damaging them.

A moving table 82 is provided which reciprocates in a direction approaching and moving away from the mounting table 12 in accordance with the forward and reverse rotation of the screw shaft 14 connected to the output shaft 13a of the motor 13.
By a turning motor 81 (corresponding to an operating means) mounted on a movable table 82 together with a fixing device 91 described later, the motor 82 is turned 90 ° at a time in a first posture (a posture shown by a solid line in FIG. 1) and a second posture (FIG. 2 and a third posture (FIG. 2).
(A posture shown in FIG. 3) is provided, and a spike holding means 62 is provided at a distal end of a first arm 15a constituting a part of the three-way arm 15.

The first, second, and third postures will be specifically described. The first posture is a posture in which the first arm 15a is located farthest from the rootstock A, and the third posture is a first arm 15a.
Is a posture that turns 180 ° from the first posture and becomes a position closest to the rootstock A. The second posture is a posture in which the first arm 15a is located at an intermediate position between the first and second postures.

The remaining second arm 15b of the three-way arm 15
Is extended in a direction substantially perpendicular to the first arm 15a, and assumes an upward posture in the first posture. Three-way arm 1
The remaining third arm 15c of 5 extends on the opposite side of the first arm 15a, and is located closest to the stock A in the first posture. The proximity sensor 17 is attached to the tip of the third arm 15c, and the tip of the rootstock A is sensed by the proximity sensor 17.

A cutting means 7 for cutting each of the joints (stems) of the stock A and the scion B into a predetermined joint shape while holding the stock A and the scion B by the holding means 6 is provided. The cam means 71b supported by the support member 71a extended from the moving table 82 is moved to the mounting table 12 supporting the flowerpot 11 (hereinafter referred to as the rootstock A side). A cam roller type scion cutter 71 that brings a pair of opposing blades close to each other and cuts a portion (stalk portion) corresponding to a joint of the scion B arranged therebetween in a predetermined joint shape.
Is rotatably mounted on the distal end of the second arm 15b of the three-way arm 15, and is rotated by rotating the three-way arm 15 from the first posture to the second posture, thereby holding the rootstock holding means 61. Equivalent part (stem) of rootstock A
The cutting means 7 is composed of a rotation cutting type rootstock cutter 72 that cuts into a predetermined joining shape.

The distance from the center of rotation of the three-way arm 15 to the leading edge of the cutting portion of the scion B held and cut by the scion holding means 62 is from the center of rotation of the three-way arm 15 to the cutting edge of the stock cutter 72. Constant distance α, rather than distance to distant position
(See FIG. 1).

A joining means 8 is provided which joins the stock A and the scion B while holding the stock A and the scion B with the holding means 6 at a position corresponding to a joint where the stock A and the scion B are cut into a predetermined joining shape. The joining means 8 is configured with the moving table 82 as a main element. Fixing means 9 for fixing the joint between the stock A and the scion B joined by the joining means 8 is provided, and the fixing means 9 is mounted on the moving table 82, and a fixing medium such as a band or a tape is provided. It consists of a fixing device 91 which feeds out and fixes the joint with a fixing medium.

When the grafting process of the scion B to the stock A is performed by the above structure, first, the flowerpot 11 is placed on the mounting table 12, the stock A is held by the stock holding means 61, and the three-way arm is held. With the 15 in the first posture shown in FIG. 1, the scion B is supplied to the tip of the first arm 15a and the scion B is held by the scion holding means 62.

Next, while the three-way arm 15 is in the first posture, the movable table 82 is moved to the stock A, and the proximity sensor 1 is moved.
Until the tip 7 of the stock A is detected, the scion cutter 71 cuts a portion corresponding to the joint of the scion B into a predetermined joint shape. Then, the moving table 82 is further moved to the stock A, and when the proximity sensor 17 detects the tip of the stock A, the movement of the moving table 82 is stopped, and the rotation of the stock cutter 72 is started. By rotating the three-way arm 15 by 90 ° to the second posture while maintaining the position, the portion corresponding to the joint of the stock A is cut into a predetermined joint shape.

When a portion corresponding to the joint of the stock A is cut into a predetermined joining shape, the three-way arm 15 is further turned by 90 ° while stopping the rotation of the stock cutter 72 (in the direction intersecting the virtual straight line). This corresponds to a state where the scion B is moved and the scion B is positioned on the virtual straight line). At this time, as shown in FIG. 2, a portion corresponding to the rootstock A and a portion corresponding to the splint B face each other at a predetermined distance α (from the stem of the rootstock A to the stem). A virtual straight line that is extended is set, and the scion B is positioned on the virtual straight line such that the stem of the scion B follows the virtual straight line).

By rotating the screw shaft 14 in this state, the moving table 82 is moved toward the stock A by a certain distance α, and the position between the joint corresponding to the stock A and the joint corresponding to the scion B is moved. Perform alignment and joining. A stopper 82a is provided at a predetermined position of the moving table 82 in order to more reliably move the moving table 82 by a certain distance α, and the stopper 82a
The moving table 82 may be forcibly positioned by bringing the moving table 82 into contact with the fixed portion.

Next, the joint between the stock A and the scion B is fixed using a fixing medium fed out from the fixing device 91.
After the fixing of the joint between the stock A and the scion B is completed in this way, the holding of the scion B by the scion holding means 62 is released, and the movable table 82 is returned to the original position. The arm 15 is turned 180 ° in the reverse direction to return to the first posture. The holding by the stock holding means 61 is released, and the stock A with the scion B grafted is removed together with the flowerpot 11.

Alternative Embodiment (a) In the above-described embodiment, the stock A and the scion B are configured to be held at one place, but the stock A and the scion B are held at two places. In this case, the stock A and the scion B grown in the oblique direction can be straightened, and the alignment and joining of the portions corresponding to the joining become more reliable.

(B) In the above embodiment, the three-way arm 15
Is rotated by 180 °, the three-way arm 15 is reversed to return to the original first posture.
It is also possible to make a 60 ° turn to return to the original first posture.

(C) As an embodiment different from the above-mentioned embodiment, as shown in FIGS. 3 and 4, the plant pot 11 with the rootstock A cured is moved in parallel by an intermittent feeding method using an automatic transfer device 20. An embodiment for causing this to occur is considered. As shown in FIGS. 3 and 4, the mounting position S1 in which the flowerpot 11 in which the rootstock A has been cured is carried in, and the rootstock A is held obliquely and laterally by the rootstock holding means 61 ′, after the flowerpot 11 has been translated. In order to supply the scion B to the stock A after the stock cutting position S2 in which the joint corresponding to the stock A is cut into a predetermined joining shape by the stock cutter 72 'and the flowerpot 11 is further translated. A scion holding and cutting position S for cutting the portion corresponding to the joint of the scion B into a predetermined joint shape using the scion cutter 71 'while holding the scion B in the oblique holding means 62' obliquely and horizontally.
3 are provided.

Ears whose joints are cut into a predetermined joint shape using a swivel arm 21 (corresponding to joining means) that rotates 180 ° with respect to the stock A whose joints are cut into a predetermined joint shape. After turning 180 ° to align the tree B, the swivel arm 21 is moved in parallel to join the stem of the scion B to the stem of the stock A, and the joint between the stock A and the scion B The fixing medium is fed out from the fixing device 91 '(corresponding to the fixing means 9), and a fixing position S4 for fixing the joint portion of the stock A and the scion B with the fixing medium, and a stand on which the scion B is grafted. A removal position S5 for taking out the tree A together with the flowerpot 11 is provided.

The stock cutter 72 'is mounted on the inclined base 22 together with the swivel arm 21 and the scion cutter 71'.
By parallel moving the rotary blade along the inclined surface of the inclined base 22 so as to approach the rootstock A side, a portion corresponding to the rootstock A is cut into a predetermined bonding shape. The information on the parallel movement distance of the rotary blade at the time of cutting is used when the scion B is aligned with and joined to the stock A at the alignment fixed position S4.

In this case, the alignment fixed position S4
At this time, while holding the scion B cut by the scion cutter 71 ′, the stock A along the inclined surface of the inclined base 22 while the turning arm 21 has completely turned downward by 180 °.
The position of the base A and the splint B corresponding to the joint are aligned and joined, and the amount of translation is set based on the above-mentioned information.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a side view showing a state where a three-way arm is in a first posture.

FIG. 2 is a side view showing a state where the three-way arm is in a third posture.

FIG. 3 is a front view of an automatic grafting device according to another embodiment.

FIG. 4 is a longitudinal sectional side view seen from the direction of IV-IV in FIG. 3;

[Explanation of symbols]

 8, 21 Joining means 61, 61 'Rootstock holding means 62, 62' Sponge holding means 81 Operating means 82a Stopper A Rootstock B Hoki

Claims (4)

(57) [Claims] 1. Rootstock holding means (61) , (61 ') for holding a rootstock (A) horizontally or obliquely horizontally, and said rootstock holding means (61) , (61') held by said rootstock holding means (61) , (61 ') . From the stem of the rootstock (A), a virtual straight line extending along the stem is set, and the virtual straight line is attached to the scion (B).
Scion holding means (62), (62 ') for holding the scion (B) on the virtual straight line so that the stem of the scion follows along and horizontally or obliquely laterally; Means (61), (61 '), (6)
(2) The rootstock (A) and the scion (B) held by (62 ') are brought closer to each other in the horizontal direction or diagonally horizontal direction along the virtual straight line, so that the rootstock (A) Joining means (8) for joining the stem and the stem of the scion (B) ,
(21) An automatic grafting device comprising: 2. Rootstock holding means (61) , (61 ') for holding the rootstock (A) horizontally or obliquely horizontally, and said rootstock (61) , (61') held by said rootstock holding means (61) , (61 ') . From the stem of the rootstock (A), a virtual straight line extending along the stem is set, and the virtual straight line is attached to the scion (B).
Scion holding means (62), (62 ') for holding the scion (B) in the virtual straight line so as to be along the stem and holding the scion (B) sideways or obliquely horizontally; Holding means for holding stock (61) , (6 )
With the position of 1 ′) fixed, the spikes of the scion (B) approach the stock (A) side in a lateral direction or an oblique lateral direction along the virtual straight line. By moving the scion holding means (62), (62 ') holding the tree (B), joining means (J) for joining the stem of the stock (A) and the stem of the scion (B). 8) An automatic grafting device comprising (21) . 3. The stem of the scion (B) is the rootstock (A).
At a predetermined position to be joined to the stem portion, the scion holding means (6
2) A stopper (8 ) for mechanically stopping the movement of (62 ')
3. The automatic grafting device according to claim 2, comprising 2a). 4. The scion holding means so that the scion (B) is positioned on the virtual straight line by moving the scion (B) along a direction intersecting the virtual straight line.
4. The automatic grafting device according to claim 2, further comprising operating means (81) for operating (62) and (62 ') .