JP2880472B2 - 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, the stems of the stock and the scion are held and handled by being clamped by the hand, so that the hand is particularly difficult in the case of a soft stem. The stem part of the stock and scion held by the hand may be damaged by the hand part. SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic grafting apparatus so that grafting can be performed without damaging the stems of rootstocks and spikelets.

[0004]

[1]

Rootstock holding means for elastically holding the stem of the rootstock, scion holding means for holding the scion, rootstock and the scion holding means close to each other, and the rootstock held by the stockholding means 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] In the configuration of the above item [1], the rootstock holding means is provided with a fixing portion for determining the position of the root portion of the rootstock, and an elastic member for pressing the root portion of the rootstock against the fixing portion. .

[3] A rootstock holding means for holding a rootstock, a splint holding means for elastically holding a stem of a splint, and a rootstock and a splint holding means 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. [4] In the configuration of the above item [3], the scion holding means is provided with a fixing portion for determining the position of the stem of the scion, and an elastic member for pressing the stem of the scion against the fixing portion. .

[0006]

[I]

According to the feature of claim 1 (claim 3), the stem portion of the stock (stalk) is elastically softly held by the stock holding means (spike holding means). By this, stock (hogi)
Rootstock holding means (spike holding means)
It is not said that the root portion of the stock and the stem portion of the scion are damaged by the stock retaining means (sponge holding means) during the handling by.

[II] According to the feature of claim 2 (claim 4), similar to the case of claim 1 (claim 3), the “action” described in the preceding item [I] is provided. It has the following “action”. When the stem portion of the stock is elastically held, if all the front, rear, left, and right sides of the stem are elastically held, the position of the stem portion of the stock is changed due to the elastic displacement of the holding. May be difficult to determine in a predetermined position, and it may be difficult to perform an operation of matching the position of the stem of the rootstock and the position of the stem of the scion and joining them.

According to the feature of claim 2 (claim 4), the stem of the stock (spike) is held in a state of being pressed by the fixing portion by the elastic member, and is pressed by the fixing portion. The position is determined as the position of the stem of the stock (hogi).
This makes it possible to reliably determine the position of the stem of the stock (stalk) at a predetermined position (the position of the fixed part), and to determine the position of the stem of the stock and the position of the stem of the scion. The operation of matching and joining is facilitated.

[0009]

According to the features of claim 1 (claim 3),
By constructing the stem of the rootstock (hogi) elastically, the grafting process can be performed without damaging the stem of the rootstock (hogi). The failure rate of the grafting process in the device could be suppressed.

According to the features of claim 2 (claim 4), similar to claim 1 (claim 3), the above-mentioned "effect of invention" of claim 1 (claim 3) is provided. In addition, it has the following "effects of the invention". According to the second aspect of the present invention, the stem of the rootstock (spike) is damaged by holding the stem of the rootstock (spike) by the positioning fixing portion and the elastic member. The position of the stem portion of the stock (hogi) can be reliably determined at a predetermined position (the position of the fixing portion) while preventing the rootstock from being provided. This makes it possible to easily and reliably perform the operation of matching and joining the stem portion of the rootstock and the stem portion of the scion to improve the survival rate of the automatic grafting device. I was able to.

[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).
a (equivalent to an elastic member) and a fixing portion 61b, a rootstock holding means 61 for elastically holding and a spring 62a (elastic member) so as not to damage the stem portion of the seedling B sown and germinated. ) And the scion holding means 62 for holding elastically via the fixing portion 62b, and the joining means 6 is constituted.

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 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 with 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 position of the cutting part 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 a portion corresponding to the joint of 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 joint portion of the stock A and the scion B whose positions corresponding to the joining are 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 rootstock A is performed by the above structure, the flowerpot 11 is first placed on the mounting table 12, and the rootstock A is held by the rootstock holding means 61. 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 joint 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 portion between the stock A and the scion B that has 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.

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 of the portion corresponding to the joining can be more reliably performed.

(B) In the above-described 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 is held by the scion holder 62 from the center of rotation of the three-way arm 15 If the distance between the cut scion B and the tip of the cutting portion is matched, the three-way arm 15 is moved from the state where the stock A is cut by the stock cutter 72 (second posture).
Is rotated by 90 °, so that the position corresponding to the joint of the rootstock A and the position of the joint of the scion B are aligned.

(C) 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.

(D) As an embodiment different from the above-described embodiment, as shown in FIGS. 3 and 4, the plant pot 11 having 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 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 61a, 62a Elastic members 61b, 62b Fixing part A Rootstock B Hoki

Claims (4)

(57) [Claims] 1. Rootstock holding means (61) and (61 ') for elastically holding the stem of a rootstock (A), and stalk holding means (62) and ( 62) for holding a stalk (B). 62 ′) and the stock and scion holding means (61), (61 ′), (62), (6).
2 ′) and approach the rootstock holding means (61) , (6 ) .
Joining means for joining the stem of the stock (A) held in 1 ′) and the stem of the scion (B) held in the scion holding means (62) and (62 ′) to each other (6) An automatic grafting device comprising (21) . 2. The stock holding means (61) , (61 ').
Is fixed to a fixing portion (61) for determining the position of the stem of the rootstock (A).
b) and the stem of the rootstock (A) is fixed to the fixing portion (61b).
The automatic grafting device according to claim 1, further comprising an elastic member (61a) that presses the elastic member. 3. A stock holding means (6) for holding a stock (A).
1) , (61 ') , scion holding means (62) , (62') for elastically holding the stem of the scion (B), and the stock and scion holding means (61), ( 61 ′), (62), (6
2 ′) and approach the rootstock holding means (61) , (6 ) .
Joining means for joining the stem of the stock (A) held in 1 ′) and the stem of the scion (B) held in the scion holding means (62) and (62 ′) to each other (6) An automatic grafting device comprising (21) . 4. The scion holding means (62) , (62 ').
Is fixed to a fixing portion (62) for determining the position of the stem of the scion (B).
b) and the stem of the scion (B) is fixed to the fixing portion (62b).
The automatic grafting device according to claim 3, further comprising an elastic member (62a) that presses the elastic member.