| 摘要 |
PURPOSE:To provide a multikind-responsive type system for automatic grafting, capable of carrying out the grafting with a specific robot, controlling the taking out of grafted seedlings in the system, accurately performing the grafting, providing various grafted seedlings, reducing death loss and excellent in labor saving and productivity. CONSTITUTION:This system is capable of carrying out the grafting with a grafting robot having a chuck handle provided with chucking pawls, capable of holding a stem of a seedling at an interval and containing sensors therein and having multijoint arms by multiaxis control of four or more axes capable of performing three-dimensional operations in a grafting step in an automatic grafting line comprising a carrying-in step for a stock and a scion of seedlings, a grafting step for cutting the carried in stock and scion and grafting both and a taking out step for the grafted seedling. The respective steps are controlled by analyzing the positional data of the stem and/or leaves of the seedlings with the sensors contained in the chuck pawls and carrying out the control under the command of a computer based on a previously prepared program so as to respond to the various shapes of the seedlings. |
