Grafting system and grafting method of tea oil scion and rootstock

Abstract

The invention discloses a grafting system for oil-tea scion and rootstock, comprising a rotary lifting seat and a rotating seat, at least three scion clamping devices are arranged on the rotary lifting seat, at least three rootstock clamping devices are arranged on the rotating seat, a docking station is formed between the rotary lifting seat and the rotating seat, an upper clamping device for clamping the grafting clamp at the docking point between the scion and the rootstock is arranged on the docking station, a grafted finished product conveying device is arranged below the docking station, a scion shaping device for cutting and shaping the bottom end of the scion on the scion clamping device is arranged on one side of the rotary lifting seat, and a rootstock shaping device for cutting and shaping the top end of the rootstock on the rootstock clamping device is arranged on one side of the rotating seat. A grafting method for oil-tea scion and rootstock is also disclosed, comprising the steps of: placing the scion and the rootstock; cutting; grafting: upper clamping; finished product output. The grafting system and grafting method for oil-tea scion and rootstock have the advantages of high precision, good feasibility, high efficiency and reasonable structural layout.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a grafting system and a grafting method for oil-tea scion and rootstock. Background Art

[0002] Some progress has been made in the research of grafting automation at home and abroad, but most of them are concentrated on vegetables and fruit trees. As a plant whose main production area is in China, other countries currently do not have a simple and easy-to-operate automatic grafting device for camellia oleifera. Camellia oleifera belongs to the tea family. Its scion is harder and its rootstock is softer. It is usually grafted by cleft grafting, that is, the cut scion is inserted into the rootstock with a longitudinal incision. Common follow-up treatment methods after the grafting of camellia oleifera are aluminum foil covering and grafting clamp fixation. China's patent application discloses a camellia oleifera seedling grafting machine with patent number CN201911286380.9. Although it can realize the grafting of camellia oleifera seedlings, it has the following shortcomings:

[0003] 1) The method of using aluminum foil to fix the grafted Camellia oleifera seedlings has lower accuracy and poorer feasibility than the more widely used and industrialized grafting clamps;

[0004] 2) It is not possible to carry out multiple plant operations simultaneously, that is, seedling planting, cutting and grafting operations cannot be carried out at the same time, which results in low efficiency;

[0005] 3) The translation method used to pick up seedlings takes up a large space and the structure is not reasonable.

[0006] Therefore, under the premise of ensuring the quality of grafting operation, it is in line with practical needs to provide a tea-oil grafting machine with simple and reasonable structure, low consumption cost and simple operation procedure. Summary of the invention

[0007] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a grafting system and a grafting method for tea oil scion and rootstock with high precision, good feasibility, high efficiency and reasonable structural layout.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0009] A grafting system for oil-tea scion and rootstock, comprising a lifting and rotating rotary lifting seat and a rotatable rotating seat, the rotary lifting seat is provided with at least three scion clamping devices arranged at intervals around the rotation center, the rotating seat is provided with at least three rootstock clamping devices arranged at intervals around the rotation center, a docking station is formed between the rotary lifting seat and the rotating seat, the docking station is provided with an upper clamping device for clamping the grafting clamp at the docking point between the scion and the rootstock, a grafted product conveying device is provided below the docking station, a scion cutting device for cutting and shaping the bottom end of the scion on the scion clamping device is provided on one side of the rotary lifting seat, and a rootstock cutting device for cutting and shaping the top end of the rootstock on the rootstock clamping device is provided on one side of the rotating seat.

[0010] As a further improvement of the above technical solution:

[0011] The spiky wood cutting device comprises a first cutting frame which can reciprocate and translate toward the center direction of the rotating lifting seat and a first translation driving mechanism for driving the first cutting frame to move. The first cutting frame is provided with a V-shaped cutting knife at one end facing the rotating lifting seat.

[0012] The first cutter frame is provided with a first guide rail parallel to the moving direction of the first cutter frame, a first mounting frame is slidably provided on the first guide rail, a first buffer spring is provided between the first mounting frame and the first cutter frame, and the V-shaped cutter is installed on the first mounting frame.

[0013] The scion clamping device comprises a first mounting seat fixed on a rotating lifting seat, two scion clamping blocks arranged opposite to each other on the first mounting seat, and a scion clamping driving mechanism for driving the two scion clamping blocks to open and close. The first mounting seat is provided with a V-shaped groove below the scion clamping block for inserting a V-shaped cutter.

[0014] The stock cutting device comprises a second cutting knife frame which can reciprocate and translate toward the center of the rotating seat and a second translation driving mechanism for driving the second cutting knife frame to move. The second cutting knife frame is provided with a triangular cutting knife with a triangular horizontal cross section at one end facing the rotating seat.

[0015] The second cutter frame is provided with a second guide rail parallel to the moving direction of the second cutter frame, a second mounting frame is slidably provided on the second guide rail, a second buffer spring is provided between the second mounting frame and the second cutter frame, and the triangular cutter is mounted on the second mounting frame.

[0016] The stock clamping device includes a stock clamping second driving mechanism fixed on a rotating seat, a second mounting seat, two stock clamping blocks relatively arranged on the second mounting seat, and a stock clamping first driving mechanism for driving the two stock clamping blocks to open and close. The second mounting seat is provided with a triangular groove above the stock clamping block for inserting a triangular cutter.

[0017] The upper clamping device includes an upper clamping seat located above the grafting product conveying device and a guide groove arranged on the upper clamping seat for the grafting clamp to pass through. One end of the guide groove is connected to a clamping device for supplying grafting clamps and a clamping mechanism for pushing the grafting clamps to the other end of the guide groove. The other end of the guide groove is provided with two relatively arranged opening clamping blocks and an opening clamping driving mechanism for driving the two opening clamping blocks to open and close. The opposite sides of the two opening clamping blocks are provided with limit grooves aligned with the guide groove.

[0018] The clamp supply device includes a vibrating clamp sorter for vibrating and arranging the grafting clamps so that the clamp openings of the grafting clamps face forward and an inclined slide for the grafting clamps to slide. The top end of the inclined slide is docked with the outlet of the vibrating clamp sorter, and the bottom end is docked to the top of the other end of the guide groove.

[0019] A method for grafting tea oil scion and rootstock, using the above tea oil scion and rootstock grafting system, comprises the following steps:

[0020] S1, placing scion and rootstock: placing scion on the scion clamping device on the rotating lifting seat for clamping by the scion clamping device; placing rootstock on the rootstock clamping device on the rotating seat for clamping by the rootstock clamping device;

[0021] S2, cutting: the rotary lifting seat drives the scion clamping device to rotate, and transports the scion to a position corresponding to the scion cutting device, and the scion cutting device cuts the bottom end of the scion into shape; the rotary seat drives the rootstock clamping device to rotate, and transports the rootstock to a position corresponding to the rootstock cutting device, and the rootstock cutting device cuts the top end of the rootstock into shape;

[0022] S3, grafting: the rotating lifting seat drives the scion wood clamping device to rotate, and the cut scion wood is transported to the docking station; the rotating seat drives the stock clamping device to rotate, and the cut stock is transported to the docking station; when the scion wood and the stock are aligned up and down, the rotating lifting seat moves downward, and the bottom end of the scion wood is inserted into the top end of the stock to realize grafting;

[0023] S4, upper clamp: the upper clamp device clamps the grafting clamp at the joint between the scion wood and the rootstock;

[0024] S5, finished product output: The scion clamping and placing device and the rootstock clamping and placing device release the scion and the rootstock, and the clamped scion and the rootstock fall onto the grafted finished product conveying device, and are output by the grafted finished product conveying device.

[0025] Compared with the prior art, the advantages of the present invention are:

[0026] The grafting system of oil tea scion and stock of the present invention, each scion clamping device rotates with the rotary lifting seat to convey the scion, each stock clamping device rotates with the rotary seat to convey the stock, such as the scion clamping device and the stock clamping device are all provided with three, the third scion clamping device and the third stock clamping device are when placing the scion and the stock (on seedling), the second scion clamping device and the second stock clamping device are both in cutting, the first scion clamping device and the first stock clamping device are grafted at the docking station, like this, can realize the synchronous carrying out of seedling, cutting, and grafting operation, high efficiency. The scion and the stock are conveyed by the rotating mode, the space occupied is small, the structural design is reasonable, and after cutting, it is conveyed to the same station for grafting, the time that the scion and the stock cutting wound are exposed to the air is shortened, the survival rate of the grafted seedlings is effectively improved, and the quality of the seedlings after the grafting is guaranteed to pass. The grafting clamp is used to clamp the joint between the scion wood and the rootstock, which is highly feasible. In addition, the grafting clamp can be recycled, which is more environmentally friendly. The grafting clamp is widely used, highly industrialized, and has high precision.

[0027] The grafting method of oil tea scion and stock of the present invention, each scion clamping device rotates with the rotary lifting seat to convey the scion, each stock clamping device rotates with the rotary seat to convey the stock, such as the scion clamping device and the stock clamping device are all provided with three, the third scion clamping device and the third stock clamping device are when placing the scion and the stock (on seedling), the second scion clamping device and the second stock clamping device are both in cutting shape, the first scion clamping device and the first stock clamping device are grafted at the docking station, like this, can realize the synchronous carrying out of seedling, cutting shape, and grafting operation, high efficiency. The scion and the stock are conveyed by the rotation mode, the space is small, the design is reasonable, and after cutting shape, it is conveyed to the same station for grafting, the time that the scion and the stock cutting wound are exposed to the air is shortened, the survival rate of the grafted seedlings is effectively improved, and the quality of the seedlings after the grafting is guaranteed to pass. The grafting clamp is used to clamp the joint between the scion wood and the rootstock, which is highly feasible. In addition, the grafting clamp can be recycled, which is more environmentally friendly. The grafting clamp is widely used, highly industrialized, and has high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional structural schematic diagram of the grafting system of the oil-tea scion and rootstock of the present invention from the first perspective.

[0029] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0030] Figure 3 yes Figure 1 Enlarged view of point B in the middle.

[0031] Figure 4 yes Figure 1 Enlarged view of point C in the middle.

[0032] Figure 5 It is a schematic diagram of the three-dimensional structure of the grafting system of the oil-tea scion and rootstock from a second viewing angle of the present invention.

[0033] Figure 6 yes Figure 5 Enlarged view of point D in the middle.

[0034] Figure 7 yes Figure 5 Enlarged view of point E in the middle.

[0035] Figure 8 It is a top view structural schematic diagram of the grafting system of the oil tea scion and rootstock of the present invention.

[0036] Fig. 9 yes Figure 8 Enlarged view of point F in the middle.

[0037] Fig.10 It is a schematic diagram of the main structure of the grafting system of the oil-tea scion and rootstock of the present invention.

[0038] Fig.11 The present invention is a schematic structural diagram of a scion clamping and placing device of a grafting system for tea oil scion and rootstock.

[0039] Fig.12 The present invention is a schematic structural diagram of a rootstock clamping and placing device of a grafting system for tea oil scion and rootstock.

[0040] Fig.13 It is a partial structural schematic diagram of a scion cutting device of the grafting system of tea oil scion and rootstock of the present invention.

[0041] Fig.14 It is a partial structural schematic diagram of the rootstock cutting device of the grafting system of the oil-tea scion and the rootstock of the present invention.

[0042] Fig.15 It is a structural schematic diagram of the clamp supply device of the grafting system of the oil-tea scion and rootstock of the present invention.

[0043] Fig.16 It is a structural schematic diagram of the clamping device of the upper clamping device for the oil-tea scion and the rootstock of the present invention.

[0044] Fig.17 The present invention is a schematic structural diagram of a grafting clamp of a grafting system for a tea oil scion and a rootstock.

[0045] The symbols in the figure represent:

[0046] 1. Rotating lifting seat; 11. Scion clamping device; 111. First mounting seat; 112. Scion clamping block; 113. Scion clamping driving mechanism; 114. V-shaped groove; 2. Rotating seat; 21. Stock clamping device; 211. Second mounting seat; 212. Scion clamping block; 213. Stock clamping first driving mechanism; 214. Triangular groove; 215. Stock clamping second driving mechanism; 3. Docking station; 4. Upper clamping device; 41. Upper clamping seat; 42. Guide groove; 43. Push clamping mechanism; 44. Open clamping block; 441. Limiting groove; 45. Open clamping driving mechanism; 5. Grafting clamp; 6. Grafting finished product conveying device; 7. Scion cutting device; 71. First cutting knife frame; 711. First guide rail ;712, first mounting frame;713, first buffer spring;72, first translation drive mechanism;73, V-shaped cutter;74, bracket;75, lifting frame;76, cutter lifting drive;8, rootstock cutting device;81, second cutter frame;811, second guide rail;812, second mounting frame;813, second buffer spring;82, second translation drive mechanism;83, triangular cutter;9, clamp supply device;91, vibrating clamp sorter;92, inclined slide;93, limit device;10, frame;101, spike wood turntable;102, lifting plate;103, first rotation drive mechanism;104, lifting drive mechanism;105, second rotation drive mechanism;106, visual processing device. DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] As shown in the present disclosure and claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not specifically refer to the singular, but may also include the plural. The words "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0049] Embodiment 1:

[0050] Figures 1 to 16An embodiment of the grafting system of tea oil scion and rootstock of the present invention is shown, which comprises a lifting and rotating rotary lifting seat 1 and a rotatable rotating seat 2, the rotary lifting seat 1 is provided with at least three scion clamping devices 11 arranged at intervals around the rotation center, the rotating seat 2 is provided with at least three rootstock clamping devices 21 arranged at intervals around the rotation center, a docking station 3 is formed between the rotary lifting seat 1 and the rotating seat 2, the docking station 3 is provided with an upper clamping device 4 for clamping a grafting clamp 5 at the docking point between the scion and the rootstock, a grafted product conveying device 6 is provided below the docking station 3, a scion cutting device 7 for cutting and shaping the bottom end of the scion on the scion clamping device 11 is provided on one side of the rotary lifting seat 1, and a rootstock cutting device 8 for cutting and shaping the top end of the rootstock on the rootstock clamping device 21 is provided on one side of the rotating seat 2.

[0051] The working process of the grafting system of tea oil scion and rootstock is as follows: the first step is to put the scion into the scion clamping device 11 on the rotating lifting seat 1, so that the scion clamping device 11 can clamp it; the rootstock is put into the rootstock clamping device 21 on the rotating seat 2, so that the rootstock clamping device 21 can clamp it; the second step is that the rotating lifting seat 1 drives the scion clamping device 11 to rotate, and the scion is transported to the position corresponding to the scion cutting device 7, and the scion cutting device 7 cuts the bottom end of the scion into shape; the rotating seat 2 drives the rootstock clamping device 21 to rotate, and the rootstock is transported to the position corresponding to the rootstock cutting device 8, and the rootstock cutting device 8 cuts the top end of the rootstock into shape ; In the third step, the rotating lifting seat 1 drives the scion clamping device 11 to rotate, and the cut scion is transported to the docking station 3; the rotating seat 2 drives the stock clamping device 21 to rotate, and the cut stock is transported to the docking station 3; when the scion and the stock correspond to each other up and down, the rotating lifting seat 1 moves downward, and the bottom end of the scion is inserted into the top of the stock to realize grafting; in the fourth step, the upper clamping device 4 clamps the grafting clamp 5 at the docking point of the scion and the stock; in the fifth step, the scion clamping device 11 and the stock clamping device 21 release the scion and the stock, and the clamped scion and the stock fall onto the grafted product conveying device 6, and are output by the grafted product conveying device 6.

[0052] Each scion clamping device 11 rotates with the rotating lifting seat 1 to transport the scion, and each stock clamping device 21 rotates with the rotating seat 2 to transport the stock. For example, three scion clamping devices 11 and three stock clamping devices 21 are each provided (three scion clamping devices 11 are evenly spaced around the rotation center of the rotating lifting seat 1, and three stock clamping devices 21 are evenly spaced around the rotation center of the rotating seat 2). When the third scion clamping device 11 and the third stock clamping device 21 are both placing scion and stock (planting seedlings), the second scion clamping device 11 and the second stock clamping device 21 are both cutting into shape, and the first scion clamping device 11 and the first stock clamping device 21 are grafted at the docking station 3. In this way, the operations of seedling planting, cutting into shape, and grafting can be carried out simultaneously with high efficiency. The spicate and the rootstock are conveyed in a rotating manner, which occupies a small space and has a reasonable structural design. Moreover, after cutting, the spicate and the rootstock are conveyed to the same station for grafting, which shortens the time when the cutting wounds of the spicate and the rootstock are exposed to the air, effectively improves the survival rate of the grafted seedlings, and ensures the quality of the grafted seedlings. The grafting clamp 5 is clamped at the joint of the spicate and the rootstock, which has high feasibility, and the grafting clamp can be recycled, which is more environmentally friendly, and the grafting clamp has a wide application degree, a high degree of industrialization, and a high precision.

[0053] Specifically, Fig.10 As shown, the grafting system of the oil-tea scion and rootstock also includes a frame 10, and the rotating lifting seat 1 includes a scion turntable 101 and a lifting plate 102. The scion turntable 101 is rotatably set on the frame 10, and the lifting plate 102 is lifted and lowered on the scion turntable 101. The frame 10 is provided with a first rotating drive mechanism 103 for driving the scion turntable 101 to rotate, and the scion turntable 101 is provided with a lifting drive mechanism 104 for driving the lifting plate 102 to lift and lower. The scion clamping device 11 is provided on the scion turntable 101; the rotating seat 2 is rotatably set on the frame 10, and the frame 10 is provided with a second rotating drive mechanism 105 for driving the rotating seat 2 to rotate, and the rotating seat 2 is disc-shaped.

[0054] In this embodiment, Figure 3 and Figure 6 As shown, the scion cutting device 7 includes a first cutting frame 71 that can reciprocate and translate toward the center direction of the rotating lifting seat 1 and a first translation driving mechanism 72 for driving the first cutting frame 71 to move. The first cutting frame 71 is provided with a V-shaped cutter 73 at one end facing the rotating lifting seat 1. When the scion clamping device 11 clamps the scion and moves to a position corresponding to the scion cutting device 7, the first translation driving mechanism 72 drives the first cutting frame 71 to move toward the center direction of the rotating lifting seat 1 until the V-shaped cutter 73 cuts the bottom end of the scion into a V-shaped tip for easy grafting with the rootstock. The first translation driving mechanism 72 is a pneumatic cylinder, an oil cylinder or an electric cylinder.

[0055] In this embodiment, Figure 3 , Figure 6 and Fig.13 As shown, the first cutting knife frame 71 is provided with a first guide rail 711 parallel to the movement direction of the first cutting knife frame 71, the first guide rail 711 is slidably provided with a first mounting frame 712, a first buffer spring 713 is provided between the first mounting frame 712 and the first cutting knife frame 71, and the V-shaped cutter 73 is installed on the first mounting frame 712. During the cutting process of the V-shaped cutter 73, the first mounting frame 712 has a buffering effect on the V-shaped cutter 73 under the action of the first buffer spring 713, preventing the V-shaped cutter 73 from being damaged by excessive impact force, making the V-shaped cutter 73 more durable. Specifically, the spicate cutting device 7 also includes a bracket 74 and a lifting frame 75 on the lifting bracket 74, the bracket 74 is provided with a cutter lifting drive 76 for driving the lifting frame 75 to lift, and the first cutting knife frame 71 is slidably provided on the lifting frame 75. The cutter lifting drive 76 is used to drive the lifting frame 75 to lift and lower, so as to adjust the height of the V-shaped cutter 73 on the first cutting knife frame 71.

[0056] In this embodiment, Figure 3 , Figure 6 and Fig.11 As shown, the spicate clamping device 11 comprises a first mounting seat 111 fixed on the rotary lifting seat 1, two spicate clamping blocks 112 arranged opposite to each other on the first mounting seat 111, and a spicate clamping driving mechanism 113 for driving the two spicate clamping blocks 112 to open and close. The first mounting seat 111 is provided with a V-shaped groove 114 for inserting the V-shaped cutter 73 below the spicate clamping block 112. When the spicate is cut, the bottom is inserted between the V-shaped cutter 73 and the V-shaped groove 114. After the V-shaped cutter 73 moves toward the V-shaped groove 114 and is inserted into the V-shaped groove 114, the cutting of the bottom end of the spicate is completed. The spicate clamping driving mechanism 113 drives the two spicate clamping blocks 112 to close together to clamp the spicate, and drives the two spicate clamping blocks 112 to open to release the spicate.

[0057] In this embodiment, Figure 2 and Fig.14 As shown, the stock cutting device 8 includes a second cutting knife frame 81 that can reciprocate and translate toward the center direction of the rotating seat 2 and a second translation driving mechanism 82 for driving the second cutting knife frame 81 to move. The second cutting knife frame 81 is provided with a triangular cutting knife 83 with a triangular horizontal cross section at one end facing the rotating seat 2. When the stock clamping device 21 clamps the stock and moves to a position corresponding to the stock cutting device 8, the second translation driving mechanism 82 drives the second cutting knife frame 81 to move toward the center direction of the rotating seat 2 until the triangular cutting knife 83 cuts the middle part of the top of the stock into a V-shaped opening, which is convenient for the insertion of the bottom end of the scion, and the bottom end of the scion after cutting is adapted to the V-shaped opening at the top of the stock, thereby improving the grafting effect. The second translation driving mechanism 82 is a pneumatic cylinder, an oil cylinder or an electric cylinder.

[0058] In this embodiment, Fig.14As shown, the second cutter frame 81 is provided with a second guide rail 811 parallel to the movement direction of the second cutter frame 81, a second mounting frame 812 is slidably provided on the second guide rail 811, a second buffer spring 813 is provided between the second mounting frame 812 and the second cutter frame 81, and the triangular cutter 83 is mounted on the second mounting frame 812. During the cutting process of the triangular cutter 83, the second cutter frame 81 has a buffering effect on the triangular cutter 83 under the action of the second buffer spring 813, preventing the triangular cutter 83 from being damaged by excessive impact force, so that the triangular cutter 83 is more durable.

[0059] In this embodiment, Figure 2 , Fig. 9 and Fig.12 As shown, the stock clamping device 21 includes a stock clamping second driving mechanism 215 fixed on the rotating seat 2, a second mounting seat 211, two stock clamping blocks 212 arranged relatively on the second mounting seat 211, and a stock clamping first driving mechanism 213 for driving the two stock clamping blocks 212 to open and close. The second mounting seat 211 is provided with a triangular groove 214 for inserting the triangular cutter 83 above the stock clamping block 212. When the stock is cut, the top is inserted between the triangular cutter 83 and the triangular groove 214. After the triangular cutter 83 moves toward the triangular groove 214 and is inserted into the triangular groove 214, the cutting of the bottom end of the stock is completed. The stock clamping first driving mechanism 213 drives the two stock clamping blocks 212 to close together to clamp the stock, and drives the two stock clamping blocks 212 to open to release the stock. After the grafting of the rootstock and the scion is completed, the second rootstock clamping and placing driving mechanism 215 drives the rootstock clamping and placing device 21 to move backward so that the grafted product has enough space to fall onto the grafted product conveying device 6.

[0060] In this embodiment, Figure 4 , Fig. 9 and Fig.16 As shown, the upper clamping device 4 includes an upper clamping seat 41 located above the grafting finished product conveying device 6 and a guide groove 42 provided on the upper clamping seat 41 for the grafting clamp 5 to pass through. One end of the guide groove 42 is connected to a clamping device 9 for supplying the grafting clamp 5 and a clamp pushing mechanism 43 for pushing the grafting clamp 5 to the other end of the guide groove 42. The other end of the guide groove 42 is provided with two oppositely arranged clamping blocks 44 and a clamping driving mechanism 45 for driving the two clamping blocks 44 to open and close. The opposite sides of the two clamping blocks 44 are provided with a limit groove 441 aligned with the guide groove 42. First, the clamping driving mechanism 45 drives the two clamping blocks 44 to open to a proper position, so that Fig.17After the grafting clamp 5 shown in the figure enters, the head of the grafting clamp 5 opens; secondly, the clamp supply device 9 supplies the grafting clamp 5 into the guide groove 42; then, the clamp pushing mechanism 43 pushes the grafting clamp 5 in the guide groove 42 to between the two clamp opening blocks 44, and makes the head of the grafting clamp 5 extend. At this time, the tail of the grafting clamp 5 is squeezed by the two clamp opening blocks 44, so that the head of the grafting clamp 5 opens; finally, after the head of the grafting clamp 5 is sleeved on the joint of the scion wood and the rootstock, the clamp opening drive mechanism 45 drives the two clamp opening blocks 44 to further open to release the grafting clamp 5.

[0061] In this embodiment, Figure 1 , Figure 8 and Fig.15 As shown, the clamp supply device 9 includes a vibrating clamp sorter 91 for vibrating and arranging the grafting clamp 5 so that the clamping mouth of the grafting clamp 5 faces forward and an inclined slideway 92 for the grafting clamp 5 to slide. The top end of the inclined slideway 92 is docked with the outlet of the vibrating clamp sorter 91, and the bottom end is docked to the top of the other end of the guide groove 42. The vibrating clamp sorter 91 vibrates and arranges the grafting clamp 5 so that the clamping mouth of the head of the grafting clamp 5 faces forward and is output from the outlet. The grafting clamp 5 enters the inclined slideway 92 from the outlet of the vibrating clamp sorter 91 and slides into the guide groove 42 along the inclined slideway 92. Specifically, a linear vibrator is provided between the inclined slideway 92 and the vibrating clamp sorter 91, so that the grafting clamp 5 is smoothly transported from the vibrating clamp sorter 91 to the inclined slideway 92. A limiting device 93 is provided on the inclined slideway 92 to prevent the grafting clamp 5 from stacking on the upper clamping device 4.

[0062] The docking station 3 may also be provided with a visual processing device 106. After the scion and the rootstock are located at the docking station 3, the visual processing device 106 is used to determine whether the scion and the rootstock are aligned vertically.

[0063] Embodiment 2:

[0064] A method for grafting tea oil scion and rootstock, using the tea oil scion and rootstock grafting system of embodiment 1, comprises the following steps:

[0065] S1, placing scion and rootstock: placing scion on the scion clamping device 11 on the rotating lifting seat 1, for the scion clamping device 11 to clamp; placing rootstock on the rootstock clamping device 21 on the rotating seat 2, for the rootstock clamping device 21 to clamp;

[0066] S2, cutting: the rotary lifting seat 1 drives the scion clamping device 11 to rotate, and transports the scion to a position corresponding to the scion cutting device 7, and the scion cutting device 7 cuts the bottom end of the scion into shape; the rotary seat 2 drives the stock clamping device 21 to rotate, and transports the stock to a position corresponding to the stock cutting device 8, and the stock cutting device 8 cuts the top end of the stock into shape;

[0067] S3, grafting: the rotary lifting seat 1 drives the scion clamping device 11 to rotate, and the cut scion is transported to the docking station 3; the rotary seat 2 drives the stock clamping device 21 to rotate, and the cut stock is transported to the docking station 3; when the scion and the stock are aligned up and down, the rotary lifting seat 1 moves downward, and the bottom end of the scion is inserted into the top end of the stock to realize grafting;

[0068] S4, upper clamping: the upper clamping device 4 clamps the grafting clamp 5 at the joint between the scion wood and the rootstock;

[0069] S5, finished product output: the scion clamping and placing device 11 and the rootstock clamping and placing device 21 release the scion and the rootstock, and the clamped scion and the rootstock fall onto the grafted finished product conveying device 6, and are output by the grafted finished product conveying device 6.

[0070] Each tassel wood clamping device 11 rotates with the rotary lifting seat 1 to convey the tassel wood, and each stock clamping device 21 rotates with the rotary seat 2 to convey the stock. For example, three tassel wood clamping devices 11 and stock clamping devices 21 are provided, and the third tassel wood clamping device 11 and the third stock clamping device 21 are both when placing tassel wood and stock (on seedlings), the second tassel wood clamping device 11 and the second stock clamping device 21 are both in cutting, and the first tassel wood clamping device 11 and the first stock clamping device 21 are grafted at the docking station 3, so that the seedling, cutting and grafting operations can be carried out synchronously, and the efficiency is high. The tassel wood and stock are conveyed by the rotation mode, the space is small, the structure is reasonably designed, and after cutting, they are conveyed to the same station for grafting, which shortens the time that the cutting wounds of the tassel wood and the stock are exposed to the air, effectively improves the survival rate of the grafted seedlings, and ensures that the quality of the seedlings after grafting is passed. The grafting clamp 5 is used to clamp the joint between the scion wood and the rootstock, which is highly feasible, and the grafting clamp can be recycled, which is more environmentally friendly. The grafting clamp has a wide application degree, a high degree of industrialization, and a high precision.

[0071] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A grafting system for tea oil scion and rootstock, characterized in that: The invention comprises a rotary lifting seat (1) which can be raised and lowered and rotated and a rotary seat (2) which can rotate. The rotary lifting seat (1) is provided with at least three scion clamping devices (11) which are arranged at intervals around the rotation center. The rotary seat (2) is provided with at least three rootstock clamping devices (21) which are arranged at intervals around the rotation center. A docking station (3) is formed between the rotary lifting seat (1) and the rotary seat (2). The docking station (3) is provided with an upper clamping device (4) for clamping a grafting clamp (5) at the docking point between the scion and the rootstock. A grafted finished product conveying device is provided below the docking station (3). The rotary lifting seat (6) is provided with a scion cutting device (7) for cutting and shaping the bottom end of the scion on the scion clamping device (11), and a rootstock cutting device (8) for cutting and shaping the top end of the rootstock on the rootstock clamping device (21) on one side of the rotary seat (2); the scion cutting device (7) comprises a first cutting frame (71) which can reciprocate and translate toward the center direction of the rotary lifting seat (1) and a first translation driving mechanism (72) for driving the first cutting frame (71) to move; the first cutting frame (71) is provided with a first translation driving mechanism (72) at one end facing the rotary lifting seat (1). A V-shaped cutter (73); a first guide rail (711) parallel to the movement direction of the first cutter frame (71) is provided on the first cutter frame (71); a first mounting frame (712) is slidably provided on the first guide rail (711); a first buffer spring (713) is provided between the first mounting frame (712) and the first cutter frame (71); the V-shaped cutter (73) is mounted on the first mounting frame (712); the spike wood clamping device (11) comprises a first mounting seat (111) fixed on the rotating lifting seat (1); and two spike wood clamping blocks arranged opposite to each other on the first mounting seat (111). (112) and a scion clamping drive mechanism (113) for driving the two scion clamping blocks (112) to open and close, the first mounting seat (111) is provided with a V-shaped groove (114) for inserting a V-shaped cutter (73) below the scion clamping block (112), the rootstock cutting device (8) comprises a second cutter frame (81) that can reciprocate and translate toward the center direction of the rotating seat (2) and a second translation drive mechanism (82) for driving the second cutter frame (81) to move, and the second cutter frame (81) is provided with a triangular cutter (83) with a triangular horizontal cross-section at one end facing the rotating seat (2).

2. The grafting system of tea oil scion and rootstock according to claim 1, characterized in that: The second cutting blade frame (81) is provided with a second guide rail (811) parallel to the movement direction of the second cutting blade frame (81), a second mounting frame (812) is slidably mounted on the second guide rail (811), a second buffer spring (813) is provided between the second mounting frame (812) and the second cutting blade frame (81), and the triangular cutting blade (83) is mounted on the second mounting frame (812).

3. The grafting system of tea oil scion and rootstock according to claim 2, characterized in that: The stock clamping device (21) comprises a stock clamping second driving mechanism (215) fixed on the rotating seat (2), a second mounting seat (211), two stock clamping blocks (212) arranged opposite to each other on the second mounting seat (211), and a stock clamping first driving mechanism (213) for driving the two stock clamping blocks (212) to open and close, and the second mounting seat (211) is provided with a triangular groove (214) above the stock clamping block (212) for inserting a triangular cutter (83).

4. The grafting system of tea oil tree scion and rootstock according to any one of claims 1 to 3, characterized in that: The upper clamping device (4) comprises an upper clamping seat (41) located above the grafting finished product conveying device (6) and a guide groove (42) provided on the upper clamping seat (41) for the grafting clamp (5) to pass through; one end of the guide groove (42) is butted with a clamp supply device (9) for supplying the grafting clamp (5) and a clamp pushing mechanism (43) for pushing the grafting clamp (5) toward the other end of the guide groove (42); the other end of the guide groove (42) is provided with two clamping blocks (44) arranged opposite to each other and a clamping driving mechanism (45) for driving the two clamping blocks (44) to open and close; and opposite sides of the two clamping blocks (44) are provided with a limit groove (441) aligned with the guide groove (42).

5. The grafting system of tea oil scion and rootstock according to claim 4, characterized in that: The clamp supply device (9) comprises a vibrating clamp sorter (91) for vibrating and arranging the grafting clamp (5) so that the clamping mouth of the grafting clamp (5) faces forward, and an inclined slideway (92) for the grafting clamp (5) to slide, wherein the top end of the inclined slideway (92) is connected to the outlet of the vibrating clamp sorter (91), and the bottom end is connected to the upper side of the other end of the guide groove (42).

6. A method for grafting tea oil scion and rootstock, characterized in that: The grafting system of the tea oil scion and rootstock according to any one of claims 1 to 5 is used, comprising the following steps: S1, placing scion wood and rootstock: placing scion wood on the scion wood clamping and placing device (11) on the rotating lifting seat (1) for clamping by the scion wood clamping and placing device (11); placing rootstock on the rootstock clamping and placing device (21) on the rotating seat (2) for clamping by the rootstock clamping and placing device (21); S2, cutting: the rotating lifting seat (1) drives the scion clamping device (11) to rotate, and transports the scion to a position corresponding to the scion cutting device (7), and the scion cutting device (7) cuts the bottom end of the scion into shape; the rotating seat (2) drives the rootstock clamping device (21) to rotate, and transports the rootstock to a position corresponding to the rootstock cutting device (8), and the rootstock cutting device (8) cuts the top end of the rootstock into shape; S3, grafting: the rotating lifting seat (1) drives the scion clamping device (11) to rotate, and transports the cut scion to the docking station (3); the rotating seat (2) drives the rootstock clamping device (21) to rotate, and transports the cut rootstock to the docking station (3); when the scion and the rootstock are aligned with each other, the rotating lifting seat (1) moves downward, and the bottom end of the scion is inserted into the top end of the rootstock to achieve grafting; S4, upper clamping: the upper clamping device (4) clamps the grafting clamp (5) at the joint between the scion and the rootstock; S5, finished product output: the scion clamping and placing device (11) and the rootstock clamping and placing device (21) release the scion and the rootstock, and the clamped scion and the rootstock fall onto the grafted finished product conveying device (6), and are output by the grafted finished product conveying device (6).

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