JPH0965762A - Alignment mechanism for cotyledon expansion of seedlings in automatic grafting equipment - Google Patents

Abstract

(57) [Abstract] [Problem] When seedlings are prepared by automatically processing scion seedlings and rootstock seedlings with a grafting device, seedlings in an automatic grafting device that align the seedlings so that the cotyledon expansion direction is constant The cotyledon expansion direction alignment mechanism is provided. SOLUTION: From a rotating unit that horizontally rotates the scion seedling or the rootstock seedling around the hypocotyl, and a detection unit that detects that the cotyledon expansion direction of the scion seedling or the rootstock seedling is in a predetermined direction. The primary alignment mechanism and the movement of the scion seedlings or rootstock seedlings that have been aligned in the first-stage cotyledon expansion direction by this primary alignment mechanism while moving horizontally while being rotatably suspended at the cotyledon expansion base. Part, and a secondary aligning mechanism consisting of a guide provided at the end of the moving path so that the cotyledon of the scion seedling or rootstock seedling moved by the moving part is brought into contact with the cotyledon and the cotyledon expansion direction is constant, Composed of.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grafting device for aligning the cotyledons of a seedling so that the cotyledon expansion direction is constant when the grafting seedling is prepared by automatically treating the scion seedling and the rootstock seedling with the grafting device. Of cotyledon expansion direction of seedlings in Japan.

[0002]

2. Description of the Related Art The applicant of the present application has a transport mechanism for gripping a scion seedling and a rootstock seedling and supplying them to the main body of the apparatus, cutting both transported seedlings from a predetermined position, and connecting the cut surfaces to each other. An automatic grafting device having a fixing means for contacting and fixing is proposed.

[0003]

By the way, in the above-mentioned automatic grafting device, although a considerable part is automated, not all work steps are automated, but for example seedlings (sprouting seedlings and rootstock seedlings). Positioning of the cotyledon in the cotyledon expansion direction was performed manually and was not automated. Therefore, there is a problem that a lot of labor is required and work efficiency and work accuracy are affected. The present invention has been made for the purpose of solving the above problems.

[0004]

[Means for Solving the Problems] To achieve the above object, the present invention provides a rotating part for horizontally rotating a scion seedling or a rootstock seedling around a hypocotyl, and a scion seedling or a rootstock seedling. The primary alignment mechanism consisting of a detection unit that detects that the cotyledon expansion direction of the cotyledon expansion direction is directed to a predetermined direction, and the scion seedlings or rootstock seedlings that have been aligned in the first stage cotyledon expansion direction by this primary alignment mechanism, A moving part that moves in a state of being rotatably suspended in the horizontal direction at the cotyledon expansion base, and a cotyledon of the scion seedling or rootstock seedling moved by the moving part so that the cotyledon expansion direction becomes constant And a secondary aligning mechanism including a guide provided at the end of the moving path.

[0005]

With the above structure, the cotyledon expansion direction alignment mechanism of seedlings in the automatic grafting device of the present invention can accurately align the cotyledon expansion directions of seedlings by the primary alignment mechanism and the secondary alignment mechanism, and the automatic grafting work is performed. Efficiency and work accuracy can be improved.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be specifically described below with reference to the accompanying drawings. FIG. 1 is a schematic plan view of an automatic grafting device 1 in which the seedling supply section is omitted.
Is a seedling supply unit for supplying pot seedling-type scion seedlings and rootstock seedlings (not shown), and cotyledon deployment direction of the scion seedlings and rootstock seedlings supplied from the seedling take-out transport mechanism provided in the seedling supply unit. Positioning mechanism 2 and 2 for seedling cotyledon expansion direction
(Only the rootstock seedling side is shown in detail), cotyledon deployment base positioning and transporting parts 3, 3, gripping / transporting parts 4, 4, transporting part fixing guide 5 (only one is shown), cutting parts 6, 6, adhesive parts 7. A grafted seedling discharging unit 8 and the like are provided so that the grafted seedlings can be produced by automatically processing the scion seedlings and rootstock seedlings. Each of these units is sequence-controlled by a programmable controller of an operation control unit (not shown).

The cotyledon expansion direction positioning mechanism 2 of the seedling is shown in FIG.
Through stepping motor 9 as shown in detail in FIG.
Has a rotary table 11 that is horizontally rotated by the air cylinder 10 and is supported so as to be able to move up and down by an air cylinder 10. On this rotary table 11, the scion seedlings that have been transported by the seedling take-out transport mechanism provided in the seedling supply unit. A or rootstock seedling B is placed. A laser sensor 12 is provided above the rotary table 11, and when the scion seedling A or the rootstock seedling B placed on the rotary table 11 is rotated by the rotation of the rotary table 11, the cotyledon L, L The deployment direction is detected. The drive rotation of the stepping motor 9 is stopped at the time when the development directions of the cotyledons L, L are detected, and the development directions of the cotyledons L, L of the scion seedling A or the rootstock seedling B are stopped in a state of being set to a predetermined direction. It is supposed to do.

On one side of the rotary table 11, a pair of left and right hypocotyl guides 13 which can be freely opened and closed are provided to correct the bending of the hypocotyl and to match the center of rotation of the rotary table 11 with the center of the hypocotyl. , 13 are provided, and this hypocotyl guide 1
Laser sensors 14 are also provided at 3 and 13, respectively, so that the developing directions of the cotyledons L, L of the scion seedling A or the rootstock seedling B can be detected. Laser sensor 12, 1
The development directions of the cotyledons L, L of the scion seedling A and the rootstock seedling B detected by 4 are set to intersect (orthogonal) at the time of joining and fixing. The reason for crossing is that the grafted seedlings, which are fixed by facing the cut surfaces of the scion seedling A and the rootstock seedling B, are in a state where the cotyledon development direction of the scion and the cotyledon development direction of the rootstock intersect. By having a positive effect on the growth of the grafted seedlings thereafter.

On one side of the rotary table 11, a cotyledon deployment base positioning and transporting section 3 is provided. The cotyledon expansion base positioning and conveying unit 3 has a gap slightly wider than the thickness of the hypocotyl of the scion seedling A or the rootstock seedling B, and is rotatably suspended horizontally at the expansion bases of the cotyledons L, L. , A hanging hand 15 that moves horizontally by an air cylinder (not shown), and the cotyledon L, L of the scion seedling A or rootstock seedling B that is moved by the hanging hand 15, and the cotyledon expansion direction is constant. The fixed guide 16 is provided at the end of the moving path of the lifting hand 15. Further, at the terminal end of the cotyledon unfolding base positioning and conveying section 3, a conveying section fixing guide 5 is provided.

As described above, the rotating part (rotating table 1) for rotating the scion seedling A or the rootstock seedling B horizontally about the hypocotyl by the cotyledon development direction positioning mechanism 2 of the seedling.
1), and a primary alignment mechanism including a detection unit (laser sensor 12, 14) that detects that the cotyledon development direction of the scion seedling A or the rootstock seedling B is directed in a predetermined direction, and the primary alignment mechanism is used to The moving section (suspension hand 1) that moves the scion seedlings A or the rootstock seedlings B, which have been aligned in the cotyledon expansion direction in stages, in a state of being rotatably suspended in the horizontal direction at the cotyledon expansion base.
5), and a guide provided at the end of the moving path so that the cotyledon L and L of the scion seedling A or the rootstock seedling B moved by the moving unit 15 are brought into contact with each other so that the cotyledon expansion direction is constant. And a secondary alignment mechanism including a fixed guide 16).

Then, on the rotary table 11 of the cotyledon expansion direction positioning mechanism 2, the primary coordinating mechanism determines the expansion direction of the cotyledons L, L to a predetermined direction, and the embryo of the scion seedling A or the rootstock seedling B is placed. The shaft is inserted by the suspending hand 15 of the secondary alignment mechanism, and is suspended and supported while the expansion bases of the cotyledons L, L are positioned by the fixed guide 16, and the gripping / transporting unit 4 is provided.
To the outer peripheral position. Therefore, the scion seedling A is attached to the gripping / conveying unit 4 in a state in which the developing directions of the cotyledons L are accurately fixed.
And rootstock seedling B will be supplied. When the hypocotyl of the scion seedling A or the rootstock seedling B is moved from above the rotary table 11 by the hanging hand 15, the rotary table 1
1 may be lowered and the scion seedling A or the rootstock seedling B may be suspended.

As shown in detail in FIGS. 5 and 6, the gripping / conveying unit 4 is composed of a scion seedling gripping / conveying unit 4A and a rootstock seedling gripping / conveying unit 4B, each in the arrow (opposing) direction. While being rotated so that each of them makes one rotation, the cutting hand 6 takes over the panicle seedlings A or rootstock seedlings B suspended by the suspension hand 15 to rotate, and the seedlings are predetermined by the cutting unit 6. The cut surfaces are cut, and the cut surfaces are made to face each other, and the facing portions are joined and fixed by the adhesive portion 7.

The scion seedling gripping / transporting unit 4A and the rootstock seedling gripping / transporting unit 4B have substantially the same structure except that the rotating direction and the height are different. Explain. In FIG. 5 and FIG. 6, the scion seedling gripping / transporting unit 4A rotatably supports a rotary shaft 19 in the cylindrical support portion 18 of the circular fixed disk 17, and the scion seedling is provided at the upper end of the rotary shaft 19. The transport rotary disc 20 is fixed, and the output shaft of a stepping motor (not shown) is connected to the lower end of the rotary shaft 19. The scion seedling transfer turntable 20 has a protrusion at a position that divides the circle into three equal parts about the rotary shaft 19, and at each of the equal positions, a seedling receiving part 21 composed of a double-sided gripping hand.
Open when it projects to the outside, and the scion seedling transfer turntable 20
The return spring 23 stretched between the spring locking piece 22 provided on the
It is provided so as to be closed when it is returned by.

On the other hand, the pin 2 is provided on the outer peripheral portion of the fixed disk 17.
An arcuate cam 25, one end of which is pivotally supported by 4, is provided at two positions, and the other end of the cam 25 is extended outward from the fixed disk 17 by a pin (air) cylinder 26 provided in the fixed disk 17. And can be displaced to the position where it is pulled inward. Then, the cam roller 27 provided at the base of the seedling receiving portion 21 is brought into rolling contact with the cam 25, and the seedling receiving portion 21 is reciprocally moved to open and close to grasp or release the scion seedling A. . Urethane rubber is attached to the opposite seedling holding surfaces of the double-sided gripping hands of the seedling receiving portion 21 so that the hypocotyl of the scion seedling A is not damaged when being held.

Then, the stepping motors of the gripping / conveying units 4A and 4B rotate intermittently by 1/3 rotation, and at the respective intermittent stop positions, they are first supported by the lifting hand 15 of the cotyledon deployment base positioning and conveying unit 3. The scion seedling A and the rootstock seedling B are held by the double-sided gripping hands of the seedling receiving section 21 and taken over, cut from a predetermined position by the cutting section 6, and further cut at a position corresponding to the adhesive section 7. And the rootstock seedlings B are on the top and the cut surfaces are close to or joined to each other. The rotation of the stepping motor is 1
Not limited to intermittent rotation of / 3, continuous rotation may be performed as long as it is synchronized with another mechanism.

As shown in FIG. 1, the cutting section 6 comprises a scion seedling cutting section 6A and a rootstock seedling cutting section 6B.
4A of sapling seedling gripping / transporting section and rootstock seedling gripping / transporting section 4B
The scion seedling A and the rootstock seedling B, which are held by the seedling receiving portion 21 and conveyed by being rotated, and whose movement is intermittently stopped, are held at predetermined positions by the moving rotary blades while being held by the holding hand. To disconnect from. Although not shown, the attenuated virus may be applied to the cut portion of the seedling or the cotyledon to impart disease resistance.

As shown in FIG. 1, the adhering portion 7 has a large number (in this embodiment) formed on the outer peripheral portion of the rotary disk 30 by intermittently rotating the horizontal rotary disk 30 by a stepping motor (not shown). 10 pieces) cassette-shaped clip accommodating cases 31, 31 ...
Is detachably installed. Further, the rotary disk 30 is attachable to and detachable from the output shaft of the stepping motor. When 30 clips are accommodated in the clip accommodating case 31 in a vertically stacked state and the lower part is inserted into the clip case fitting hole provided in the rotary disk 30, the clip stopper is released and the clips are It is designed to fall under its own weight. Then, the clip falling from the clip housing case 31 is pushed out by the clip pusher 32 that moves back and forth by the air cylinder, cut by the scion seedling cutting section 6A and the rootstock seedling cutting section 6B, and then the scion A
The portions of the rootstock B where the two cut surfaces face each other are attached by clips.

The grafted seedling discharging section is a grafted seedling (grafted seedling).
A discharge cylinder (not shown) equipped with a discharge hand 33 that grips and moves in the horizontal direction is supported by an air cylinder that moves in the vertical direction, and supports the scion seedling gripping / transporting unit 4A and the rootstock seedling gripping / transporting unit 4B. After the scion seedling A and the rootstock seedling B grasped by the seedling receiving section 21 of No. 1 are cut by the scion seedling cutting section 6A and the rootstock seedling cutting section 6B, both cutting surfaces are opposed to each other and stopped. Are arranged so as to face the position where they are bonded together. Then, the root side of the grafted seedling of which the cutting A and rootstock B facing each other are fixed by a clip is gripped and discharged. Below the grafted seedling discharging position of the grafted seedling discharging section 8, a guide plate (chute) for guiding the discharged grafted seedlings to the storage container is provided, although not shown. A belt conveyor may be provided instead of the guide plate (chute).

[0019]

As described above, according to the cotyledon expansion direction aligning mechanism of seedlings in the automatic grafting device of the present invention, the primary aligning mechanism causes the rotating section to horizontally move the scion seedlings or rootstock seedlings around the hypocotyl. Rotate in the direction, the detection unit detects that the cotyledon expansion direction of the scion seedlings or rootstock seedlings is in the predetermined direction,
By the secondary alignment mechanism, the scion seedlings or rootstock seedlings that have been aligned in the cotyledon expansion direction by the primary alignment mechanism are moved in a state where they are rotatably suspended in the horizontal direction at the cotyledon expansion base at the moving unit,
The cotyledons of the moved scion seedlings or rootstock seedlings and the guides are brought into contact with each other so that the cotyledon expansion direction is constant, whereby the positioning accuracy of the seedlings in the cotyledon expansion direction can be significantly improved.

[Brief description of drawings]

FIG. 1 is a plan view in which a part of an automatic grafting device is omitted.

FIG. 2 shows a cotyledon deployment direction positioning mechanism of a seedling, (a)
Is a plan view and (b) is a side view.

3A and 3B show a rotary table portion of a seedling cotyledon deployment direction positioning mechanism, FIG. 3A being a front view and FIG. 3B being a side view.

FIG. 4 is a perspective view of a cotyledon deployment direction positioning mechanism for seedlings.

FIG. 5 is a plan view of a seedling gripping / transporting unit.

FIG. 6 is a side view of a seedling gripping / conveying unit.

[Explanation of symbols]

1 Automatic grafting device 2 Cotyledon expansion direction positioning mechanism of seedling 3 Cotyledon expansion base positioning Conveyance unit 4 Grasping / conveying unit 4A Scion seedling grasping / conveying unit 4B
Rootstock seedling gripping / transporting section 5 Transporting section fixed guide 6 Cutting section 6A Scion seedling cutting section 6B Rootstock seedling cutting section 7 Adhesive section 8 Grafting seedling discharging section 9 Stepping motor 10 Air cylinder 11 Rotating table 12, 14 Laser sensor 13 Hypocotyl guide 15 Suspended hand 16 Fixed guide 17 Fixed disc 18 Cylindrical support 19 Rotating shaft 20 Scion seedling transfer rotary disc 21 Seedling receiving part 22 Spring locking piece 23 Return spring 24 Pin 25 Cam 26 Pin (air) cylinder 27 Cam Roller 30 Rotating Disc 31 Clip Housing Case 32 Clip Extruder 33 Discharging Hand A Spike Seed B Rootstock Seedling L Cotyledon

Claims (1)

[Claims] 1. A rotating unit that horizontally rotates a scion seedling or a rootstock seedling around a hypocotyl, and a detection unit that detects that the cotyledon expansion direction of the scion seedling or rootstock seedling is in a predetermined direction. The primary aligning mechanism consisting of and the scion seedlings or rootstock seedlings that have been aligned in the first stage cotyledon expansion direction by this primary alignment mechanism move while being rotatably suspended in the horizontal direction at the cotyledon expansion base. A secondary aligning mechanism comprising a moving part and a guide provided at the end of the moving path so that the cotyledon of the scion seedling or rootstock seedling moved by the moving part is brought into contact with the cotyledon and the cotyledon expansion direction is constant. The cotyledon expansion direction aligning mechanism for seedlings in an automatic grafting device, which is configured by.