A pure pneumatic control system for a seedling grafting robot

Abstract

The present invention discloses a pure pneumatic control system for a seedling grafting robot, including a cylinder, an air claw, a stepping module for controlling the cylinder and the air claw cylinder, a main reversing valve and a stroke valve. The control system does not need to collect various sensor information and compile programs, and can also avoid the phenomenon of coil burning caused by frequent switching of the solenoid valve of the control actuator, and has the characteristics of convenient maintenance, high reliability and long service life. The design method of this pneumatic control system does not need to check the stroke program, and is applicable to both standard programs and non-standard programs, and can be used for both sequential actions of a single actuator and parallel actions of multiple actuators. The control system will not have the phenomenon of coil burning caused by frequent switching of the solenoid valve in the electronic control system, and has the characteristics of convenient maintenance, high reliability, low cost and long service life.

Description

Technical Field

[0001] The invention relates to a control system, more specifically to a pure pneumatic control system of a seedling grafting robot. Background Art

[0002] Vegetable grafting technology can effectively prevent and control diseases and pests, improve productivity and survival rate of grafted seedlings and reduce labor intensity.

[0003] Most of the control systems developed at home and abroad use single-chip microcomputers, PLC industrial computers or PCs as controllers. They first collect various sensor signals such as photoelectric switches and electromagnetic switches, and then use control components such as electromagnetic valves to control pneumatic actuators, so that each actuator can work efficiently and in coordination. However, most of these automatic grafting machines with PLC and PC as controllers are relatively expensive, which limits their use by general farmers and small and medium-sized seedling bases. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a pure pneumatic control system for a seedling grafting robot, which will not cause the coil burning phenomenon easily caused by frequent switching of solenoid valves in the electronic control system, and has the characteristics of easy maintenance, high reliability, low cost and long service life.

[0005] In order to solve the above technical problems, the present invention adopts the following technical means:

[0006] A pure pneumatic control system for a seedling grafting robot comprises a cylinder, an air claw, a stepping module for controlling the cylinder and the air claw, a main reversing valve and a stroke valve. The cylinder comprises cylinder A, cylinder E, cylinder F, cylinder H, cylinder K, cylinder L, cylinder N, cylinder O and cylinder P; the air claw comprises air claw B, air claw C, air claw G, air claw I and air claw M. The initial states of the actuators are: the initial states of cylinder A, cylinder E, cylinder F, cylinder H, cylinder K, cylinder L and cylinder N are all retracted, the initial states of cylinder O and cylinder P are extended, and the initial states of claws B, claws C, claws G, claws I and claws M are all released; cylinder A controls the length of the stock manipulator arm; cylinder H controls the length of the stalk manipulator arm; swing cylinder D realizes the rotation transfer of the stock; cylinder E drives the stock cutting knife to feed and complete cutting; cylinder K drives the stalk cutting knife to feed and complete cutting; swing cylinder J realizes the rotation transfer of the stalk; stock Processing part: Cylinder A extends, and claws B and C simultaneously hold the rootstock seedlings and nutrient pots respectively. After taking the seedlings, cylinder A retracts, and swing cylinder D rotates 90° to the cutting position. Cylinder E extends to complete the cutting action. Claw G cooperates with the cylinder to grasp the upper half of the rootstock seedlings. The claw B that clamps the rootstock seedlings by the manipulator releases. At the same time, cutting cylinder E retracts and cylinder F drives claw G to separate the cut rootstock seedlings and transport them to the discarding place. While claw G releases and discards the cut rootstock seedlings, cylinder F resets, swing cylinder D rotates 90° again, and cylinder A extends again to send the processed rootstock seedlings to Upper clamping part; Spike wood processing part: the cylinder H that controls the length of the spicate wood manipulator arm extends, the air claw I grasps the spicate wood seedlings, and the cylinder H retreats after taking the seedlings. The swing cylinder J that realizes the rotation of the spicate wood rotates 90° to the cutting position, and the cylinder K that drives the spicate wood cutting knife to feed extends to complete the cutting action. The air claw M cooperates with the cylinder to grasp the lower half of the spicate wood seedlings. While the cylinder K retreats, the cylinder L drives the seedling removal air claw M to separate the cut spicate wood seedlings and transport them to the discarding place. The air claw M releases and discards the cut spicate wood seedlings while the cylinder L resets, the swing cylinder J rotates 90° again, and the cylinder H extends again to the disposal The sorted scion seedlings are sent to the upper clamping position; grafting and seedling row part: when the rootstock manipulator and the scion manipulator complete the rootstock processing and scion processing in parallel, the cylinders O and P retreat to support the seedlings, the cylinder N that pushes the grafting clamp extends to complete the upper clamping, and then the claw I that clamps the scion seedlings is released, the cylinder O and the cylinder P extend and reset while the cylinder N retreats, the claw C is released to put the nutrient pot on the conveyor belt for seedling row, and finally the swing cylinder D and the swing cylinder J reverse 180° and reset while the cylinder A and the cylinder H that control the length of the rootstock and scion manipulator arms retreat at the same time, thus completing a working cycle.

[0007] The present invention adopts a full pneumatic control method based on a stepping module for a seedling grafting robot with many actuators, many actions, parallel motion mechanisms and parallel actions and a very complex control process.

[0008] Compared with the prior art, the present invention adopting the above technical solution has the following outstanding features:

[0009] The pure pneumatic control system of the present invention only needs to use pneumatic components such as dual-pressure valves, air-controlled reversing valves, travel valves, and cylinders, and then scientifically and reasonably connect the circuits through these components to achieve efficient and coordinated work of various actuators. This control system does not need to collect various sensor information and write programs, and can also avoid the coil burning phenomenon caused by frequent switching of the solenoid valves that control the actuators, and has the characteristics of easy maintenance, high reliability and long service life. This design method of the pneumatic control system does not need to check the travel program, and is applicable to both standard programs and non-standard programs. This design method can be used for both sequential actions of a single actuator and parallel actions of multiple actuators.

[0010] Further preferred technical solutions are as follows:

[0011] The stepper module is provided with a dual-pressure valve and a two-position three-way valve, and the stepper module has four input air ports and three output air ports in total; the input air port is used to provide the module with a preparation signal, a drive signal, an air source and a reset signal; the output air port A of the stepper module in operation causes the stepper module controlling the previous action to reset and stop working after the stroke valve is pressed down in the previous action; the output air port B is used to switch the reversing valve to control the ongoing action; the output air port C provides a preparation signal for the next module until the ongoing action presses the stroke valve to send a drive signal for the next module to work.

[0012] The pure pneumatic control system is provided with a pre-grafting preparation circuit to ensure that the rootstock processing part and the scion processing part are carried out and completed at the same time, and then a series of subsequent sequential actions are completed.

[0013] The pure pneumatic control system is provided with an emergency event processing circuit, and the emergency event processing circuit is provided with an emergency stop button and a reset button.

[0014] The control system is provided with a pressure reducing valve, which adjusts the gas source pressure.

[0015] The pure pneumatic control system is provided with an operation mode switching circuit, and the operation mode switching circuit is provided with a spring reset type and a steel ball positioning type switch valve.

[0016] In the pure pneumatic control system, the actions completed sequentially are controlled by different stepping modules; the actions completed simultaneously are driven simultaneously by the same module. For example, the rootstock seedling clamping and the nutrient pot clamping are carried out simultaneously, and they can be driven by the same module; for example, in the rootstock seedling treatment and the scion seedling treatment, the steps carried out simultaneously can also be driven by the same module. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the stepping module structure of the present invention.

[0018] Figure 2 It is a motion trajectory diagram of some executive components of the grafting machine of the present invention.

[0019] Figure 3 It is a circuit diagram of the emergency event handling circuit of the present invention.

[0020] Figure 4 The utility model relates to a pressure reducing valve for adjusting the pressure of a gas source of the present invention.

[0021] Figure 5 Stock conveyor belt control loop.

[0022] Figure 6 Operation mode switching circuit.

[0023] Figure 7 Workflow process program.

[0024] Figure 8 Diagram of the partial circuit for stock treatment.

[0025] Fig. 9 Preparing the circuit before grafting.

[0026] Fig.10 Partial circuit diagram for grafting and seedling arrangement.

[0027] Fig.11 Schematic diagram of the pneumatic circuit of the grafting robot control system. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the embodiments.

[0029] 1-11, a pure pneumatic control system of a seedling grafting robot of the present invention is composed of a cylinder, an air gripper, a control cylinder, an air gripper stepping module, a main reversing valve and a travel valve; the cylinder is provided with cylinder A, cylinder E, cylinder F, cylinder H, cylinder K, cylinder L, cylinder N, cylinder O and cylinder P; the air gripper is provided with air gripper B, air gripper C, air gripper G, air gripper I and air gripper M. The initial states of the actuators are: the initial states of cylinder A, cylinder E, cylinder F, cylinder H, cylinder K, cylinder L and cylinder N are all retracted, the initial states of cylinder O and cylinder P are extended, and the initial states of claws B, claws C, claws G, claws I and claws M are all released; cylinder A controls the length of the stock manipulator arm; cylinder H controls the length of the stalk manipulator arm; swing cylinder D realizes the rotation transfer of the stock; cylinder E drives the stock cutting knife to feed and complete cutting; cylinder K drives the stalk cutting knife to feed and complete cutting; swing cylinder J realizes the rotation transfer of the stalk; stock Processing part: Cylinder A extends, and claws B and C simultaneously hold the rootstock seedlings and nutrient pots respectively. After taking the seedlings, cylinder A retracts, and swing cylinder D rotates 90° to the cutting position. Cylinder E extends to complete the cutting action. Claw G cooperates with the cylinder to grasp the upper half of the rootstock seedlings. The claw B that clamps the rootstock seedlings by the manipulator releases. At the same time, cutting cylinder E retracts and cylinder F drives claw G to separate the cut rootstock seedlings and transport them to the discarding place. While claw G releases and discards the cut rootstock seedlings, cylinder F resets, swing cylinder D rotates 90° again, and cylinder A extends again to send the processed rootstock seedlings to Upper clamping part; Spike wood processing part: the cylinder H that controls the length of the spicate wood manipulator arm extends, the air claw I grasps the spicate wood seedlings, and the cylinder H retreats after taking the seedlings. The swing cylinder J that realizes the rotation of the spicate wood rotates 90° to the cutting position, and the cylinder K that drives the spicate wood cutting knife to feed extends to complete the cutting action. The air claw M cooperates with the cylinder to grasp the lower half of the spicate wood seedlings. While the cylinder K retreats, the cylinder L drives the seedling removal air claw M to separate the cut spicate wood seedlings and transport them to the discarding place. The air claw M releases and discards the cut spicate wood seedlings while the cylinder L resets, the swing cylinder J rotates 90° again, and the cylinder H extends again to the disposal The sorted scion seedlings are sent to the upper clamping position; grafting and seedling row part: when the rootstock manipulator and the scion manipulator complete the rootstock processing and scion processing in parallel, the cylinders O and P retreat to support the seedlings, the cylinder N that pushes the grafting clamp extends to complete the upper clamping, and then the claw I that clamps the scion seedlings is released, the cylinder O and the cylinder P extend and reset while the cylinder N retreats, the claw C is released to put the nutrient pot on the conveyor belt for seedling row, and finally the swing cylinder D and the swing cylinder J reverse 180° and reset while the cylinder A and the cylinder H that control the length of the rootstock and scion manipulator arms retreat at the same time, thus completing a working cycle.

[0030] The stepper module is the core component of the control system. Figure 1As shown, the stepper module is provided with a double pressure valve and a two-position three-way valve, and the stepper module has four input ports and three output ports; input ports 1, 2, 3, and 4 are used to provide the module with a preparation signal, a drive signal, an air source, and a reset signal; the output port A of the stepper module in operation makes the stepper module controlling the previous action reset and stop working after the previous action presses down the stroke valve; the output port B is used to switch the reversing valve to control the ongoing action; the output port C provides a preparation signal for the next module until the ongoing action presses down the stroke valve to send out a drive signal for the next module to work. According to the above control principle, the stepper module can control the grafting robot to sequentially complete a series of predetermined actions.

[0031] The motion trajectory of some cylinders drawn according to the working process of the grafting robot is as follows Figure 2 As shown in the figure:

[0032] Cylinder A and cylinder H are used for taking seedlings of rootstock and scion respectively.

[0033] Cylinder E and cylinder K are used for rootstock and scion cutting cylinders respectively.

[0034] Cylinder N is the grafting clamp pushing cylinder.

[0035] The arrows in the figure indicate the extension or retraction of the cylinder.

[0036] Figure 2 Serial numbers ① and ② respectively indicate the extending action of the rootstock and scion manipulators for taking seedlings; ③ and ④ respectively indicate the action of the rootstock and scion manipulators rotating 90° to the cutting position; ⑤ and ⑥ respectively indicate the cutting action on the rootstock and scion; ⑦ and ⑧ respectively indicate the action of the rootstock and scion manipulators continuing to rotate 90°; ⑨ and ⑩ respectively indicate the action of the rootstock and scion manipulators extending to the grafting position; and 11 indicates the action of pushing the grafting clamp.

[0037] Depend on Figure 2 It can be seen that the stock processing part automatically completed by the control system includes: the stock manipulator extends, retracts, rotates, the cutting cylinder extends and retracts, and the stock manipulator rotates and then extends to the grafting position. After pressing the start button, the various actions can be completed in sequence under the action of the stepping module. The air signal sent by the stroke valve at the end of the previous action is used as the driving signal to drive the next action.

[0038] The main actions of the spicate processing part automatically completed by the control system include the extension, retraction, rotation of the spicate manipulator, the extension and retraction of the cutting cylinder, and the extension of the spicate manipulator to the grafting position after rotation. After pressing the start button, the actions can be completed sequentially under the action of the stepping module. The air signal sent by the stroke valve at the end of the previous action is used as the driving signal to drive the next action.

[0039] The main actions of grafting and seedling arrangement automatically completed by the control system include supporting the seedling, extending the clamping device, resetting the supporting device, resetting the clamping device, releasing the scion seedling, arranging the grafted seedling, etc. After the rootstock and scion manipulators are extended to the grafting place, each action can be completed in sequence under the action of the stepping module, and the air signal sent by the stroke valve at the end of the previous action is used as the driving signal to drive the next action.

[0040] like Figure 3 As shown, the pure pneumatic control system is provided with an emergency event processing circuit, and the emergency event processing circuit is provided with an emergency stop button and a reset button.

[0041] The pneumatic control system provided by the present invention can be paused at any time by pressing the emergency stop button to handle an emergency. After handling the emergency, press the reset button to complete the subsequent actions, or set each cylinder, air gripper, and motor to the initial state, and then press the reset button to start from the first action.

[0042] The control system is provided with a pressure reducing valve, which adjusts the gas source pressure.

[0043] Pure pneumatic control system, according to the operator's proficiency, can be adjusted Figure 4 The outlet pressure of the medium pressure reducing valve is used to adjust the grafting speed.

[0044] The pure pneumatic control system is provided with an operation mode switching circuit, and the operation mode switching circuit is provided with a spring reset type and a steel ball positioning type switch valve.

[0045] like Figure 5 As shown in the figure, the start and stop of the nutrient pot conveyor belt can be automatically controlled according to whether the nutrient pot is at the specified position. When the nutrient pot on the conveyor belt is transferred to the specified position, the travel valve Q0 will be pressed down. Figure 5 The middle reversing valve works in the right position, and the motor Q driving the conveyor belt stops rotating, waiting for the robot to take the seedlings. After taking the seedlings, a control signal makes the reversing valve work in the left position, and the motor makes the conveyor belt work again until the next nutrient pot presses down the travel valve Q0.

[0046] like Figure 6 As shown, the pure pneumatic control system described above controls the actions that are completed sequentially by different stepping modules; the actions that are completed simultaneously are driven simultaneously by the same module. For example, if the rootstock seedling clamping and the nutrient pot clamping are performed simultaneously, they can be driven by the same module; for example, in the rootstock seedling treatment and the scion seedling treatment, the steps that are performed simultaneously can also be driven by the same module.

[0047] The pure pneumatic control system can realize the switching between automatic continuous operation and manual single-step operation. This function is realized by spring reset type and steel ball positioning switch valve; in manual single-step operation, the saplings must be placed on the seedling supply platform in a certain direction, and then the single-step operation switch is pressed to start working. In automatic continuous operation, after placing the saplings on the seedling supply platform, the Figure 6 The left position of the stop valve is connected to the circuit to disconnect the connection with the vent, and then the automatic operation switch is pressed to start continuous operation. During the automatic operation, the operator needs to observe and place the saplings correctly immediately if there are no seedlings on the seedling supply platform.

[0048] No matter which operation mode is adopted, as long as the nutrient pot does not reach the specified position to press the stroke valve Q0, the cycle will not be carried out. With this control system, only one operator is required to put the spike wood seedlings on the seedling supply platform in a timely and correct manner.

[0049] like Figure 8 As shown. For the direct-acting cylinder, the subscript numbers 0 and 1 of the letter represent the cylinder piston rod retracting and the piston rod extending respectively. For the swing cylinder in the figure, the subscript numbers 0, 1, and 2 of the letter represent the initial position, rotation of 90°, and rotation of 180° respectively.

[0050] Because the workflow is relatively complex, its process is described in the form of pictures. Figure 8 It can be seen that during the working process, there are times when multiple actions are performed simultaneously, and there are also times when multiple mechanisms work simultaneously. The driving signal of each action and the trigger signal after the action is completed are both pneumatic signals sent by pressing the stroke valve. They are represented by letters and 0 or 1 in the same way as the stroke valve in the circuit diagram. For example, A1 represents the stroke valve A1 pressed down when the piston rod of cylinder A is extended, and also represents the pneumatic signal A1 sent after the stroke valve A1 is pressed down. Before starting, the initial state of each actuator is that the air gripper B, air gripper C, air gripper I, air gripper M, air gripper G and cylinder O, cylinder P are all in the state of extending the piston rod, and the initial state of the remaining cylinders before starting is that the piston rod is retracted.

[0051] For actions that are completed sequentially, one module drives one action, and for actions that are completed simultaneously, one module can drive them simultaneously. For example, the clamping of the rootstock seedling and the clamping of the nutrient pot are performed simultaneously, and they can be driven by the same module.

[0052] according to Figure 7 From the process flow of the grafting robot, it can be seen that the scion processing and rootstock processing steps are almost completely similar, both require nine stepper modules, and are performed synchronously. The rootstock and scion processing circuit diagram can be obtained by correctly connecting the stepper modules, various actuators, reversing valves, and stroke valves, as shown in the figure. Fig. 9The following is a partial circuit diagram for stock processing. The circuit diagrams for stock and stalk processing are the same. The correct connection method of the stepper module, each actuator, reversing valve, and travel valve is briefly described as follows: Figure 1 The working principle of the stepper module shown is that the air port 1 of each stepper module is connected to the output air port C of the previous stepper module, the input air port 2 of each stepper module is connected to the stroke valve that has not been pressed down in the previous action, the input air port 3 of each stepper module, the inlet of the stroke valve and the reversing valve are connected to the air source, the input air port 4 of each stepper module is connected to the output air port A of the next stepper module, the output air port A of each stepper module is connected to the air port 4 of the previous stepper module, the output air port B of each stepper module is directly or through a shuttle valve and connected to the reversing valve control air port corresponding to the action controlled by the module, and the output air port C of each stepper module is connected to the air port 1 of the next stepper module.

[0053] Figure 8 Interface 1 at the shuttle valve and interface 2 at the main reversing valve of the swing cylinder D are both connected to the output gas of module 24. After the rootstock manipulator and the scion manipulator complete the rootstock processing and scion processing in parallel, cylinder A and cylinder H extend again at the same time to send the nutrient pot and the effective scion seedling to the grafting place respectively. In order to ensure the coordinated operation of each actuator, the N cylinder responsible for pushing the grafting clamp needs to wait until the nutrient pot rootstock seedling and scion seedling are delivered to the grafting place, and the O cylinder and P cylinder cooperate to support the seedling before pushing the grafting clamp.

[0054] like Fig. 9 As shown, modules 9 and 18 control the extension of the rootstock and scion manipulators respectively. Only after both of them have extended and pressed their respective stroke valves, can module 19 be guaranteed to have a preparation signal and a drive signal to complete a series of subsequent actions. Figure 8 From the process program of the grafting robot, it can be seen that six stepper modules are needed for grafting and seedling removal. By correctly connecting the stepper modules, various actuators, reversing valves, and stroke valves, the circuit diagram of the grafting and seedling removal part can be obtained, as shown in the figure. Fig.10 shown.

[0055] Combining the above designed and drawn circuit diagrams can obtain a complete control system pneumatic circuit schematic diagram, such as Fig.11 shown.

[0056] The initial states of cylinder A, cylinder E, cylinder F, cylinder H, cylinder K, cylinder L and cylinder N are all retracted, the initial states of cylinder O and cylinder P are extended, and the initial states of air grippers B, air grippers C, air grippers G, air grippers I and air grippers M are all released. Press the single-step operation switch, and the grafting robot performs the following series of actions through the control system.

[0057] Stock processing part: Cylinder A that controls the length of the stock manipulator arm extends out, and air claws B and C simultaneously grasp the stock seedlings and nutrient pots respectively. After taking the seedlings, cylinder A retreats, and the swing cylinder D that realizes the rotation of the stock rotates 90° to the cutting position, driving the cylinder E that feeds the stock cutting knife to extend to complete the cutting action. The air claw G cooperates with the cylinder to grasp the upper half of the stock seedlings. The air claw B that clamps the stock seedlings of the manipulator releases and the cutting cylinder E retreats. Cylinder F drives the air claw G to separate the cut stock seedlings and transport them to the discarding place. The air claw G releases and discards the cut stock seedlings while the cylinder F resets. The swing cylinder D rotates another 90°, and the cylinder A that controls the length of the stock manipulator arm extends out again to send the processed stock seedlings to the upper clamping place.

[0058] Spike wood processing part: the cylinder H that controls the length of the spicate wood manipulator arm extends, and the air gripper I grabs the spicate wood seedlings. After taking the seedlings, the cylinder H retreats, and the swing cylinder J that realizes the rotation of the spicate wood rotates 90° to the cutting position, and the cylinder K that drives the spicate wood cutter to feed extends to complete the cutting action. The air gripper M cooperates with the cylinder to grab the lower half of the spicate wood seedlings. While the cylinder K retreats, the cylinder L drives the seedling removal air gripper M to separate the cut spicate wood seedlings and transport them to the discarding place. The air gripper M releases and discards the cut spicate wood seedlings while the cylinder L resets. The swing cylinder J rotates another 90°, and the cylinder H that controls the length of the spicate wood manipulator arm extends again to send the processed spicate wood seedlings to the upper clamping place.

[0059] Grafting and seedling rowing part: After the rootstock manipulator and the scion manipulator complete the rootstock processing and scion processing in parallel, cylinders O and P retreat to support the seedlings, cylinder N that pushes the grafting clamp extends to complete the clamping, and then the claw I that clamps the scion seedlings is released, cylinder O and cylinder P extend and reset while cylinder N retreats, claw C releases and places the nutrient pot on the conveyor belt for seedling rowing, and finally the swing cylinder D and swing cylinder J reverse 180° and reset while cylinder A and cylinder H that control the length of the rootstock and scion manipulator arms retreat at the same time, completing a working cycle.

[0060] The pure pneumatic control system of this embodiment only needs to use pneumatic components such as dual-pressure valves, air-controlled reversing valves, travel valves, and cylinders, and then scientifically and reasonably connect the circuits through these components to achieve efficient and coordinated work of various actuators. This control system does not need to collect various sensor information and write programs, and can also avoid the coil burning phenomenon caused by frequent switching of the solenoid valves that control the actuators, and has the characteristics of easy maintenance, high reliability and long service life. This design method of the pneumatic control system does not need to check the travel program, and is applicable to both standard programs and non-standard programs. This design method can be used for both sequential actions of a single actuator and parallel actions of multiple actuators.

[0061] The above description is only a preferred feasible embodiment of the present invention, and does not limit the scope of rights of the present invention. All equivalent structural changes made using the contents of the present invention description and drawings are included in the scope of rights of the present invention.

Claims

1. A pure pneumatic control system for a seedling grafting robot, comprising a cylinder, an air claw, a stepping module for controlling the cylinder and the air claw, a main reversing valve and a travel valve, characterized in that: The cylinders are provided with cylinder A, cylinder E, cylinder F, cylinder H, cylinder K, cylinder L, cylinder N, cylinder O and cylinder P; the air claws are provided with air claws B, air claws C, air claws G, air claws I and air claws M; the initial states of cylinder A, cylinder E, cylinder F, cylinder H, cylinder K, cylinder L and cylinder N are all retracted, the initial states of cylinder O and cylinder P are extended, and the initial states of air claws B, air claws C, air claws G, air claws I and air claws M are all released; cylinder A controls the length of the rootstock manipulator arm; cylinder H controls the length of the spicate manipulator arm; swing cylinder D realizes the rotation transfer of the rootstock; cylinder E drives the rootstock cutting knife to feed and complete cutting; cylinder K drives the spicate cutting knife to feed and complete cutting; swing cylinder J realizes the rotation transfer of the spicate; Stock processing part: Cylinder A extends, and claws B and C simultaneously clamp the stock seedlings and nutrient pots respectively. After taking the seedlings, cylinder A retracts, and swing cylinder D rotates 90° to the cutting position. Cylinder E extends to complete the cutting action. Claw G cooperates with the cylinder to grasp the upper half of the stock seedlings. Claw B that clamps the stock seedlings by the manipulator releases. At the same time, cylinder E retracts and cylinder F drives claw G to separate the cut stock seedlings and transport them to the discarding place. While claw G releases and discards the cut stock seedlings, cylinder F resets, and swing cylinder D rotates 90° again. Cylinder A extends again to send the processed stock seedlings to the upper clamping place; Spikewood processing part: the cylinder H that controls the length of the spicate wood manipulator arm extends, the air gripper I grasps the spicate wood seedling, and the cylinder H retreats after taking the seedling. The swing cylinder J that realizes the rotation of the spicate wood rotates 90° to the cutting position, and the cylinder K that drives the spicate wood cutting knife to feed extends to complete the cutting action. The air gripper M cooperates with the cylinder to grasp the lower half of the spicate wood seedling. When the cylinder K retreats, the cylinder L drives the seedling removal air gripper M to separate the cut spicate wood seedling and transport it to the discarding place. The air gripper M releases and discards the cut spicate wood seedling while the cylinder L resets. The swing cylinder J rotates 90° again, and the cylinder H extends again to send the processed spicate wood seedling to the upper clamping place; Grafting and seedling row part: after the rootstock manipulator and the spicate manipulator complete the rootstock processing and spicate processing in parallel, the cylinders O and P retreat to support the seedling, the cylinder N that pushes the grafting clamp extends to complete the clamping, and then the claw I that clamps the spicate seedling is released, the cylinder O and the cylinder P extend and reset while the cylinder N retreats, the claw C is released and the nutrient pot is placed on the conveyor belt for seedling row, and finally the swing cylinder D and the swing cylinder J reverse 180° and reset while the cylinder A and the cylinder H that control the length of the rootstock and spicate manipulator arms retreat at the same time, thus completing a working cycle; The stepper module is provided with a dual-pressure valve and a two-position three-way valve, and the stepper module has four input air ports and three output air ports; the four input air ports are used to provide the module with a preparation signal, a drive signal, an air source and a reset signal; the output air port A of the stepper module in operation enables the stepper module controlling the previous action to reset and stop working after the previous action presses down the stroke valve; the output air port B is used to switch the reversing valve to control the ongoing action; the output air port C provides a preparation signal for the next module until the ongoing action presses down the stroke valve to send a drive signal for the next module to work; In the pure pneumatic control system, actions completed sequentially are controlled by different stepping modules; actions completed simultaneously are driven simultaneously by the same module.

2. The pure pneumatic control system of the seedling grafting robot according to claim 1, characterized in that: The pure pneumatic control system is provided with a pre-grafting preparation circuit, which ensures that the rootstock processing part and the scion processing part are carried out and completed at the same time, and then completes a series of subsequent sequential actions.

3. The pure pneumatic control system of the seedling grafting robot according to claim 1, characterized in that: The pure pneumatic control system is provided with an emergency event processing circuit, and the emergency event processing circuit is provided with an emergency stop button and a reset button.

4. The pure pneumatic control system of the seedling grafting robot according to claim 1, characterized in that: The control system is provided with a pressure reducing valve, which adjusts the gas source pressure.

5. The pure pneumatic control system of the seedling grafting robot according to claim 1, characterized in that: The pure pneumatic control system is provided with an operation mode switching circuit, and the operation mode switching circuit is provided with a spring reset type and a steel ball positioning type switch valve.

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