JP3557672B2 - Grafting robot - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a grafting robot that holds rootstock seedlings and spikelets by a holding device for each seedling, transports them to a cutting position by a transporting device for each seedling, cuts and further transports, and grafts.
[0002]
[Prior art]
Conventionally, each seedling is supplied one by one to a stock supply position and a scion supply position, each seedling is gripped by a gripping device for each seedling, and each gripped seedling is transported to a cutting position by a transport device. A grafting robot is known in which cut rootstocks and scion seedlings are further conveyed to the joining positions by respective conveying devices, and the rootstocks and scions are joined by clips.
[0003]
[Problems to be solved by the present invention]
In the above grafting robot, means for adjusting the gripping force of the gripping device for each seedling is not provided, and the strength (such as the hardness of the hypocotyl) of the seedling according to the type of seedling (watermelon, melon, cucumber, etc.) is not provided. It was not possible to cope with the difference, causing damage to the seedlings, and causing problems in the cutting properties, joining properties, etc. of each vegetable seedling in grafting work.
[0004]
[Means for Solving the Problems]
The present invention has been made to solve the above problems, and has taken the following technical measures. That is, the rootstock seedlings arranged in the stock supply apparatus and the scion seedlings arranged in the scion supply apparatus are gripped by the holding devices for each seedling, and each gripped seedling is transported to the cutting position by the transport device. And a grafting robot for transferring the cut rootstock seedlings and the cuttings of the cuttings to the joining position by means of the respective transfer devices and joining them, wherein the grafting robot is provided such that the gripping force of the gripping device is adjustable. .
[0005]
[Action]
In the grafting robot, since the gripping force of the seedling holding device is provided so as to be adjustable, the gripping force of the seedlings can be adjusted according to the strength (eg, hardness of the hypocotyl) of each vegetable seedling.
[0006]
【The invention's effect】
Since the gripping force of the seedlings can be adjusted, it is possible to prevent damage to the seedlings and insufficient gripping force due to excessive gripping force of the gripping device, and thus to improve cutting and joining properties of each seedling in grafting work. In addition, the versatility of the grafting robot for each vegetable seedling is improved.
[0007]
【Example】
An embodiment of the present invention will be described with reference to the drawings.
The grafting robot 1 of this embodiment comprises a clip feeder 2 and a graft 3, and the graft 3 comprises a stock 4, a scion 5 and a joint 6.
A clip guide rail 8 is provided from the outer periphery of the clip bowl 7 of the clip feeder section 2, and the joining section 6 is made to be adjacent to the distal end thereof. This is a known configuration in which clips for joining are supplied from the tip of the clip guide rail.
[0008]
The rootstock seedling manually supplied to the rootstock seedling supply device 9 is transported to the position (cutting position) of the rootstock cutting device 11 by the rootstock transporting device 10 rotating in the direction of the arrow (a) in FIG. Then, the cutting device 11 is rotated, and the rootstock is cut by the cutting blade. The stock cutting device 11 is a rotary cutter having a cutting blade attached to the tip, and rotates in the direction of the arrow (b). The cut stock is transported in the direction of the arrow (C), and is joined to the scion by the joining device 12 of the joining section 6.
[0009]
Similarly, the scion seedlings supplied to the scion seedling supply device 13 by hand are conveyed in the direction of arrow (d) by the scion conveying device 14 and rotated at the cutting position in the direction of arrow (e). By 15, the hypocotyl and the root are partially cut off, leaving the tissue above the hypocotyl. The scion having the cotyledon portion is transported in the direction of the arrow (f) and joined to the stock by the clip supplied from the clip feeder unit 2 at the joint 6 to complete the grafting operation. Drops below and is collected.
[0010]
Next, the rootstock seedling supply device 9 and the rootstock transport device 10 will be described.
The rootstock seedling supply plate 16 is composed of a holding part 16b having a structure for receiving a rootstock at an angle that comes into contact with the back surface of both cotyledons that are open in the direction facing the receiving groove 16a larger than the rootstock seedling axis. Since the holding portion 16b is provided at an angle that comes into contact with the back surface of the cotyledon, the seedling can be placed on the supply plate in substantially the same direction without setting the direction of the cotyledon accurately when supplying the rootstock. .
[0011]
A movable gripping hand 16c for gripping the hypocotyl and a movable gripping hand actuator 16d for driving the gripping hand 16c are provided below the receiving groove 16a of the rootstock seedling supply plate. The movable gripping hand 16c rotates around the actuator-side base, and can hold the hypocotyl with the fixed gripping hand 16c 'fixed to one side of the receiving groove 16a. The drive control of the actuator 16d is performed by detecting the insertion of the rootstock seedling into the receiving groove 16a by the actuator 16f of the microswitch 16e. The sequencer is operated by the input of the micro switch 16e to drive the valve, and the movable gripping hand 16c is driven by the air pressure from the compressor. Therefore, the actuator 16f is disposed so as to cross the receiving groove 16a, and is mounted so as to be rotatable around a rotation shaft provided on the bottom surface of the microswitch 16e. Then, after holding the hypocotyl of the rootstock seedling with the movable gripping hand 16c and the fixed gripping hand 16c ', and pulling the rootstock downward by hand, the cotyledon deployment base of the rootstock seedling catches on the grips 16c, 16c', At that position, the rootstock seedling is positioned.
[0012]
The stock transfer rotary actuator 101 of the stock transfer device 10 is supported by the top plate 17, and a stock transfer arm support 102 is provided below the actuator 101 with the actuator rotating shaft 103. It is rotatably supported at the center. The stock carrier arm support 102 has a stock carrier arm extrusion cylinder 104 supported by the support 102, a stock carrier arm 105 fixed to the cylinder 104, and the carrier arm. A pair of rootstock holding hands 106 and a pair of rootstock fixing hands 107 are provided. The hands 106 and 107 are controlled to open and close so as to grip the stock by an air cylinder provided in a box of the stock transport arm 105. The root of the rootstock hypocotyl hand 106 is rubbery so as not to damage the rootstock hypocotyl.
[0013]
The air cylinder of the rootstock embryo hand 106 at the tip of the rootstock transfer arm pushed to the set position of the rootstock seedling on the rootstock seedling supply plate operates to grip the rootstock seedling. At the same time as being gripped, the rotation actuator 101 for the stock transport arm is also operated to transport the stock seedling held by the hand 106 to the cutting position. In addition, at the time of joining with the scion, the rootstock seedling is transported to the joining position so that the clip can grip the stem hypocotyl.
[0014]
The shield plate 108 for shielding the vicinity of the root of the stock hypocotyl hand 106 has a root stock that failed to bond with the scion at the bonding position and failed to bond even if the hand 106 released the stock. Is no longer digging into the root of the hypocotyl hand, and the rootstock that failed to join is smoothly discharged from the rootstock transporter.
Next, the scion part 5 will be described.
[0015]
First, the spikelet seedling supply device 13 will be described. As shown in FIG. 8, the scion seedling supply device 13 is provided with a scion seedling supply plate 18 having a scion receiving groove 18a opened at the front surface. The hypocotyl of each spikelet is inserted into the groove 18a by hand to support the spikelet.
A movable gripping hand 18c for gripping a hypocotyl and a movable gripping hand actuator 18d for driving the gripping hand 18c are provided below the receiving groove 18a of the scion supply plate. Then, the gripping hand 18c rotates around the base on the actuator side, and can hold the hypocotyl with the fixed gripping hand 18c 'fixed to one side of the receiving groove 18a. The drive control of the actuator 18d is performed by detecting the insertion of the scion seedling into the receiving groove 18a by the actuator 18f of the microswitch 18e. The sequencer is operated by the input of the microswitch 18e to drive the valve, and the movable gripping hand 18c is driven by the air pressure from the compressor. Therefore, the actuator 18f is disposed so as to cross the receiving groove 18a, and is mounted so as to be rotatable around a rotation shaft provided on the bottom surface of the microswitch 18e. An L-shaped hypocotyl guide 18g is supported and fixed at its end to a movable gripping hand actuator 18d. The movable gripping hand 18c can adjust the gripping force by a gripping force adjusting knob 508 in an operation panel described later by providing a pressure regulator in a pneumatic circuit provided with the actuator 18d.
[0016]
When the scion seedling is inserted into the receiving groove 18a of the scion supply plate, the hypocotyl of the scion seedling is gripped by the movable gripping hand 18c and the fixed gripping hand 18c 'according to the procedure by detecting the hypocotyl of the actuator 18f. . When the scion is pulled down manually, the cotyledon developing base of the scion is hooked on the gripping hands 18c, 18c ', and the scion is positioned at that position.
[0017]
The scion seedlings supported by the scion supply plate 18 are gripped by the scion conveying device 14 and sequentially conveyed to the cutting position and the joining position similarly to the stock conveying device 10. The scion conveying device 14 has a scion conveying rotating actuator 151 and a scion conveying arm support 152 below the actuator 151 rotatably supported around the actuator rotating shaft 153. I have. The scion carrier arm support 152 has a scaffold arm extruding cylinder 154 supported by the support 152, a scion carrier arm 155 that is expanded and contracted by the cylinder 154, and the scaffold arm. At the tip, a scion cotyledon support plate 156 and a scion hypocotyl hand 157 constituting a scion gripping portion are provided.
[0018]
The hand 157 is controlled to be opened and closed by an actuator 158 provided at the tip of the scribing arm to hold the scion. In addition, similarly to the movable gripping hand 18c, the scion hypocotyl hand 157 is provided with a pressure regulator in a pneumatic circuit provided with the actuator 158, so that a gripping force adjusting knob 508 in an operation panel described later is provided. The gripping force can be adjusted. The portion on the back surface of the scion cotyledon of the scion cotyledon support plate 156 is plate-shaped.
[0019]
A cotyledon removal guide 19 for removing unnecessary cotyledons that hinder the work of the scion seedlings is provided on the scion side of the grafting robot 1. The configuration is such that unnecessary cotyledons are removed by manually inserting the hypocotyl of a scion seedling into the cotyledon removal guide 19 and pulling the seedling downward. Since the cotyledon removal guide 19 is angled between the two guides so as to be narrower as it goes deeper, an optimal guide width can be selected according to the thickness of the seedling. A notch is provided at the tip of the cotyledon removal guide 19, and the insertion opening is wide, so that the seedling can be easily inserted. In addition, since the tip of the guide is in an arc shape, the seedlings are not caught on insertion, thereby preventing damage to the seedlings and safely removing cotyledons.
[0020]
FIG. 12 shows an operation panel 20, which includes an alarm buzzer 501 for notifying the malfunction of the grafting robot 1, an abnormal lamp 502, a clip replenishment lamp 503 which is turned on when the number of clips in the clip feeder decreases, and a clip guide lamp. A clipless lamp 504 for indicating the presence or absence of a clip on the cover, a cover opening / closing lamp 505 for displaying the open / close state of the safety cover 21 of the graft 3, a graft count counter 506 for displaying the total number of grafts, and the graft robot 1. A speed adjusting knob 507 for adjusting the working speed, a gripping force adjusting knob 508 for adjusting the gripping force of the movable gripping hand 18c and the scionling hypocotyl hand 157, and a start / stop for starting and stopping the operation of the grafting robot 1. Switch 509, reset switch 510 for returning the grafting robot to the initial state of grafting work, driving In a compressor - composed of emissions switch 512 and a power switch 513, - drain switch 511 to disconnect the pressure, chestnut the cleaning of the cutting blade of the cutting device 11, 15.
[0021]
With the above configuration and operation, the stock 4 and the scion 5 are simultaneously operated, and are grafted at the joint 6. The grasping force of the movable grasping hand 18c and the scion embryo shaft hand 157. Is provided so as to be adjustable by the gripping force adjusting knob 508, so that the accuracy of the cutting position and joining accuracy caused by the displacement of the seedling due to the insufficient gripping force of the seedlings of the hands 18c and 157, or the damage of the seedling due to excessive gripping force, etc. Can be prevented, and it is possible to cope with a difference in strength (such as hardness of the hypocotyl) of the seedling. Consequently, the versatility of the grafting robot in each vegetable seedling (watermelon, melon, cucumber, etc.) having different strengths (eg, hardness of the hypocotyl) of the seedlings is improved.
[0022]
In this embodiment, the adjusting means for adjusting the gripping force of the movable holding hand 18c of the scion and the gripping hand of the scion germ shaft 157 is provided. May be provided. As a result, it is possible to prevent the accuracy of the cutting position and the joining accuracy caused by the displacement of the seedlings due to the insufficient gripping force of the hands 16c and 106, and to prevent the damage of the seedlings due to excessive gripping force. As described above, it is possible to cope with the difference in the hardness of the seedlings and to improve the versatility of the grafting robot in the vegetable seedlings having different strengths (eg, the hardness of the hypocotyl) of the seedlings.
[0023]
Further, in this embodiment, since the cotyledon removal guide 19 for manually removing unnecessary cotyledons of the scion seedlings is provided before supplying the scion seedlings to the scion seedling supply device 13, unnecessary cotyledons which hinder the work are provided. Can be removed, and workability such as cutting and joining can be improved.
Further, in this embodiment, the cotyledon removal guide is provided on the scion side, but may be provided on the stock side. As a result, unnecessary cotyledons of the rootstock can be removed, and it goes without saying that workability is improved.
[Brief description of the drawings]
FIG. 1 is a plan view of a grafting robot. FIG. 2 is a cross-sectional plan view of a grafting robot. FIG. 3 is a plan view of a grafted part. FIG. 4 is a bottom view of a rootstock seedling supply device. Front view [FIG. 6] View showing rootstock transfer device [FIG. 7] AA sectional view in FIG. 6 [FIG. 8] Bottom view of spikelet seedling supply device [FIG. 9] Front view of spikelet seedling supply device [FIG. FIG. 10 is a view showing a scion conveying device. FIG. 11 is a sectional view taken along line AA in FIG. 10. FIG. 12 is an operation panel of a grafting robot. FIG. 13 is a pneumatic circuit diagram relating to gripping force adjustment. FIG. Detailed view [Explanation of reference numerals]
DESCRIPTION OF SYMBOLS 1 ... Grafting robot, 2 ... Clip feeder part, 3 ... Grafting part, 4 ... Rootstock part, 5 ... Hoki part, 6 ... Joint part, 7 ... Clip bowl, 8 ... Clip guide rail, 9 … Rootstock seedling supply device, 10… rootstock transfer device, 11… rootstock cutting device, 12… joining device, 13… headwood seedling supply device, 14… headwood transfer device, 15… headwood cutting device, 16… Rootstock seedling supply plate, 16c: Rootstock movable gripping hand, 18: Rootstock seedling supply plate, 18c: Rootlet movable gripping hand, 19: Cotyledon removal guide, 20: Operation panel, 106: Rootstock hypocotyl hand 157: Hogi hypocotyl hand, 508: Gripping force adjustment knob

Claims (1)

The rootstock seedlings arranged in the rootstock supply device and the scionling seedlings arranged in the scion supply device are gripped by the gripping devices of the respective seedlings, and each gripped seedling is transported to the cutting position by the transport device, What is claimed is: 1. A grafting robot for transferring a cut rootstock seedling and a scion seedling to a joining position by means of a respective transporting device and joining them together, wherein the grafting robot is provided so that the gripping force of the gripping device is adjustable.

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