JP2880471B2 - 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 top of the stem of the rootstock, insert the stem of the scion into the hole at the top of the stem of the rootstock, and join the stem of the rootstock and the stem of the scion to graft. It is configured to perform.

[0003]

In the above-mentioned automatic grafting apparatus, one of the stems of the stock is held by the hand, and one of the stems of the scion is held by the hand. The stem and the stem of the scion are joined. In the configuration in which the rootstock and the scion are handled while holding one of the stems in this manner, when the stem of the rootstock and the scion are long, the posture and the posture of the rootstock and the scion with respect to the hand during handling are determined. The orientation may change with the holding portion as a fulcrum, and it may be difficult to match the position of the stem of the rootstock and the position of the stem of the scion and join them. The present invention relates to an automatic grafting device,
Even if the rootstock and the stem of the scion are long, regardless of this, the operation of matching the position of the stem of the rootstock and the position of the stem of the scion can be easily performed. It is intended to be configured.

[0004]

[1]

Rootstock holding means for holding the stem portion of the rootstock at a plurality of locations, stalk holding means for holding the scion, rootstock and the stalk holding means by bringing the rootstock and the stalk holding means close to each other, and And a joining means for joining the stem of the scion and the stem of the scion held by the scion holding means to each other.

[2] Rootstock holding means for holding the rootstock, scionholding means for holding the stem of the scion at a plurality of locations, and the rootstock and the scionholding means are brought close to each other, And a joining means for joining the stem of the stock held by the scion and the stem of the scion held by the scion holding means to each other.

[0006]

[Action]

[I] According to the features of claim 1 (claim 2), the stem portion of the stock (stalk) is held at a plurality of positions by the stock holding means (stalk holding means). As described above, when the stem portion of the stock (hogi) is held at a plurality of locations, the stock (holding means)
In contrast, the posture and orientation of the stem of the stock (hogi) do not change.

[II] When the rootstock (hogi) is long, the stem of the rootstock (hogi) may bend in the middle, so that one portion of the stem is pinched and With the configuration that handles the stalk, the stalk of the stalk can be variously bent even if the posture and orientation of the stalk of the stalk do not change. In some cases, it may be difficult to perform the operation of matching and joining the position of the stem of the tree and the position of the stem of the scion.

According to the first aspect of the present invention, if the stem of the rootstock (spike) is held at a plurality of positions by the rootstock holding means (spike holding means), the holding can be achieved. At this time, the bent stem can be straightened straight, so that the posture and orientation of the stem of the stock (stalk) with respect to the stock holding means (stalk holding means) can be adjusted to the stock (spike). Regardless of the degree of bending of the stem of the tree), it can always be kept constant. Thereby, even if the stem of the stock (hogi) is bent, the operation of matching the position of the stem of the stock and the position of the stem of the shoot regardless of this is easy. It becomes something.

[0009]

According to the features of claim 1 (claim 2),
By configuring so that the stem of the rootstock (hogi) is held at a plurality of locations, the posture and orientation of the stem of the rootstock (hogi) do not change, and the stem of the rootstock (hogi) does not change. The operation of making the position coincide with the position of the stem portion of the scion can be easily and reliably performed, and the survival rate of the automatic grafting device can be improved.

According to the features of claim 1 (claim 2), even when the stem of the rootstock (spike) is bent, the stem is bent by the stockholding means (spike holding means). Can be corrected in a straight line, regardless of the degree of bending of the stem of the stock (hogi), if the stem of the stock is aligned with the stem of the scion and joined This operation can be performed easily and reliably, and the survival rate of the automatic grafting device can be further improved.

[0011]

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 joining means 6 for holding and joining a stock A and a scion B individually is provided, and a stock that is cultivated in a flower pot 11 and is arranged horizontally on a mounting table 12. The spring 61 is used so as not to damage the stem of the rootstock A (the tip side of the rootstock A is roughly cut off as necessary).
and a scion holding means 62 for elastically holding the stems of the seedlings B sown and germinated via springs 62a so as not to damage them.
Thus, the joining means 6 is constituted.

In this case, the rootstock holding means 61 and the spike holding means 62 do not hold the rootstock A and the splint B at one place.
Accordingly, if the stock A and the scion B are held at two places, the stock A and the scion B that have grown in the oblique direction can be straightened.

A moving table 82 is provided, which reciprocates in a direction approaching and moving away from the mounting table 12 in response to rotation of the screw shaft 14 connected to the output shaft 13a of the motor 13 in both forward and reverse directions.
By a turning motor 81 mounted on a moving table 82 together with a fixing device 91 and the like described later, the turning unit 81 turns 90 ° at a time, and a first posture (a posture indicated by a solid line in FIG. 1) and a second posture (a two-dot chain line in FIG. 1). 3), and a three-way arm 15 which takes three postures (a posture shown in FIG. 2) and a first arm 15 a constituting a part of the three-way arm 15. Means 62 are provided.

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 is provided 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 joining means 6. 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 cutting 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).

Positioning means 8 is provided for adjusting the position of the joint corresponding to the stock A and the scion B cut into a predetermined joint shape while holding the stock A and the scion B by the joining means 6. In addition, the positioning means 8 is constituted by a turning motor 81 and a moving table 82 as main elements.

A fixing means 9 is provided for fixing the joints of the stock A and the scion B whose positions corresponding to the joining have been adjusted by the positioning means 8, and the fixing means 9 is mounted on a movable base 82. , A fixing device 91 for feeding out a fixing medium such as a band or a tape and fixing the joint with the 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 position, 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. At this time, as shown in FIG. 2, the joint corresponding to the stock A and the joint equivalent to the scion B are in a state in which they face each other with a predetermined distance α. Table 82
Is moved toward the stock A by a certain distance α, and the position corresponding to the joint of the stock A and the position of the joint of the scion B are aligned. In order to more reliably move the moving table 82 by a certain distance α, a stopper 82 is provided at a predetermined position on the moving table 82.
In this case, the movable table 82 may be forcibly positioned by bringing the stopper 82a into contact with the fixed portion.

Next, the joint between the stock A and the scion B that have been aligned is fixed using a fixing medium fed out from the fixing device 91. In this way, the stock A and the scion B
Is completed, the holding of the scion B by the scion holding means 62 is released, the moving table 82 is returned to the original position, and then the three-way arm 15 is turned 180 ° in the reverse direction. Return to the first position. 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.

[Another embodiment] (a) In the above embodiment, the distance from the center of rotation of the three-way arm 15 to the furthest position of the cutting edge from the rotation of the three-way arm 15 to the stock cutter 72, When the distance to the tip of the cutting portion of the cut and held scion B is held at 62, the three-way arm 15 is moved 90 degrees from the state where the stock A is cut by the stock cutter 72 (second posture). By turning, the positions corresponding to the joints of the stock A and the joints of the scion B are aligned.

(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 having the rootstock A cured is translated in an intermittent feed system by using an automatic transfer device 20. An embodiment for causing this to occur is conceivable. 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 stem portion of the rootstock A is held by the rootstock holding means 61 ′, and after the flowerpot 11 is translated. Rootstock cutter 7
At 2 ′, the rootstock cutting position S2 for cutting the joint corresponding to the rootstock A into a predetermined bonding shape, and after the flowerpot 11 is further translated, the splint B is supplied to the rootstock A. A scion holding and cutting position S3 is provided for cutting a portion corresponding to the joint of the scion B into a predetermined joint shape using the scion cutter 71 'while holding the stem portion of the scion by the scion holding means 62'. .

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, and the fixed medium is fed out from the fixing device 91 ′ to the joint between the stock A and the scion B, and the table is fixed with the fixed medium. An alignment fixing position S4 for fixing the joint between the tree A and the scion B is provided, and a removal position S5 for removing the rootstock A with the scion B grafted 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 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 °.
Side, and the position corresponding to the joint between the stock A and the scion B is aligned, and the amount of parallel movement 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 accompanying 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]

 6, 21 Joining means 61, 61 'Rootstock holding means 62, 62' Sponge holding means A Rootstock B Hoki

Claims (2)

(57) [Claims] 1. The stem of a stock (A) is held at a plurality of locations.
Rootstock holding means (61), (61 ') , stalk holding means (62) , (62') for holding the stub (B), and the rootstock and stalk holding means (61), (61) '), (6
2) and (62 ') are brought close to each other, and
1) The stem of the stock (A) held by the spike holding means (61 ') and the stem of the scion (B) held by the scion holding means (62) and (62') are mutually connected. Joining means for joining (6) ,
(21) An automatic grafting device comprising: 2. A stock holding means (6) for holding a stock (A).
1) , (61 ') and the stem of the scion (B) are stored at multiple locations.
Holding means (62), (62 ') for holding the stock and the holding means (61), (61'), (6)
2) and (62 ') are brought close to each other, and
1) The stem of the stock (A) held by the spike holding means (61 ') and the stem of the scion (B) held by the scion holding means (62) and (62') are mutually connected. Joining means for joining (6) ,
(21) An automatic grafting device comprising: