JPH06327351A - Grafting robot - Google Patents

Abstract

(57) [Abstract] [Purpose] To improve the operability of the scion transport device and cutting device of the grafting robot. [Structure] Scion holding roller 122 of scion cutting device 23
The rotation locus of is in contact with the scion hypocotyl, and adopting a configuration that does not intersect prevents the scion hypocotyl from flexing more than necessary. In addition to this, the center of the scion pressing roller 122, the bottom end side of the scion backing plate 92a of the scion conveying device 22 that sandwiches the scion hypocotyl with the scion pressing roller 122, and the cutting device 23. Since the center of the rotating shaft 113 is on the same straight line as the cutting end position of the scion and this straight line is orthogonal to the scion hypocotyl, the cutting position of the scion hypocotyl is stable and the scion hypocotyl is stable. No cutting mistakes. In this way, the mistake in joining with the rootstock due to the mistake in cutting the scion hypocotyl is eliminated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafted seedling producing robot for automatically supplying and grafting rootstock seedlings and scion seedlings, and more particularly to a scion conveying device and cutting device for the same.

[0002]

2. Description of the Related Art Conventional robots for producing grafted seedlings are known, for example, as disclosed in Japanese Utility Model Publication No. 3-27933 and Japanese Utility Model Publication No. 4-49935. The grafting robot described in the above publication has three seedling seedlings arranged in advance in seedling support holes radially provided on the outer periphery of the disk stand and three scion seedlings arranged in the disk stand having the same structure.
While rotating it by 60 degrees, adjoin the disk stand and
The seedlings are transferred to fixed hands provided on the rootstock processing disk portion and the scion processing disk portion that rotate by 60 degrees one by one, and the cutting devices are placed at positions where each seedling processing disk portion is rotated by a predetermined angle. It is a device that cuts rootstock seedlings and scion seedlings with each other, rotates these seedlings by a predetermined angle to rotate and convey them to a position where the rootstock and the scion can be joined, and joins the rootstock and the scion with a clip. . The inventors of the present invention previously improved the conventional grafting robot to invent a grafting robot that is easy to use and filed a series of patent applications (Japanese Patent Application No. 4-161512 and Japanese Patent Application No. 5-161512). 6753, Japanese Patent Application No. 5-122549, etc.).

[0003]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention The grafting robots of the inventions such as Japanese Patent Application No. 4-161512 and Japanese Patent Application No. 5-6753 developed by the inventors of the present invention have a rootstock seedling or a scion seedling respectively. The seedlings on the feeding device are manually fed to the feeding device, and the seedlings on the feeding device are conveyed to the cutting positions by the respective conveying devices. At the cutting position, the rootstock leaves a single cotyledon and the hypocotyl is cut off at each cutting device, and the scion is cut off from the middle part of the hypocotyl to join them at the junction. In this grafting robot, as shown in FIG. 16, the locus (dotted line A in FIG. 16) of the spike-holding roller 122 of the spike-cutting device 23 is the spike-transporting device 22 (see FIGS. 2 and 3) when cutting the spikes. Since it intersected with the scion hypocotyl gripped by the scion gripping unit 80 (see
When the scion pressing roller 122 pushes the scion hypocotyl more than necessary, the hypocotyl is bent, and the position of the scion hypocotyl that should be at the locus of the cutting blade 117 of the cutting device 23 (solid line B in FIG. 16) is cut. There was instability that changed from time to time. Therefore, an object of the present invention is to further improve the grafting robot developed by the present inventors and to provide a grafting robot with better usability. More specifically, the present invention has an object to make the scion conveying device and cutting device of the grafting robot excellent in operability.

[0004]

The above objects of the present invention can be achieved by the following constitutions. That is, the rootstock seedlings arranged in the rootstock supply device and the scion seedlings arranged in the scion supply device are transported to their respective cutting positions by the transport device for each seedling,
In a grafting robot that conveys rootstock seedlings and scion seedlings cut by each cutting device to the joining position by each transport device and joins them, it is easy to cut the scion hypocotyl provided in the scion cutting device. In order to do so, the center of the scion pressing roller for pressing the scion hypocotyl ahead of the cutting blade, and the scion back support provided in the scion transport device that sandwiches the scion hypocotyl with the scion pressing roller. The bottom edge of the plate and the center of rotation of the cutting device are on the same straight line at the cutting end position, and the straight line is orthogonal to the scion hypocotyl, and the rotation trajectory of the scion pressing roller is the scion hypocotyl. It is a grafting robot configured to touch.

[0005]

According to the present invention, the rotation path of the scion pressing roller of the scion cutting device is in contact with the scion hypocotyl, and the rotation path does not intersect with the scion hypocotyl, so that the scion hypocotyl flexes more than necessary. Will disappear. In addition to this, the center of the scion pressing roller, the lowermost edge of the scion back support plate of the scion conveying device that sandwiches the scion hypocotyl with the scion pressing roller, and the rotation center of the cutting device It is on the same straight line at the tree cutting end position,
Moreover, since this straight line is orthogonal to the scion hypocotyl, the cutting position of the scion hypocotyl is stable and mistakes in cutting the scion hypocotyl are eliminated. In this way, the mistake of joining with the rootstock due to the mistake of cutting the scion hypocotyl was eliminated.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. A top view of the grafting robot of this embodiment is shown in FIG. 1 (a view with the top plate removed), an enlarged view of that part (grafting part) is shown in FIG. 2, a front view is shown in FIG. 3, and a side view is shown in FIG. . The grafting robot is composed of a clip feeder section 1 and a graft section 2, and the graft section 2 is composed of a root section 3, a scion section 5 and a joint section 6. A clip guide rail 9 is provided from the outer circumference of the clip bowl 7 of the clip feeder portion 1, and the graft portion 2 is provided at the tip thereof.
Adjacent to each other. In addition, the robot manipulators 10 and 1 for gripping and carrying the rootstock and the scion, respectively.
1 and seedling supply plates 13 and 14 are suspended on a top plate 15 (FIG. 3) of the graft part 2. Since all the movements are assembled to one top plate 15, the dimensional accuracy is improved. Further, the top plate 15 plays a role of a cover and a strength member of the grafting robot and prevents scattering of cutting scraps of the rootstock and the scion. FIG. 2 shows an enlarged view of the grafting part 2 portion of FIG. 1. The root part 3 is composed of a root seedling feeding device 17, a root carrier device 18 and a root cutting device 19, and the root part 5 is also included. Similarly, it comprises a scion seedling supply device 21, a scion transfer device 22, and a scion cutting device 23.

The rootstock seedlings manually supplied to the rootstock seedling supply device 17 are transferred to the position (cutting position) of the rootstock cutting device 19 by the rootstock transfer device 18 rotating in the direction of arrow (a) in FIG. Then, the cutting device 19 rotates (see FIG. 4) to leave one cotyledon of the rootstock seedling by the cutting blade and cut off the other cotyledon portions. The rootstock cutting device 19 is a rotary cutter having a cutting blade attached to its tip, and
It rotates in the direction of arrow (c) in FIG. The rootstock that has been cut and left one cotyledon is conveyed in the direction of the arrow (B), and is joined to the scion by the joining device 25 (see FIGS. 2 and 3) of the joining portion 6 at the grafting portion 2.

Similarly, the scion seedling supplying device 2 is manually operated.
The scion seedlings supplied to No. 1 are conveyed by the scion conveying device 22 in the arrow (d) direction (see FIG. 1) and rotated in the cutting position in the arrow (f) direction (see FIGS. 1 and 4). The cutting device 23 partially cuts off the hypocotyl part and the root part while leaving the tissue above the hypocotyl part. Then, the scion having the cotyledon portion is conveyed in the direction of the arrow (e), is joined to the rootstock and the grafting section 2 by the clip supplied from the clip feeder section 1, the grafting operation is completed, and the lower side of the grafting section 2 is joined. Fall on
Be recovered.

Next, the rootstock seedling supply device 17 and the carrier device 1
8 will be described. First, the rootstock seedling supply device 17 will be described with reference to FIGS. 2 and 3. The rootstock seedling supply plate 13 is composed of a holding portion 13b having a structure for receiving the rootstock at an angle that comes into contact with the rear surfaces of both cotyledons that are open in the direction opposite to the receiving groove 13a that is larger than the rootstock seedling embryo axis diameter. ing. Since the holding portion 13b is provided at an angle to contact the back surface of the cotyledon, it is necessary to place the seedling on the feeding plate 13 in substantially the same direction without accurately setting the direction of the cotyledon when feeding the rootstock seedling. You can

Further, as shown in a side view of the rootstock seedling supply plate 13 (FIG. 3), the receiving groove 13 of the rootstock seedling supply plate 13 is shown.
A movable gripping hand 13c for gripping the hypocotyl and an actuator (not shown) for driving the gripping hand 13c are provided on the lower side of a (see FIG. 2). The movable gripping hand 13c is rotated around the actuator-side base, and the hypocotyl can be clamped by the fixed gripping hand 13c 'fixed to one side of the receiving groove 13a. The drive control of the actuator is performed by detecting that the rootstock seedling has been inserted into the receiving groove 13a by the actuator 13f of the microswitch 13e. Then, a sequencer (not shown) is operated by the input of the micro switch 13e to drive a valve (not shown), and the movable gripping hand 13c is driven by air pressure from a compressor (not shown). Therefore, the actuator 13f has the receiving groove 13
It is arranged so as to cross a, and is attached rotatably around a rotation shaft (not shown) provided on the bottom surface of the microswitch 13e. Then, the movable gripping hand 13c
After the hypocotyl of the rootstock seedling is gripped with the fixed gripping hand 13c 'and the rootstock is pulled down manually, the cotyledon deployment base of the rootstock seedling is caught by the gripping hands 13c, 13c', and at that position the rootstock The seedlings are positioned. The fixed gripping hand 1
Since 3c ′ is fixed, the position of the hypocotyl portion of the rootstock seedling that comes into contact with this is a constant position even if the thickness of the hypocotyl is different. Then, the hypocotyl portion of the rootstock seedling that abuts the fixed gripping hand 13c ′ is the side that hits the cutting blade (not shown) of the cutter at the cutting position, and the hypocotyl is irrespective of the thickness of the hypocotyl at the cutting position. Always contact the cutting blade at a specific coordinate point.

The rootstock seedlings set on the rootstock seedling supply plate 13 are gripped by the rootstock carrying device 18 and sequentially carried to the cutting position and the joining position. A detailed view of the stock transporter 18 is shown in FIG. 5A is a top view and FIG. 5B is a side view (FIG. 5A is a view taken along the line AA in FIG. 5B). A root transporting rotary actuator 29 of the stock transporting device 18 is supported by the top plate 15, and a stock transporting arm support 30 is provided below the actuator 29 to support the rotary shaft 3 of the actuator.
It is rotatably supported around 1. The stock transfer arm support 30 includes a stock transfer arm pushing cylinder 33 supported by the support 30, a stock transfer arm 34 fixed to the cylinder 33, and a stock gripping portion 35 at the tip of the transfer arm 34. (A pair of rootstock hypocotyl hands 37, a pair of rootstock fixing hands 38, and a cylindrical roller 41) are provided. Both hands 37 and 38 are controlled to be opened and closed by an air cylinder provided in a box (not shown) of the stock transport arm 34 so as to grip the stock. The rootstock hypocotyl hand 37 is made of rubber so as not to damage the hypocotyl of the rootstock. Also, the root fixing hand 38 is used for the root root bowl 4.
3 (see FIG. 5 (b)) is made of a curved plate that holds the cylindrical side surface.

Further, the root carrier transport arm support 30 has a support arm 45 for lifting the root cotyledons by rotating the cylindrical roller 41 in the vertical direction at the time of joining with the spike, and a root cotyledon lifting rotary actuator. 49 are provided. The rootstock transport arm 34 extruded to the rootstock seedling set position on the rootstock seedling supply plate 13 is a rootstock hypocotyl hand 37 at the tip of the armstock transport arm 34.
The air cylinder operates to hold the rootstock seedlings. Hand 3
At the same time as the operation of 7, the rotary actuator 29 for the root carrier arm is also actuated to carry the root seedling held by the hand 37 to the cutting position. Further, at the time of joining with the scion, as shown in FIG. 6, the cylindrical roller 41 is rotated in the vertical direction to lift the cotyledon left on the rootstock so that the clip can grasp the rootstock hypocotyl. The shielding plate 37a that shields the vicinity of the root of the rootstock hypocotyl hand 37 fails to join the rootstock seedlings to the scion at the joining position, and the rootstock seedlings that have failed to join even if the hand 37 separates the rootstock seedlings. Does not bite into the root of the hypocotyl hand 37, and the rootstock seedlings that have failed to join are smoothly discharged from the rootstock carrier device portion.

Further, as shown in FIG. 6, the cotyledons to be left on the rootstock are lifted by the cylindrical roller 41 at the time of joining with the scion, but if the lifting state of the cotyledons to be left on the rootstock is maintained after joining, Even if there is a rootstock seedling that has failed to be joined, it will not bite into the root of the rootstock hypocotyl hand 37. Because, after the joining timing, the rootstock transport arm 34 is retracted, and the process proceeds to the return transport for gripping and transporting the next rootstock seedling, and the cotyledons of the rootstock seedling are pushed outward of the hypocotyl hand 37. This is because the rootstock gripping portion 35 moves in this state, and thus rootstock seedlings that have failed to be joined are easily discharged from the hypocotyl hand 37 and the possibility of carrying around is reduced.

Next, the brush section will be described in detail. First, the scion seedling supply device 21 will be described. As shown in FIG. 2, the scion seedling supply device 21 is provided with a scion seedling supply plate 14 having a scion receiving groove 14a opened at the front surface so as to have a horizontal plane. The hypocotyl of each scion seedling is manually inserted into 14a to support the scion seedling. The scion seedlings supported by the scion seedling supply plate 14 are grasped by the scion conveying device 22 and sequentially conveyed to the cutting position and the joining position. A detailed view of the scion transport device 22 is shown in FIG. 7. FIG. 7A is a top view, and FIG. 7B is a side view.
FIG. 7A is a view taken along the line AA of FIG. 7B. In the scion conveying device 22, a scoop conveying rotary actuator 73 and a scion conveying arm support 75 below the actuator 73 are rotatably supported around the actuator rotating shaft 76. The hoki transport arm support 75 includes the support 7
5, the scion transport arm pushing cylinder 77, the scion transport arm 79 which is expanded and contracted by the cylinder 77, and the scion grip support portion 81 and the scion at the tip of the transport arm 79. A hypocotyl hand 83 is provided.

The opening and closing of the hand 83 is controlled by an actuator 89 provided at the tip of the scion conveying arm 79 so as to grip the scion. The hog cotyledon support plate 81 has a plate-like portion 81a on which the back surface of the hog cotyledon is placed. The scoop transport arm 79 is pushed out by the transport arm push-out cylinder 77, and the push-out amount is adjusted by the push-out amount adjusting shim 91. Further, a backing guide 92 is fixed to the lower portion of the scoop conveying arm pushing cylinder 77, and when the scoop conveying arm 79 comes to the retracted position, the backing guide 9 thereof is provided.
The back tip plate 92a at the two tips backs the hypocotyl when cutting the hypocotyl of the scion. The back support plate 92a supports and supports the hypocotyl back so that the cutter can surely perform cutting.

The cutting direction of the scion cutting device 23 is as shown by the arrow (f) in FIGS. 1 and 4, and the scion cutting device 23 is rotated in the direction opposite to that of the root cutting device 19. The reason is that it is more advantageous to cut from the hypocotyl side to the cotyledon side when cutting a single cotyledon while leaving the hypocotyl at the time of rootstock cutting, whereas cutting the hypocotyl hypocotyl is This is for the purpose of effectively holding down the scion back support plate 92a at the tip of the contact guide 92, and for preventing the shape of the acute-angled part of the tip formed by cutting the hypocotyl from collapsing.

Further, the scion transport arm 79 is in the push-out position during transport of the scion from the supply position to the cutting position, and the arm 79 moves to the retracted position (FIG. 7 (b)) at the time of cutting. Further, the backing guide 92 interferes with the joining of the spike and the rootstock, but at that time, the transport arm 79 is pushed out,
By projecting the hypocotyl hand 83 and the like, the backing guide 92
Can be prevented from interfering with the hand 83 or the like. If the scion gripping portion 80 such as the hypocotyl hand 83 is not stretchable and fixed when the scion and the rootstock are joined, a gap should be provided between the rootstock and the rootstock to prevent them from interfering with each other. However, in order to perform clip joining, a mechanism for attracting each seedling separately is required if there is this gap. Further, if the scion gripping portion 80 is fixed, the seedling supply direction is limited to the tangential direction of the transportation circumference, so that a left-handed person has difficulty supplying seedlings when supplying the scion. However, in the case of the present embodiment, since the scion gripping portion 80 is capable of expanding and contracting, the seedling pulling mechanism is not necessary and at the same time workability is improved regardless of the difference in dominant arm.

By extending and contracting the transfer arm 79 in this way,
By making the scion gripping portion 80 movable, the degree of freedom in the method of receiving scion seedlings from the supply plate 14 is increased. Further, as described above, the shim 91 of the scion seedling transfer arm 79 adjusts the pushing amount of the scion gripping portion 80. This is because the cut surface of the rootstock and the scion must be inside the opening at the tip of the clip at the time of joining by the clip, but due to the assembly error and the difference in the hypocotyl diameter due to the difference in the variety, etc. This is because the amount of extrusion needs to be finely adjusted. In the present embodiment, the shim 91 is provided in the scion transport device 22, but it may be provided in the root transport device 18.

Next, the cutting device will be described with reference to FIG. Although the cutting device is provided in each of the root part 3 and the spike part 5, it has a mechanism common to both. FIG. 8 shows the cutting device 23 on the side of the spike unit 5. FIG. 8A is a top view of the same (direction viewed from the top of the grafting robot),
FIG. 8B is a side view seen from the arrow A direction in FIG. 8A (the direction viewed from the side wall side of the grafting side of the grafted robot). The cutter driving motor 111 is supported by a column 112 oriented in the vertical direction, and the rotating shaft 1 of the motor 111 is supported.
A cutter arm 115 is attached to 13. A cutting blade 117 is attached to a cutting blade support piece 116 provided at the tip of the cutter arm 115 in a direction orthogonal to the arm 115. The attachment position of the cutting blade support piece 116 to the cutter arm 115 is adjusted by an adjusting tool such as an adjusting screw 119 provided on the cutter arm 115. Further, the mounting height of the cutter driving motor 111 is adjusted by the support 112.
This is performed with an adjusting tool such as the adjusting screw 120 provided on the. Also,
Before the cutting blade 117 hits the hypocotyl on the cutter arm 115, the hypocotyl of the scion seedling present in the rotation locus of the cutting blade 117 is placed on the scion back support plate 92a of the scion carrier 22 (see FIG. 7).
A scoop pressing roller 122 for pressing against is provided.

In this embodiment, as shown in FIG. 9, since the locus (broken line arrow A) of the scion pressing roller 122 of the scion cutting device 23 is in contact with the scion germ axis and does not intersect, the scion embryo The shaft will not bend more than necessary. In addition to this, at the end of cutting the scion hypocotyl, the scion pressing roller 1
The scion back support plate 92 of the scion transport device 22 in which the scion hypocotyl is sandwiched between the center of the scion 22 and the scion pressing roller 122.
Since the lowermost side of a and the center of the rotary shaft 113 of the cutting device 23 are on the same straight line at the cutting | disconnection end position, and since this straight line is orthogonal to a scion embryo axis, the cutting blade 117 is The scion hypocotyl can be cut at a stable position along the rotation locus (solid arrow B), and the scissor hypocotyl cutting error is eliminated. In this way, the mistake of joining with the rootstock due to the mistake of cutting the scion hypocotyl was eliminated.

FIG. 9 (b) is a partially enlarged view of the scion back support plate 92a of the scion transport device 22, and FIG. 9 (c) shows the scion back support plate 92a of the scion transport device 22 from the cutting device 23 side. The figure seen is shown. Further, in the structure of the back support plate 92a of the conventional scion conveying device 22 shown in FIG.
As shown in (b), after cutting the scion hypocotyl, there is an uncut residue,
There was a case of a joint error with the rootstock. The uncut portion of the scion hypocotyl often occurred when the epidermis of the scion hypocotyl was hard. In this case, as shown in FIG. 10A, when the backrest plate 92a has a structure in which the scion hypocotyl is bent in the direction of the rotation locus (solid arrow A) of the cutting blade, even a scion with a curved hypocotyl is forced. Since it is bent in a fixed direction, the cutting position is stable, and after cutting the scion hypocotyl, there are no cuts left and joining errors are reduced.

Further, in the conventional method, if the scion hypocotyl is not correctly grasped vertically by the grasping portion 80 of the scion conveying device 22, the scion is obliquely supplied as shown in FIG. 11 (c). When cut while being gripped by the grip portion 80, the cutting position of the hypocotyl becomes extremely high. Therefore, FIG.
(A), FIG. 11 (b) (top view of FIG. 11 (a): the scion cotyledon support plate 81 of this figure is a modification of the scion cotyledon support plate 81 shown in FIG. 7). , A back support plate 92a is provided on the upper part of the hypocotyl hand 83, where
It is possible to prevent the scion hypocotyl from being grasped by the grasping portion 80 in a state of being inclined. In addition, FIG.
The back support plate 92a shown in (b) is a back support guide 92.
You may attach it to.

Further, the cutting device 23 of this embodiment is usually 10
Although the scion hypocotyl is cut at a speed of 00 mm / sec or more, especially when cutting a thin and brittle scion such as a seedling of the Cucurbitaceae at a speed of 1000 mm / sec or more,
As shown in FIG. 12, the shape is such that the hypocotyl is torn off at the end of cutting (hatched portion in the figure), and the length of the cut surface is shortened, so the number of joint surfaces with the rootstock is reduced and the survival rate is reduced. Therefore, depending on the type of cutting, the cutting speed may be 100.
It is desirable to set it to 0 mm / sec or less.

Regarding the clip feeder 1 and the clip joining device 25, the applicant's earlier application (Japanese Patent Application No. 5-675).
The configuration as described in (No. 3) is adopted. Also,
The operation sequence of the grafting robot of this embodiment is as disclosed in FIG. 13, and the root part 3 of the grafting robot of the present invention is shown.
The operation time chart of each device of the spike unit 5 is as disclosed in FIGS. 14 and 15. The operation time chart of each device of the clip feeder unit 1 is as described in the applicant's earlier application (Japanese Patent Application No. 4-161512, etc.).

[0025]

EFFECTS OF THE INVENTION According to the present invention, the cutting position of the scion hypocotyl is stabilized and mistakes in cutting the scion hypocotyl are eliminated. In this way, the mistake of joining the rootstock due to the mistake of cutting the scion hypocotyl was eliminated, and the survival rate of the graft was increased.

[Brief description of drawings]

FIG. 1 is a top view of a grafting robot according to an embodiment of the present invention.

FIG. 2 is a top view of a grafting portion of the grafting robot according to the embodiment of the present invention.

FIG. 3 is a front view of a grafting portion of the grafting robot according to the embodiment of the present invention.

FIG. 4 is a side view of a grafting portion of the grafting robot according to the embodiment of the present invention.

FIG. 5 is a view of a root carrier of the grafting robot according to the embodiment of the present invention.

FIG. 6 is a view of a root carrier transporting apparatus at the time of joining rootstocks and scions of the grafting robot according to the embodiment of the present invention.

FIG. 7 is a diagram of a scion conveying device of a grafting robot according to an embodiment of the present invention.

FIG. 8 is a diagram of a cutting device for a grafting robot according to an embodiment of the present invention.

FIG. 9 is a diagram when cutting a scion of the grafting robot according to the embodiment of the present invention.

FIG. 10 is a view showing a state after the scion hypocotyl has been cut by the scion conveying device of the grafting robot of the embodiment of the present invention and the grafting robot of the conventional technique.

FIG. 11 is a diagram showing a part of a scion conveying device of a grafting robot according to an embodiment of the present invention and a prior art.

FIG. 12 is a view showing a state after cutting of a scion hypocotyl by a grafting robot of a conventional technique.

FIG. 13 is a diagram showing an operation sequence of the grafting robot according to the embodiment of the present invention.

FIG. 14 is a diagram showing a time chart of driving the root part of the grafting robot according to the embodiment of the present invention.

FIG. 15 is a diagram showing a time chart of driving the spikes of the grafting robot according to the embodiment of the present invention.

FIG. 16 is a diagram when cutting a hypocotyl of a scion of a grafting robot according to the related art.

[Explanation of symbols]

1 ... Clip feeder part, 2 ... Graft part, 3 ... Root part, 5
... scoop part, 6 ... joining part, 18 ... rootstock conveying device, 22 ... scion conveying device, 23 ... scion cutting device, 37 ... rootstock hypocotyl hand, 92a ... back support plate 117 ... cutting blade, 122
... Hoki holding roller

Claims (1)

[Claims] 1. The rootstock seedlings arranged in the rootstock supply device and the spikelet seedlings arranged in the earstock supply device are conveyed to their respective cutting positions by the respective seedling conveying devices, and are then cut by the respective cutting devices. In a grafting robot that further conveys the rootstock seedlings and the scion seedlings that have been cut to each other by their respective transporting devices and joins them, in order to make it easier to cut the scion hypocotyls provided in the scion cutting device, The center of the scion pressing roller for pressing the scion germ axis ahead of the blade, and the bottom end of the scion backing plate provided in the scion transport device that sandwiches the scion embryo axis with the scion pressing roller. The rotation center of the cutting device is on the same straight line as the cutting end position, the straight line is orthogonal to the scion hypocotyl, and the rotation path of the scion pressing roller is in contact with the scion hypocotyl. A grafting robot that is characterized by