A vegetable grafting robot based on a wedge grafting method

Abstract

The application discloses a vegetable grafting robot based on a split method, which comprises a rack, a scion cutting assembly arranged on the rack, a scion cutting conveying assembly, a scion clamping conveying assembly, a scion shearing assembly, a stock cutting assembly, a stock clamping conveying assembly, a grafting clamp clamping assembly and a stock clamping split cutting assembly. The device can be widely used for vegetable grafting, reduces labor intensity, improves grafting efficiency and success rate. The device can be widely used for vegetable grafting, reduces labor intensity, improves grafting effciency and success rate.

Description

Technical Field

[0001] This invention relates to grafting devices, and more specifically, to a vegetable grafting robot based on a cleft grafting method. Background Technology

[0002] Vegetable grafting can prevent the spread of soil-borne diseases, significantly improve the disease and pest resistance of vegetables, and effectively increase vegetable yield while reducing disease. However, currently, vegetable grafting in my country mainly relies on manual grafting, with a low level of mechanization. This makes it difficult to meet the demand for grafted vegetable seedlings. Furthermore, manual grafting is labor-intensive and costly, requiring highly skilled workers with extensive grafting experience, making large-scale factory production of grafted vegetable seedlings difficult and hindering its widespread adoption. There is an urgent need to replace manual grafting with machines. Vegetable grafting robots utilize cleft grafting and clamp grafting methods to graft vegetables, reducing labor intensity and improving grafting efficiency. Simultaneously, the cleft grafting method effectively improves the survival rate and grafting quality of the seedlings. Currently, manual grafting is the primary method used in China, and large-scale production of vegetable cleft grafting robots is lacking. This is a shortcoming of existing technology. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a vegetable grafting robot based on the cleft grafting method. This device can be widely used for vegetable grafting, reducing labor intensity and improving grafting efficiency and success rate.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical means: A vegetable grafting robot based on the cleft grafting method includes a frame, a scion cutting component mounted on the frame, a scion cutting and conveying component, a scion clamping and conveying component, a scion shearing component, a rootstock cutting component, a rootstock clamping and conveying component, a grafting clamping component, and a rootstock clamping and cleft cutting component. The aforementioned timber cutting and conveying assembly is equipped with a timber cutting and conveying rotary cylinder, which drives the base to rotate. The base is equipped with timber cutting and conveying clamping hands arranged at equal central angles and intervals to clamp the timber. The timber cutting and conveying clamping hands are connected to a timber cutting and conveying telescopic cylinder, which drives them to extend or retract. The timber cutting and conveying assembly conveys timber to the timber cutting assembly. The aforementioned timber cutting assembly is equipped with a timber shearing cylinder, and the driving end of the timber shearing cylinder is equipped with a timber pneumatic shear. During the rotation of the timber cutting and conveying assembly, which transports the clamped timber to the timber cutting assembly, the shearing blades of the timber pneumatic shear open. After the timber cutting and conveying assembly rotates to the rear of the timber pneumatic shear, the timber cutting and conveying telescopic cylinder is driven to extend forward, allowing the timber to enter the rear of the timber pneumatic shear. The timber pneumatic shear then actuates, cutting the timber. After cutting the timber, the timber cutting and conveying telescopic cylinder is driven to retract backward, and the timber cutting and conveying assembly continues to rotate, transporting the cut timber to the timber clamping and conveying assembly. The aforementioned timber clamping and conveying assembly is located beside the timber cutting and conveying assembly. The timber clamping and conveying assembly is equipped with a timber clamping and conveying rotary cylinder, which drives the timber slide base to rotate. The timber slide base is connected to multiple spaced-apart timber clamping and conveying screw slides. A timber clamping and conveying vertical clamping cylinder is connected to the slide of each screw slide, and the vertical clamping cylinder is equipped with a timber clamping and conveying gripper. When the timber cutting and conveying assembly conveys the cut timber to the timber clamping and conveying assembly, the timber clamping and conveying gripper works in coordination with the timber cutting and conveying gripper to move the timber onto the gripper. After this, the timber clamping and conveying assembly continues to rotate, conveying the cut timber to the timber shearing assembly. The aforementioned timber shearing assembly is equipped with a timber shearing rotary cylinder. The drive seat of the timber shearing rotary cylinder is equipped with timber shearing cylinders arranged at equal central angles and intervals. The drive end of the timber shearing cylinder is equipped with a timber cutter holder, on which an inclined timber shearing blade is mounted. Driven by the inclined timber shearing blade, the blade obliquely cuts the bottom of the timber in the vertical direction. Adjacent timber shearing blades have opposite inclination directions. A timber shearing baffle is provided at the point where the timber shearing blade makes an oblique cut. After the timber shearing assembly performs two oblique cuts on the timber by adjacent timber shearing blades, a wedge-shaped grafting joint is formed at the bottom of the timber. The timber clamping and conveying assembly continues to rotate, moving the timber to the joining and lifting assembly. The aforementioned engagement and lifting assembly is equipped with an engagement and lifting cylinder, and the drive end of the engagement and lifting cylinder is equipped with an engagement and lifting platform. The aforementioned rootstock cutting assembly includes rootstock cutting shears driven by a rootstock cutting cylinder; The rootstock clamping and conveying assembly is equipped with a rootstock conveying rotary cylinder. The rootstock conveying rotary cylinder drives a rootstock conveying rotary support frame. The rootstock conveying rotary support frame is equipped with rootstock conveying clamping hands arranged at equal central angles and intervals. The rootstock conveying clamping hands are driven to extend or retract by a rootstock conveying telescopic cylinder. The rootstock conveying clamping hands are equipped with a pair of rootstock conveying pneumatic grippers for clamping the rootstock. The gripping area of ​​the rootstock conveying pneumatic grippers is equipped with rootstock conveying clamping slots. The rootstock clamping and conveying assembly conveys the clamped rootstock to the rootstock cutting assembly for cutting. The side of the rootstock clamping and conveying assembly is also provided with a station adjustment rotary worktable; The grafting clip holding assembly is provided with a grafting clip lifting cylinder connected to the drive end of the grafting clip lifting cylinder, a grafting clip telescopic cylinder connected to the drive end of the grafting clip telescopic cylinder, and a grafting clip pneumatic clip connected to the drive end of the grafting clip pneumatic clip, and a grafting clip delivery clamping hand for clamping the grafting clip. The aforementioned rootstock clamping and splitting assembly is equipped with a splitting blade, which is connected to a splitting blade drive electromagnet via a splitting blade electromagnetic linkage. A return spring is mounted on the splitting blade electromagnetic linkage, which is located at the drive end of a splitting blade rotation servo motor and is driven to rotate by the motor. The splitting blade rotation servo motor is located at the drive end of a splitting lifting cylinder and is driven to raise and lower the rootstock. Below the splitting blade is a pneumatic rootstock splitting gripper, which is located at the drive end of a rootstock splitting telescopic cylinder and is driven to move the rootstock splitting telescopic cylinder. The pneumatic gripper for splitting rootstock extends forward and retracts backward. It has a pair of rootstock splitting grippers with corresponding rootstock splitting gripping hands. A rootstock gripping sleeve is located at the corresponding position of each gripper, and the top of the gripping sleeve forms a V-shaped groove. Tool retraction: When the splitting blade driving electromagnet is energized, it causes the splitting blade electromagnetic linkage to retract, compressing the reset spring of the splitting blade. Simultaneously, the splitting blade electromagnetic linkage and the splitting blade retract. Tool extension: When the splitting blade driving electromagnet is de-energized, the splitting blade electromagnetic linkage extends under the action of the reset spring, and the splitting blade extends together. The aforementioned workstation adjustment rotary table is equipped with a workstation adjustment drive cylinder; the workstation adjustment drive cylinder drives the rotary table to rotate; the rotary table is equipped with grafting clip holding components and grafting clip holding assemblies arranged at a 180-degree angle; the rotation of the rotary table changes the position of the grafting clip holding assemblies and grafting clip holding assemblies. The workstation adjustment rotary table is provided with a grafting clamp supply assembly on its side; The grafting clip supply assembly is equipped with an upper clamping cylinder, and an upper clamping guide groove is provided above the upper clamping cylinder. The driving end of the upper clamping cylinder is connected to an upper clamping push plate, which moves along the upper clamping guide groove to push the grafting clip upward to provide a grafting clip for the grafting clip holding assembly.

[0005] The working principle and process of this invention are as follows: Cutting of stalks: By setting up a stalk cutting component and a stalk cutting conveying component, the stalks held by the stalk cutting conveying component are transported to the stalk cutting component for cutting, and the cut stalks are then transferred by the stalk cutting conveying component to the stalk holding conveying component.

[0006] Cutting of scion: By setting up a scion clamping and conveying component and a scion cutting component, the scion cutting component is used to cut the slit scion. The adjacent scion cutting blades of the scion cutting component are inclined in opposite directions. After the adjacent scion cutting blades make two oblique cuts on the scion, a wedge-shaped grafting joint is formed at the bottom of the scion. The cut scion is then rotated and moved by the scion clamping and conveying component to the joining and lifting component for grafting with the cut rootstock.

[0007] Rootstock cutting: By setting up a rootstock cutting component and a rootstock clamping and conveying component, the rootstock clamping and conveying component transports the clamped rootstock to the rootstock cutting component for cutting. After cutting, the rootstock is clamped and conveyed by the rootstock clamping and conveying component, moved to the rootstock clamping and splitting component, and then transferred to the rootstock clamping and splitting component. The rootstock clamping and splitting component and the grafting clamp clamping component are set on the workstation adjustment and rotating worktable. Before the rootstock clamping and splitting component picks up the rootstock, the workstation adjustment and rotating worktable rotates to move the rootstock clamping and splitting component to the side adjacent to the rootstock clamping and conveying component. The rootstock clamping and conveying component then transfers the rootstock to the rootstock clamping and splitting component.

[0008] Rootstock splitting: The rotating worktable adjusts the position, moving the rootstock clamping and splitting assembly to the joining and lifting assembly. Driven by the splitting lifting cylinder, the splitting blade descends and splits the rootstock at the V-shaped groove at the top of the rootstock clamping sleeve. After splitting, the splitting lifting cylinder raises the splitting blade while the splitting blade rotation servo drives the servo to rotate at an angle of 20-35 degrees, forming a V-shaped interface at the split. The scion, to be cut, is then moved to the rootstock for grafting. This process, through a single split, separates the rootstock interfaces at the split, forming a V-shaped interface under the action of the rising splitting blade. Furthermore, because the splitting blade rotates while being raised, the bending force of the rootstock at the split is prevented from acting on the bottom of the cut, effectively preventing damage or even breakage of the rootstock.

[0009] Grafting of scion and rootstock: After the steps and treatments, both the scion and the rootstock are at the joint support assembly. The scion clamping and conveying assembly's scion clamping and conveying screw slide drives the scion downwards, so that the wedge-shaped grafting head at the bottom of the scion is inserted into the V-shaped interface of the rootstock. As the scion moves down and is inserted into the rootstock interface, the splitting blade is driven by an electromagnet to retract the splitting blade away from the V-shaped interface of the rootstock so that the scion is fully inserted, completing the grafting of the scion and rootstock. Then, the rootstock splitting pneumatic gripper releases the clamp, and the rootstock splitting telescopic cylinder drives the wood splitting pneumatic gripper to retract. Grafting clip removal and clamping: Simultaneously with the transfer and shearing of the rootstock, the grafting clip holding assembly is moved to the grafting clip supply assembly by the position adjustment rotary table. During this movement, the pneumatic clamp of the grafting clip holding assembly opens its jaws, and the upper clamping cylinder drives the upper clamping push plate to move along the upper clamping guide groove, pushing the grafting clip upwards to provide a proper grafting clamp for the grafting clip holding assembly. Then, the grafting clip telescopic cylinder drives the pneumatic clamp of the grafting clip to clamp at the handle of the grafting clip, and the pneumatic clamp of the grafting clip actuates, closing the jaws to clamp the graft. The grafting clamp is lifted upwards by a telescopic cylinder driven by the grafting clamp. After the grafting process is completed, the worktable is rotated and repositioned to move the clamped grafting clamp to the grafted seedling, securing the grafting joint. The grafting clamp then releases its grip, and the telescopic cylinder drives the grafting clamp to retract, releasing the clamp and holding it at the grafting joint. The scion clamp is then released, allowing the grafted seedling to be removed.

[0010] The advantages of this invention are: By setting up a scion cutting component, a scion cutting and conveying component, a scion clamping and conveying component, and a scion shearing component, the scion cutting, conveying, shearing, and post-shearing conveying can be completed. Among them, the scion clamping and conveying component works with the scion shearing component to complete the shearing work. After the shearing is completed, it also conveys the sheared scion to the grafting joint station to be joined with the sheared rootstock. After the grafting joint is completed, the scion clamping and conveying component also works with the grafting clamp holding component to clamp and fix the grafting part. One component realizes multiple functions.

[0011] By setting up a rootstock cutting component, a rootstock clamping and conveying component, and a rootstock clamping and splitting component, the rootstock is cut using the rootstock cutting and clamping and conveying component. After cutting, the rootstock clamping and conveying component transports the rootstock to the rootstock clamping and splitting component. The rootstock clamping and splitting component performs three functions: first, clamping and moving the cut rootstock; second, splitting the cut rootstock to create a V-shaped interface; and third, after splitting, cooperating with the scion clamping and conveying component to complete the grafting and joining of the scion and rootstock. Specifically, after splitting, the splitting lifting cylinder raises the splitting blade while the splitting blade rotation servo drives the splitting blade rotation servo to rotate at an angle of 20-35 degrees to form a V-shaped interface at the splitting point of the rootstock. The cut scion is then transferred to the rootstock for grafting. The above process can separate the rootstock joints into a V-shape at the split by a single splitting cut. Since the splitting blade rotates while being lifted upwards, the bending force of the rootstock joint is prevented from acting on the bottom of the cut, effectively preventing damage to the rootstock or even breakage.

[0012] The grafting clamp holding component and the grafting clamp supply component are used to provide grafting clamps to the grafting clamp holding component. The grafting clamp holding component is then moved to clamp the grafting clamp at the grafting site of the grafted seedling for fixation, so as to improve the stability of the scion and rootstock after grafting and improve the survival rate.

[0013] By setting up a rotating worktable for adjusting the workstation, and using it to connect and set up grafting clamping components and rootstock clamping and splitting components, the workstation switching and adjustment can be completed by driving the rootstock clamping and splitting components and the scion clamping and conveying components to rotate.

[0014] Further preferred technical solutions are as follows: The upper side of the anvil cutting cylinder is provided with an anvil cutting pneumatic gripper, and the driving force of the anvil cutting pneumatic gripper is a pair of anvil cutting clamping hands. The clamping parts of the anvil cutting clamping hands are provided with anvil cutting clamping slots.

[0015] By incorporating a pneumatic gripper for cutting the rootstock, the rootstock can be held during cutting, improving the precision of the cut. A similar gripper is also provided for cutting the scion.

[0016] The center of the connecting support platform is provided with a nutrient pot anti-slip groove.

[0017] By setting anti-slip grooves in the nutrient pot, the rootstock with the nutrient pot can be supported and prevented from slipping during operation.

[0018] The clamping part of the grafting clamp conveying clamp hand is provided with a grafting clamp clamping groove, which accommodates the clamping handle of the grafting clamp.

[0019] By setting a clamping groove for the grafting clip, the stability of the grafting clip can be improved and its slippage can be prevented.

[0020] The aforementioned rootstock splitting telescopic cylinder is mounted on the splitting worktable, and the splitting worktable and the splitting lifting cylinder are connected together and mounted on the rotating worktable.

[0021] By setting up a splitting worktable, it is easy to install and set up pneumatic grippers for splitting anvils.

[0022] The upper clamp guide groove is provided with a guide groove limiting rib on the inner edge.

[0023] By setting guide groove limiting ribs, the grafting clamp can be prevented from slipping off during the clamping process.

[0024] The top of the upper clamping guide groove is provided with a clamping platform seat.

[0025] By setting up a clamping platform, the grafting clamp is pushed onto the clamping platform and then gripped by the clamping hand. Attached Figure Description

[0026] Figure 1 This is a perspective view of the first specific embodiment of the present invention.

[0027] Figure 2 This is a perspective view of the stalk cutting assembly, stalk cutting and conveying assembly, stalk clamping and conveying assembly, stalk shearing assembly and joining and lifting assembly of the present invention.

[0028] Figure 3 This is a perspective view of the rootstock cutting assembly and the rootstock clamping and conveying assembly of the present invention.

[0029] Figure 4 This is a perspective view of the grafting clamp holding assembly, the rootstock clamping and splitting assembly, and the workstation adjustment rotary table of the present invention.

[0030] Figure 5 This is a perspective view of the cleaving blade arrangement of the present invention.

[0031] Figure 6 This is a perspective view of the grafting clip supply assembly of the present invention.

[0032] Figure 7 This is a perspective view of the second specific embodiment of the present invention.

[0033] Figure 8 This is a perspective view of the grafting clip of the present invention.

[0034] Explanation of reference numerals in the attached figures: 1-Scion cutting assembly; 2-Scion cutting and conveying assembly; 3-Scion clamping and conveying assembly; 4-Scion shearing assembly; 5-Jointing and lifting assembly; 6-Rootstock cutting assembly; 7-Rootstock clamping and conveying assembly; 8-Grafting clamp holding assembly; 9-Rootstock clamping and splitting assembly; 10-Workstation adjustment rotary table; 11-Grafting clamp supply assembly. 101-Tree cutting and holding hand; 102-Tree pneumatic shears; 103-Tree cutting cylinder; 104-Tree holding cylinder; 201 - Rotary cylinder for cutting and conveying logs; 202 - Telescopic cylinder for cutting and conveying logs; 203 - Clamping cylinder for cutting and conveying logs; 204 - Clamping hand for cutting and conveying logs; 301-Rotary cylinder for clamping and conveying timber; 302-Handle for clamping and conveying timber; 303-Vertical clamping cylinder for clamping and conveying timber; 304-Screw slide table for clamping and conveying timber; 305-Timber slide table base; 401-Wood shearing rotary cylinder; 402-Wood shearing cylinder; 403-Wood shearing base plate; 404-Wood shearing tool holder; 405-Wood shearing blade; 406-Wood shearing baffle; 501 - Engagement lifting cylinder; 502 - Engagement lifting platform.

[0035] 601-Trunk cutting shears; 602-Trunk cutting cylinder; 603-Trunk cutting pneumatic gripper; 604-Trunk cutting clamping slot; 605-Trunk cutting clamping hand; 701- Rotary cylinder for rootstock conveying; 702- Rotary base for rootstock conveying; 703- Rootstock conveying gripper; 704- Rootstock conveying gripper slot; 705- Pneumatic gripper for rootstock conveying; 706- Telescopic cylinder for rootstock conveying. 801-Grafting clip holding station seat groove; 802-Grafting clip lifting cylinder; 803-Grafting clip holding groove; 804-Grafting clip conveying clamping hand; 805-Grafting clip pneumatic clamp; 806-Grafting clip base plate; 807-Grafting clip telescopic cylinder; 901-Splitting lifting cylinder; 902-Splitting worktable; 903-Splitting blade rotation servo motor; 904-Splitting blade drive electromagnet; 905-Splitting blade return spring; 906-Splitting blade electromagnetic linkage; 907-Anchorwood splitting pneumatic gripper; 908-Splitting blade; 909-Anchorwood clamping sleeve; 910-Anchorwood splitting clamping hand; 1001 - Position adjustment drive cylinder; 1002 - Rotary worktable; 1101 - Guide groove limiting rib; 1102 - Clamping platform seat; 1103 - Upper clamping guide groove; 1104 - Upper clamping push plate; 1105 - Upper clamping cylinder. Detailed Implementation

[0036] The present invention will be further described below with reference to the embodiments.

[0037] See Figure 1 It is understood that the vegetable grafting robot based on the cleft grafting method of the present invention consists of a scion cutting component 1; a scion cutting and conveying component 2; a scion clamping and conveying component 3; a scion shearing component 4; a rootstock cutting component 6; a rootstock clamping and conveying component 7; a grafting clamp holding component 8; and a rootstock clamping and cleft cutting component 9.

[0038] See Figure 2 It is understood that the timber cutting and conveying assembly 2 is equipped with a timber cutting and conveying rotary cylinder 201, which drives the base to rotate. The base is equipped with timber cutting and conveying clamping hands 204 arranged at equal central angles and intervals to clamp the timber. The timber cutting and conveying clamping hands 204 are connected to the timber cutting and conveying telescopic cylinder 202 and are driven by the timber cutting and conveying telescopic cylinder 202 to extend or retract. The timber cutting and conveying assembly 2 conveys timber to the timber cutting assembly 1. The aforementioned timber cutting assembly 1 is equipped with a timber shearing cylinder 103, and the driving end of the timber shearing cylinder 103 is equipped with a timber pneumatic shear 102. During the rotation process of the timber cutting and conveying assembly 2 transporting the clamped timber to the timber cutting assembly 1, the shearing blades of the timber pneumatic shear 102 of the timber cutting assembly 1 open. After the timber cutting and conveying assembly 2 rotates to the timber pneumatic shear 102, the timber cutting and conveying telescopic cylinder 202 is driven to extend forward so that the timber extends into the timber pneumatic shear 102. Then, the timber pneumatic shear 102 actuates and cuts the timber. After cutting the timber, the timber cutting and conveying telescopic cylinder 202 is driven to retract backward, and the timber cutting and conveying assembly 2 continues to rotate, transporting the cut timber to the timber clamping and conveying assembly 3. The sap grain clamping and conveying assembly 3 is located beside the sap grain cutting and conveying assembly 2. The sap grain clamping and conveying assembly 3 is equipped with a sap grain clamping and conveying rotary cylinder 301. The sap grain clamping and conveying rotary cylinder 301 drives the sap grain slide base 305 to rotate. The sap grain slide base 305 is connected to a plurality of spaced sap grain clamping and conveying screw slides 304. A sap grain clamping and conveying vertical clamping cylinder 302 is connected to the slide of the sap grain clamping and conveying screw slide 304. The sap grain clamping and conveying vertical clamping cylinder 303 is equipped with a sap grain clamping and conveying clamping hand 302. When the sap grain cutting and conveying assembly 2 conveys the cut sap grain to the sap grain clamping and conveying assembly 3, the sap grain clamping and conveying clamping hand 302 and the sap grain cutting and conveying clamping hand 204 cooperate to move the sap grain onto the sap grain clamping and conveying clamping hand 302. After that, the sap grain clamping and conveying assembly 3 continues to rotate, conveying the cut sap grain to the sap grain shearing assembly 4. The scion shearing assembly 4 is equipped with a scion shearing rotary cylinder 401. The drive seat of the scion shearing rotary cylinder 401 is equipped with scion shearing cylinders 402 arranged at equal central angles and intervals. The drive end of the scion shearing cylinder 402 is equipped with a scion cutter seat 404. The scion cutter seat 404 is equipped with an inclined scion shearing blade 405. The inclined scion shearing blade 405 is driven to make a slanted cut on the bottom of the scion in the vertical direction. The adjacent scion shearing blades 405 have opposite inclination directions. A scion shearing baffle 406 is provided at the scion shearing point of the scion shearing blade 405. After the scion shearing assembly 4 makes two slanted cuts on the scion by the adjacent scion shearing blades 405, a wedge-shaped grafting joint is formed at the bottom of the scion. The scion clamping and conveying assembly 3 continues to rotate, moving the scion to the joining and lifting assembly 5. The engagement and lifting assembly 5 is provided with an engagement and lifting cylinder 501, and the driving end of the engagement and lifting cylinder 501 is provided with an engagement and lifting platform 502. See Figure 3 , Figure 4 , Figure 5 It is known that the rootstock cutting assembly 6 is equipped with rootstock cutting scissors 601 driven by the rootstock cutting cylinder 602; The rootstock clamping and conveying assembly 7 is equipped with a rootstock conveying rotary cylinder 701, which drives a rootstock conveying rotary support 702. The rootstock conveying rotary support 702 is equipped with rootstock conveying clamping hands 703 arranged at equal intervals with equal central angles. The rootstock conveying clamping hands 703 are driven to extend forward or retract backward by a rootstock conveying telescopic cylinder 706. The rootstock conveying clamping hands 703 are equipped with a pair of rootstock conveying pneumatic grippers 705 for clamping the rootstock. The clamping part of the rootstock conveying pneumatic grippers 705 is provided with a rootstock conveying clamping slot 704. The rootstock clamping and conveying assembly 7 conveys the clamped rootstock to the rootstock cutting assembly 6 for cutting. The rootstock clamping and conveying assembly 7 is also provided with a station adjustment rotary worktable 10 on its side; The grafting clip holding assembly 8 is provided with a grafting clip lifting cylinder 802 and a grafting clip telescopic cylinder 807 connected to the drive end of the grafting clip lifting cylinder 802. The grafting clip telescopic cylinder 807 is connected to a grafting clip pneumatic clip 805 and a pair of grafting clip delivery clamping hands 804 for clamping the grafting clips. The rootstock clamping and splitting assembly 9 is equipped with a splitting blade 908, which is connected to a splitting drive electromagnet 904 via a splitting blade electromagnetic linkage 906. A return spring 905 is provided on the splitting blade electromagnetic linkage 906, which is located at the drive end of a splitting blade rotation servo motor 903 and is driven to rotate by the motor. The splitting blade rotation servo motor 903 is located at the drive end of a splitting lifting cylinder 901 and is driven to lift and lower by the cylinder. Below the splitting blade 908 is a rootstock splitting pneumatic gripper 907, which is located at the drive end of a rootstock splitting telescopic cylinder, driving the rootstock splitting. The pneumatic gripper 907 extends forward and retracts backward. A pair of anvil-splitting grippers 9010 are attached to the pneumatic gripper 907. Correspondingly positioned on the anvil-splitting grippers 9010 are anvil-holding sleeves 909, with a V-shaped groove formed at the top. Tool retraction: When the splitting blade driving electromagnet 904 is energized, it causes the splitting blade electromagnetic linkage 906 to retract, compressing the reset spring 905 on the splitting blade 908. Simultaneously, the splitting blade electromagnetic linkage 906 and the splitting blade 908 retract. Tool extension: When the splitting blade driving electromagnet 904 is de-energized, the splitting blade electromagnetic linkage 906 extends under the action of the reset spring 905, and the splitting blade 906 and the splitting blade 908 extend together. The workstation adjustment rotary table 10 is equipped with a workstation adjustment drive cylinder 1001; the workstation adjustment drive cylinder 1001 drives the rotary table 1002 to rotate; the rotary table 1002 is equipped with a grafting clip holding assembly 8 and a grafting clip holding component 8 arranged at a 180-degree angle; the rotation of the rotary table 1002 changes the position of the grafting clip holding assembly 8 and the grafting clip holding component 8. The workstation adjustment rotary worktable 10 is provided with a grafting clamp supply assembly 11 on its side; See Figure 6 It is known that the grafting clip supply assembly 11 is provided with an upper clamping cylinder 1105, and an upper clamping guide groove 1103 is provided above the upper clamping cylinder 1105. The driving end of the upper clamping cylinder 1105 is connected to the upper clamping push plate 1104, which moves along the upper clamping guide groove 1103 to push the grafting clip up to provide a grafting clip for the grafting clip holding assembly 8.

[0039] Further preferred technical solutions are as follows: The upper side of the anvil cutting cylinder 602 is provided with an anvil cutting pneumatic gripper 603, and the anvil cutting pneumatic gripper 603 drives a pair of anvil cutting clamping hands 605. The clamping part of the anvil cutting clamping hands 605 is provided with anvil cutting clamping slots 604.

[0040] By incorporating a pneumatic gripper 603 for cutting the rootstock, the rootstock can be held during cutting, improving the precision of the cut. A similar gripper 101 is also provided for cutting the scion.

[0041] The center of the connecting support platform 502 is provided with a nutrient pot anti-slip groove 503.

[0042] By setting the anti-slip groove 503 in the nutrient pot, the rootstock with the nutrient pot can be supported and prevented from slipping during operation.

[0043] The clamping part of the grafting clamp conveying clamp 804 is provided with a grafting clamp clamping groove 803, which accommodates the clamping handle of the grafting clamp.

[0044] By setting the grafting clip holding groove 803, the stability of the grafting clip can be improved and its slippage can be prevented.

[0045] The aforementioned rootstock splitting telescopic cylinder is mounted on the splitting worktable 902, and the splitting worktable 902 and the splitting lifting cylinder 901 are connected together and mounted on the rotary worktable 1002.

[0046] By setting up the splitting worktable 902, it is easy to install and set up the pneumatic gripper 907 for splitting the rootstock.

[0047] The upper clamping guide groove 1103 is provided with a guide groove limiting rib 1101 on the inner edge.

[0048] By setting the guide groove limiting rib 1101, the grafting clamp can be prevented from slipping during the clamping process.

[0049] The top of the upper clamping guide groove 1103 is provided with a clamping platform seat 1102.

[0050] By setting up the clamping platform seat 1102, the grafting clamp is pushed onto the clamping platform seat 1102 and then clamped by the grafting clamp delivery clamping hand 804.

[0051] See Figure 7 It can be seen that the components on the left and right sides of the scion shearing component 6 are symmetrically arranged to form two parallel grafting production lines, which further improves the working efficiency of the scion shearing component 6 and the production efficiency of the production line.

[0052] In addition, the sap cutting assembly 1, sap cutting and conveying assembly 2, sap cutting assembly 1, and sap cutting and conveying assembly 2 of the present invention have similar structures and the same component settings, which further reduces equipment costs.

[0053] The working principle and process of this invention are as follows: (1) Cutting of stalks: By setting up stalk cutting component 1 and stalk cutting conveying component 2, the stalks held by the stalk cutting conveying component 2 are conveyed to the stalk cutting component 1 for cutting, and the cut stalks are then transferred by the stalk cutting conveying component 2 to the stalk holding conveying component 3.

[0054] (2) Cutting of scion: By setting up scion clamping and conveying component 3 and scion cutting component 4, the scion cutting component 4 is used to cut the scion after cutting. The adjacent scion cutting blades 405 of the scion cutting component 4 are inclined in opposite directions. After the scion cutting component 4 cuts the scion twice by the adjacent scion cutting blades 405, a wedge-shaped grafting joint is formed at the bottom of the scion. The cut scion is rotated and moved by the scion clamping and conveying component 3 to the joining and lifting component 5 for grafting with the cut rootstock.

[0055] (3) Cutting the rootstock: By setting up the rootstock cutting component 6 and the rootstock clamping and conveying component 7, the rootstock clamping and conveying component 7 is used to transport the clamped rootstock to the rootstock cutting component 6 for cutting. The cut rootstock is clamped and conveyed by the rootstock clamping and conveying component 7 and moved to the rootstock clamping and splitting component 9. The rootstock clamping and splitting component 9 and the grafting clamp clamping component 8 are set on the workstation adjustment rotary table 10. Before the rootstock clamping and splitting component 9 picks up the rootstock, the workstation adjustment rotary table 10 rotates to move the rootstock clamping and splitting component 9 to the side adjacent to the rootstock clamping and conveying component 7. The rootstock clamping and conveying component 7 transfers the rootstock to the rootstock clamping and splitting component 9.

[0056] (4) Splitting the rootstock: The workstation adjustment rotating table 10 rotates to move the rootstock clamping and splitting component 9 to the joining and lifting component 5; driven by the splitting lifting cylinder 901, the splitting blade 908 descends and splits the rootstock at the V-shaped groove at the top of the rootstock clamping sleeve 909; after splitting, the splitting lifting cylinder 901 lifts the splitting blade 908 upwards while the splitting blade rotation servo 903 drives the splitting blade rotation servo 903 to rotate at an angle of 20-35 degrees to form a V-shaped interface at the splitting point of the rootstock; the scion to be cut is then transferred to the rootstock for grafting. The above process can separate the interfaces of the rootstock at the splitting point to form a V-shaped interface under the action of the rising splitting blade 908 through a single splitting, and since the splitting blade 908 rotates while being lifted upwards, the bending force of the splitting part of the rootstock is prevented from acting on the bottom of the cut, effectively preventing damage to the rootstock or even breakage.

[0057] (5) Grafting of scion and rootstock: The scion treated in steps 1 and 2 and the rootstock treated in steps 3 and 4 are both at the joint support component 5. The scion clamping conveyor screw slide 304 of the scion clamping conveyor component 3 drives the scion to move downward, so that the wedge-shaped grafting head at the bottom of the scion is inserted into the V-shaped interface of the rootstock. At the same time as the scion moves down and is inserted into the interface of the rootstock, the splitting knife driving electromagnet 904 drives the splitting blade 908 to retract away from the V-shaped interface of the rootstock so that the scion can be fully inserted, thus completing the grafting of scion and rootstock. Then, the rootstock splitting pneumatic gripper 907 releases the grip, and the rootstock splitting telescopic cylinder drives the wood splitting pneumatic gripper 907 to retract. (6) Grafting clip removal and clamping: While the rootstock is being transferred and cut, the grafting clip clamping assembly 3 is driven by the workstation adjustment rotary table 10 to move to the grafting clip supply assembly 11. During the movement, the grafting clip pneumatic clip 805 of the grafting clip clamping assembly 8 opens its clamping jaws. The upper clamping cylinder 1105 drives the upper clamping push plate 1104 to move along the upper clamping guide groove 1103, pushing the grafting clip upward to provide a good grafting clip for the grafting clip clamping assembly 8. Then, the grafting clip telescopic cylinder 807 drives the clamping jaws of the grafting clip pneumatic clip 805 to clamp at the handle of the grafting clip, and the grafting clip pneumatic clip 805 is activated. The grafting clamp closes and holds the grafting clamp. The grafting clamp telescopic cylinder 807 drives the grafting clamp pneumatic clamp 805 to lift upwards. After the grafting process is completed, the workstation adjustment rotary table 10 rotates and adjusts the position, moving the clamped grafting clamp to the grafted seedling and firmly holding the grafting joint. The grafting clamp pneumatic clamp 805 releases the clamp, and the grafting clamp telescopic cylinder 807 drives the grafting clamp pneumatic clamp 805 to retract, releasing the grafting clamp so that it holds the grafting joint. The scion clamping and conveying clamp 302 is released, and the grafted seedling can be taken away.

[0058] The advantages of this embodiment are: (1) By setting up the scion cutting component 1, the scion cutting and conveying component 2, the scion clamping and conveying component 3, and the scion shearing component 4, the scion cutting, conveying, shearing, and conveying after shearing can be completed; among them, the scion clamping and conveying component 3 works with the scion shearing component 4 to complete the shearing work. After the shearing is completed, the sheared scion is also conveyed to the grafting and joining station to be joined with the sheared rootstock. After the grafting and joining is completed, the scion clamping and conveying component 3 works with the grafting clamp holding component 8 to complete the clamping and fixing of the grafting part by the grafting clamp. One component realizes multiple functions.

[0059] (2) By setting up the rootstock cutting component 6, the rootstock clamping and conveying component 7, and the rootstock clamping and splitting component 9, The rootstock is cut using the rootstock cutting assembly 6 and the rootstock clamping and conveying assembly 7. After cutting, the rootstock clamping and conveying assembly 7 transports the rootstock to the rootstock clamping and splitting assembly 9. The rootstock clamping and splitting assembly 9 performs three functions: first, clamping and shifting the cut rootstock; second, splitting the cut rootstock to create a V-shaped interface; and third, after splitting, cooperating with the scion clamping and conveying assembly 3 to complete the grafting and joining of the scion and the rootstock. Specifically, after splitting, the splitting lifting cylinder 901 lifts the splitting blade 908 upward while the splitting blade rotation servo motor 903 drives the splitting blade rotation servo motor 903 to rotate at an angle of 20-35 degrees to form a V-shaped interface at the splitting point of the rootstock. The cut scion is then transferred to the rootstock for grafting and joining. The above process can separate the joints of the rootstock into a V-shaped joint at the split by a single splitting cut under the action of the lifting splitting blade 908. Since the splitting blade 908 rotates while being lifted upwards, the bending force of the splitting part of the rootstock is prevented from acting on the bottom of the cut, effectively preventing damage to the rootstock or even breaking it.

[0060] (3) By using the grafting clip holding component 8 and the grafting clip supply component 11), the grafting clip is provided to the grafting clip holding component 8. The grafting clip holding component 8 is then moved to clamp the grafting clip at the grafting site of the grafted seedling for clamping and fixing, so as to improve the stability of the scion and rootstock after grafting and improve the survival rate.

[0061] (4) By setting up a rotating worktable 10 for adjusting the work position, the grafting clamp holding component 8 and the rootstock clamping and splitting component 9 are connected and set up. The rootstock clamping and splitting component 9 and the scion clamping and conveying component 3 are driven to rotate to complete the switching and adjustment of the work position.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent structural changes made based on the description and drawings of the present invention are included within the scope of the present invention.

Claims

1. A vegetable grafting robot based on a cleft grafting method, comprising a frame, a scion cutting assembly (1) mounted on the frame; a scion cutting and conveying assembly (2), a scion clamping and conveying assembly (3), a scion shearing assembly (4), a rootstock cutting assembly (6), a rootstock clamping and conveying assembly (7), a grafting clamping assembly (8), and a rootstock clamping and cleft cutting assembly (9), characterized in that: The aforementioned timber cutting and conveying assembly (2) is equipped with a timber cutting and conveying rotary cylinder (201), which drives the base to rotate. The base is equipped with timber cutting and conveying clamping hands (204) arranged with equal central angles and equal intervals to clamp the timber. The timber cutting and conveying clamping hands (204) are connected to the timber cutting and conveying telescopic cylinder (202) and are driven to extend forward or retract backward by the timber cutting and conveying telescopic cylinder (202). The aforementioned wood cutting assembly (1) is equipped with a wood cutting cylinder (103), and the driving end of the wood cutting cylinder (103) is equipped with wood pneumatic shears (102). The aforementioned timber clamping and conveying assembly (3) is located beside the timber cutting and conveying assembly (2). The timber clamping and conveying assembly (3) is equipped with a timber clamping and conveying rotary cylinder (301). The timber clamping and conveying rotary cylinder (301) drives the timber slide base (305) to rotate. The timber slide base (305) is connected to multiple timber clamping and conveying screw slides (304) arranged at intervals. A timber clamping and conveying vertical clamping cylinder (303) is connected to the slide of the timber clamping and conveying screw slide (304). The timber clamping and conveying vertical clamping cylinder (303) is equipped with a timber clamping and conveying clamping hand (302). The aforementioned wood shearing assembly (4) is equipped with a wood shearing rotary cylinder (401). The drive seat of the wood shearing rotary cylinder (401) is equipped with wood shearing cylinders (402) arranged at equal central angles and intervals. The drive end of the wood shearing cylinder (402) is equipped with a wood shearing tool holder (404). The wood shearing tool holder (404) is equipped with an inclined wood shearing blade (405). The inclined wood shearing blade (405) is driven to make oblique cuts on the bottom of the vertical wood. The adjacent wood shearing blades (405) have opposite inclination directions. A wood shearing baffle (406) is provided at the oblique cut of the wood by the wood shearing blade (405). The engagement lifting assembly (5) is equipped with an engagement lifting cylinder (501), and the drive end of the engagement lifting cylinder (501) is equipped with an engagement lifting platform (502). The rootstock cutting assembly (6) is equipped with rootstock cutting shears (601) driven by the rootstock cutting cylinder (602). The rootstock clamping and conveying assembly (7) is equipped with a rootstock conveying rotary cylinder (701), which drives the rootstock conveying rotary support frame (702). The rootstock conveying rotary support frame (702) is equipped with rootstock conveying clamping hands (703) arranged at equal intervals with equal central angles. The rootstock conveying clamping hands (703) are driven to extend forward or retract backward by the rootstock conveying telescopic cylinder (706). The rootstock conveying clamping hands (703) are equipped with a pair of rootstock conveying pneumatic grippers (705) for clamping the rootstock. The clamping part of the rootstock conveying pneumatic grippers (705) is equipped with a rootstock conveying clamping slot (704). The rootstock clamping and conveying assembly (7) conveys the clamped rootstock to the rootstock cutting assembly (6) for cutting. The side of the rootstock clamping and conveying assembly (7) is also provided with a workstation adjustment rotary table (10). The grafting clip holding assembly (8) is provided with a grafting clip lifting cylinder (802) connected to the drive end of the grafting clip telescopic cylinder (807), and a grafting clip pneumatic clip (805) connected to the drive end of the grafting clip telescopic cylinder (807). The grafting clip pneumatic clip (805) is a pair of grafting clip delivery clamping hands (804) that clamp the grafting clip. The rootstock clamping and splitting assembly (9) is equipped with a splitting blade (908). The splitting blade (908) is connected to the splitting drive electromagnet (904) via a splitting electromagnetic connecting rod (906). A return spring (905) is provided on the splitting electromagnetic connecting rod (906). The splitting electromagnetic connecting rod (906) is located at the drive end of the splitting rotary servo motor (903) and is driven to rotate by the splitting rotary servo motor (903). The splitting rotary servo motor (903) is located on the splitting lifting cylinder ( The drive end of the splitting lifting cylinder (901) is driven to lift; the splitting blade (908) is provided with a pneumatic gripper (907) for splitting the rootstock, the pneumatic gripper (907) for splitting the rootstock is located at the drive end of the pneumatic gripper (907), a pair of rootstock splitting grippers (9010) of the pneumatic gripper (907), and a rootstock gripper sleeve (909) is provided at the corresponding position of the rootstock splitting gripper sleeve (9010), and a V-shaped groove is formed at the top of the rootstock gripper sleeve (909); The workstation adjustment rotary table (10) is equipped with a workstation adjustment drive cylinder (1001); the workstation adjustment drive cylinder (1001) drives the rotary table (1002) to rotate; the rotary table (1002) is equipped with a grafting clip holding assembly (8) and a grafting clip holding assembly (8) set at a 180-degree angle; the rotary table (1002) rotates to change the position of the grafting clip holding assembly (8) and the grafting clip holding assembly (8); The workstation adjustment rotary worktable (10) is provided with a grafting clamp supply assembly (11) on the side. The grafting clamp supply assembly (11) is provided with an upper clamping cylinder (1105), and an upper clamping guide groove (1103) is provided above the upper clamping cylinder (1105). The driving end of the upper clamping cylinder (1105) is connected to the upper clamping push plate (1104), which moves along the upper clamping guide groove (1103) to push the grafting clamp to rise and provide a grafting clamp to the grafting clamp holding assembly (8).

2. The vegetable grafting robot based on the cleft grafting method according to claim 1, characterized in that: The upper side of the rootstock cutting cylinder (602) is provided with a rootstock cutting pneumatic gripper (603), and the rootstock cutting pneumatic gripper (603) drives a pair of rootstock cutting clamping hands (605). The clamping part of the rootstock cutting clamping hands (605) is provided with a rootstock cutting clamping slot (604).

3. The vegetable grafting robot based on the cleft grafting method according to claim 1, characterized in that: The center of the connecting support platform (502) is provided with a nutrient pot anti-slip groove (503).

4. The vegetable grafting robot based on the cleft grafting method according to claim 1, characterized in that: The clamping part of the grafting clamp conveying clamp (804) is provided with a grafting clamp clamping groove (803), which accommodates the clamping handle of the grafting clamp.

5. The vegetable grafting robot based on the cleft grafting method according to claim 1, characterized in that: The aforementioned rootstock splitting telescopic cylinder is mounted on the splitting worktable (902), and the splitting worktable (902) and the splitting lifting cylinder (901) are connected together and mounted on the rotary worktable (1002).

6. The vegetable grafting robot based on the cleft grafting method according to claim 1, characterized in that: The upper clamping guide groove (1103) is provided with a guide groove limiting rib (1101) on the inner edge.

7. The vegetable grafting robot based on the cleft grafting method according to claim 1, characterized in that: The top of the upper clamping guide groove (1103) is provided with a clamping platform seat (1102).

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