Automatic grafting machine for herbaceous crops

Abstract

This invention belongs to the field of agricultural cultivation technology, specifically relating to an automatic grafting machine for herbaceous crops. The automatic grafting machine for herbaceous crops includes: a feeding module for receiving and feeding scion seedlings and rootstock seedlings; a cutting module for cutting the fed seedlings to separate the scion and rootstock; a scion moving module for aligning the scion and rootstock; a scion-rootstock bonding module for transporting a grafting clamp to the bonding area of ​​the scion and rootstock, ensuring that the cut surfaces of the scion and rootstock are aligned, thus completing the grafting; an auxiliary alignment module for assisting in the alignment of the scion and rootstock when they are not on the same axis; and a control module for controlling the operation of the feeding module, cutting module, scion moving module, scion-rootstock bonding module, and auxiliary alignment module. This invention is characterized by its compact size and portability, low cost, ease of use, safety, high efficiency, and strong environmental adaptability.

Description

Technical Field

[0001] This invention belongs to the field of agricultural cultivation technology, specifically relating to an automatic grafting machine for herbaceous crops. Background Technology

[0002] With the upgrading and transformation of the agricultural industry in recent years, the demand for high efficiency and intelligent technology has been increasing, leading to a growing need for low-cost grafting machines with strong environmental adaptability. A review of relevant materials reveals that currently, grafting of herbaceous crops is mainly done manually, a method that faces several problems:

[0003] First, there's the safety issue: the blades used for grafting are extremely sharp, easily causing finger cuts. Second, there's the efficiency issue: even without fatigue, a skilled worker needs at least 15 seconds to graft one seedling. If faced with tens of thousands of grafting tasks, the cost of manual grafting is unimaginable. Third, there's the survival rate issue: during manual grafting, the incision angles of the scion and rootstock seedlings are inconsistent, preventing the two seedlings from fully fitting together and greatly affecting the survival rate.

[0004] For example, Chinese patent document CN202210868741.6 describes a high-efficiency horizontal automatic grafting machine, which includes a frame on which a rotary motor is mounted; four sets of cutting and bonding components are evenly installed between two turntables on the output shaft of the rotary motor; the four sets of cutting and bonding components correspond to the loading station, cutting station, wrapping station, and unloading station in sequence with the rotation direction of the output shaft of the rotary motor; the loading station is used to fix the rootstock and scion onto the grafting machine; the cutting station is used to cut the rootstock and scion; the wrapping station is used to bond the cut rootstock and scion together and wrap them with a pinching grafting clip; the unloading station is used to place the wrapped rootstock onto the conveyor belt below. Although arranging a horizontal rotating shaft on the frame and deploying four continuously rotating stations in the same direction to achieve multi-station flow coordination is beneficial for two-person operation and automatic product output, thus improving grafting efficiency, its drawbacks are that it is bulky, expensive, complex in structure, and extremely inconvenient for later maintenance, making it unsuitable for promotion to individual farmers.

[0005] For example, Chinese patent document CN201921089235.7 describes a mobile automatic grafting machine for seedlings, which includes a frame and a clamping mechanism, a cutting mechanism, and a grafting mechanism arranged sequentially from bottom to top on the frame. The grafting mechanism includes a grafting device, which includes a left grafting cup, a right grafting cup, and a grafting cylinder. The side wall of the grafting cylinder is connected to the driving end of the driving mechanism through a connector. The hinge shaft of the left and right grafting cups, which are hinged together at one end, is fixedly connected to the connector. The other ends of the left and right grafting cups are connected by a locking buckle. A conical blade is fixedly connected to the lower end of the left and right grafting cups respectively. Cutting rods are fixedly connected to both sides of the lower end of the grafting cylinder respectively. A second spring is connected to the cutting rod, and a cutting blade is fixedly connected to the bottom end of the second spring. Although the structure is simple and compact, it can automatically complete the actions of cutting the rootstock, preparing the rootstock, preparing the scion, and inserting the scion during the grafting process, greatly reducing labor intensity and achieving continuous, efficient, and environmentally friendly seedling grafting. However, its shortcomings are that it is used to graft woody crops, and its seedling clamping device is not suitable for soft and delicate herbaceous seedlings. Also, since the grafting environment is mostly humid and the seedlings carry soil, some cylinders or motors of the grafting machine will be exposed, and environmental factors will cause certain interference to the machine.

[0006] Therefore, it is very important to design a small, portable, low-cost, easy-to-use, safe, efficient and environmentally adaptable automatic grafting machine for herbaceous crops. Summary of the Invention

[0007] This invention aims to overcome the problems of poor safety, low efficiency, high labor costs, and low survival rate in existing grafting methods for herbaceous crops. It provides a small, portable, low-cost, easy-to-use, safe, efficient, and environmentally adaptable automatic grafting machine for herbaceous crops.

[0008] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0009] Automatic grafting machines for herbaceous crops include:

[0010] The feeding module is used to receive scion seedlings and rootstock seedlings and perform feeding operations.

[0011] The cutting module is used to cut the seedlings that have been loaded into the soil, separating the scion and rootstock;

[0012] The scion moving module is used to align the scion with the rootstock;

[0013] The scion-rootstock bonding module is used to transport the grafting clips, which are specially designed for grafting, to the bonding area between the scion and the rootstock, so that the cut surfaces of the scion and the rootstock fit together, thus completing the grafting process.

[0014] The alignment assistance module is used to assist in the alignment of the scion and rootstock when they are not on the same axis.

[0015] The control module, including a PLC control module and a valve island, is used to control the operation of the feeding module, the cutting module, the scion movement module, the scion bonding module, and the auxiliary positioning module.

[0016] Preferably, the feeding module includes a scion seedling feeding module and a rootstock seedling feeding module;

[0017] The scion seedling feeding module includes a button, a lever, an upper clamp A, a lower clamp A, and a first fixing member; the button, upper clamp A, and lower clamp A are connected by the lever; the first fixing member is used to fix the upper clamp A and lower clamp A; the scion seedling feeding module adopts a manual feeding method. When the lever is pressed, the operator holds the scion seedling and places it in the center of the upper clamp A and lower clamp A, and then releases the lever.

[0018] Preferably, the rootstock seedling feeding module includes a cylinder T00, a second fixing component, an upper clamp B, a lower clamp B, and a clamp releaser; the upper clamp B and the lower clamp B are connected to the cylinder T00 via the clamp releaser; the second fixing component is used to fix the cylinder T00; when the rootstock seedling feeding module feeds rootstock seedlings, the cylinder T00 is inflated to push the clamp releaser, causing the upper clamp B and the lower clamp B to loosen, the operator holds the rootstock seedling and places it in the center of the upper clamp B and the lower clamp B, and presses the confirmation switch at the same time to indicate that the feeding is complete.

[0019] Preferably, the cutting module includes a blade, a blade holder, and a cylinder T01; the blade is fixed to the blade holder; the blade holder is fixed to the cylinder T01; the cutting module drives the blade to quickly cut the seedlings by introducing air into the cylinder T01.

[0020] Preferably, the scion moving module includes a slide rail, a slider, a moving frame, an upper clamping assembly, and a cylinder T02; the cylinder T02 has a stroke of 100mm; the slider is located on the slide rail; the upper clamping assembly is fixed on the moving frame; the moving frame moves in a horizontal direction; and the moving frame is fixedly connected to the cylinder T02.

[0021] When cylinder T02 is filled with air, the moving frame moves and enters the feeding stage; after feeding is completed, cylinder T02 is released and enters the connecting stage.

[0022] The upper clamp group includes a second upper clamp A and a second upper clamp B.

[0023] Preferably, the wood-bonding module includes a clamp box, a material distribution baffle, grippers, cylinders T03, T04, and T05, a third fixing component, a fourth fixing component, and a fifth fixing component; the third fixing component is fixedly connected to cylinder T03; cylinder T03 is fixedly connected to the material distribution baffle; the fourth fixing component is fixedly connected to cylinders T04 and T05 respectively; cylinder T05 is fixed to the fifth fixing component; and the grippers are fixedly connected to cylinder T05.

[0024] The cylinder T03, together with the clamp box and the material distribution baffle, forms a material distributor, which is used to separate the grafting clamps.

[0025] The cylinder T04 drives the gripper to clamp and release the separated grafting clip.

[0026] The cylinder T05 drives the gripper to move, which is used to transport the clamped grafting clip to the cut of the scion and rootstock.

[0027] Preferably, the auxiliary positioning module includes an L-shaped swing arm, a flange, a sixth fixing component, a cylinder T06, and a positioning block; the L-shaped swing arm is fixedly connected to the positioning block; the flange is fixedly connected to the L-shaped swing arm; and the cylinder T06 is fixed to the sixth fixing component.

[0028] When cylinder T06 takes in air, it drives the L-arm to rotate. The alignment block at the end of the L-arm and the grafting clip coming from the opposite direction form an inner circle, which gathers the seedling in the circle and achieves the alignment effect.

[0029] Preferably, the PLC control module has preset running instructions programmed into it; when the program in the PLC control module runs to the output instruction, the PLC control module sends a positive level to the valve island, the corresponding valve plate on the valve island responds, and the cylinder controlled by the valve plate starts to intake air.

[0030] Preferably, the valve island is a two-position five-way valve island; the valve island is controlled by a single electric control method.

[0031] Compared with the prior art, the beneficial effects of this invention are: (1) This invention is small and portable, easy to operate, low in manufacturing cost and highly adaptable to the environment; compared with the existing grafting machine, this invention is smaller in size, with a length, width and height of only 400mm×350mm×300mm, and the cost is lower, which is very suitable for the grafting needs of individual farmers; (2) The frame and parts required by this invention are made of stainless steel to adapt to the wet and muddy grafting environment; it is made using mature sheet metal technology, which greatly reduces the manufacturing cost while meeting the installation requirements; (3) The clamps of this invention are made of PLA material and are made using 3D printing technology, which can hold the seedlings firmly without damaging them; (4) The device of this invention can meet the needs of farmers to graft and produce a large number of crop seedlings in a short period of time, avoiding missing the "window period" for agricultural planting. Attached Figure Description

[0032] Figure 1 This is a front view of the automatic grafting machine for herbaceous crops according to the present invention;

[0033] Figure 2 This is a top view of the automatic grafting machine for herbaceous crops according to the present invention;

[0034] Figure 3 This is an isometric view of an automatic grafting machine for herbaceous crops according to the present invention;

[0035] Figure 4 This is another isometric view of the automatic grafting machine for herbaceous crops according to the present invention.

[0036] Figure 5 This is a pneumatic circuit diagram for an automatic grafting machine for herbaceous crops according to the present invention;

[0037] Figure 6 This is a schematic diagram of an electrical control terminal for an automatic grafting machine for herbaceous crops according to the present invention;

[0038] Figure 7 This is a schematic diagram of a scion seedling feeding module in the present invention;

[0039] Figure 8 This is a schematic diagram of a structure of the rootstock seedling feeding module in this invention;

[0040] Figure 9 This is a schematic diagram of one structure of the segmentation module in this invention;

[0041] Figure 10 This is a schematic diagram of a structure of the wood-bonding module in this invention;

[0042] Figure 11 This is a schematic diagram of a scion moving module in the present invention;

[0043] Figure 12 This is a schematic diagram of one structure of the auxiliary orthogonal module in this invention.

[0044] In the diagram: 1. Front frame; 2. Acrylic side plate; 3. Scion feeding module; 4. Cutting module; 5. Rootstock feeding module; 6. Rear frame; 7. Scion-rootstock bonding module; 8. Scion moving module; 9. Auxiliary positioning module; 10. Back plate; 11. PLC support; 12. Air pipe fixing component; 3-1. Button; 3-2. Lever; 3-3. Upper clamp A; 3-4. Lower clamp A; 3-5. First fixing component; 4-1. Blade; 4-2. Blade fixing component; 4-3. Cylinder T01; 5-1. Cylinder T00; 5-2. Second fixing component; 5-3. Upper clamp B; 5-4. Lower clamp B; 5-5. Clamp releaser; 7-1. Clamp box; 7-2. Cylinder T03; 7-3. Third fixing component; 7-4. Material distribution baffle; 7-5. Cylinder T05; 7-6. Fifth fixing component; 7-7. Gripper; 7-8. Cylinder T04 7-9, Moving frame; 8-1, Cylinder T02; 8-2, Slider; 8-3, Second upper clamp A; 8-4, Second upper clamp B; 8-5, Slide rail; 8-6, L-shaped swing arm; 9-1, Flange; 9-2, Sixth fixing component; 9-3, Cylinder T06; 9-4, Positioning block; 9-5. Detailed Implementation

[0045] To more clearly illustrate the embodiments of the present invention, specific implementation methods will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0046] Example:

[0047] like Figures 1 to 4 As shown, the present invention provides an automatic grafting machine for herbaceous crops, comprising:

[0048] The feeding module is used to receive scion seedlings and rootstock seedlings and perform feeding operations.

[0049] The cutting module 4 is used to cut the seedlings that have been loaded into the soil, separating the scion and the rootstock;

[0050] Scion moving module 8 is used to align the scion with the rootstock;

[0051] The scion-rootstock bonding module 7 is used to transport the grafting clips, which are used for grafting, to the bonding area between the scion and the rootstock, so that the cut surfaces of the scion and the rootstock fit together and the grafting is completed.

[0052] The auxiliary alignment module 9 is used to assist in the alignment of the scion and rootstock when they are not on the same axis.

[0053] The control module, including a PLC control module and a valve island, is used to control the operation of the feeding module, the cutting module, the scion movement module, the scion bonding module, and the auxiliary positioning module.

[0054] The aforementioned feeding module, cutting module, scion moving module, scion bonding module, auxiliary positioning module, and control module are all protected by a housing. The housing includes a front frame 1, a rear frame 6, a back plate 10, and acrylic side plates 2. The front and rear frames are connected by two M6 Phillips head handles, and a PLC support 11 is located on the back of the front frame. An air pipe fixing component 12 is located on the back plate.

[0055] Furthermore, such as Figure 7 and Figure 8 As shown, the feeding module includes a scion seedling feeding module 3 and a rootstock seedling feeding module 5;

[0056] The scion seedling feeding module includes a button 3-1, a lever 3-2, an upper clamp A 3-3, a lower clamp A 3-4, and a first fixing member 3-5. The button, upper clamp A, and lower clamp A are connected by the lever. The first fixing member is used to fix the upper clamp A and lower clamp A. The scion seedling feeding module adopts a manual feeding method. When the lever is pressed, the operator holds the scion seedling and places it in the center of the upper clamp A and lower clamp A, and then releases the lever.

[0057] The rootstock seedling loading module includes a cylinder T00 5-1, a second fixing component 5-2, an upper clamp B 5-3, a lower clamp B 5-4, and a clamp releaser 5-5. The upper clamp B and lower clamp B are connected to the cylinder T00 via the clamp releaser. The second fixing component is used to fix the cylinder T00. When the rootstock seedling loading module loads rootstock seedlings, the cylinder T00 is inflated to push the clamp releaser, causing the upper clamp B and lower clamp B to loosen. The operator holds the rootstock seedling and places it in the center of the upper clamp B and lower clamp B, and simultaneously presses a confirmation switch to indicate that loading is complete. The cylinder T00 is a short-stroke cylinder.

[0058] Furthermore, such as Figure 9 As shown, the cutting module includes a blade 4-1, a blade holder 4-2, and a cylinder T01 4-3; the blade is fixed to the blade holder; the blade holder is fixed to the cylinder T01; the cutting module drives the blade to quickly cut the seedlings by supplying air to the cylinder T01. The rear stroke of the cylinder T01 is 30mm. The cylinder T01 is connected to the rear frame by M5 bolts.

[0059] Furthermore, such as Figure 10As shown, the wood bonding module includes a clamp box 7-1, a material distribution baffle 7-4, a gripper 7-8, cylinders T03 7-2, T04 7-9, T05 7-6, a third fixing component 7-3, a fourth fixing component 7-5, and a fifth fixing component 7-7. The third fixing component is fixedly connected to cylinder T03. Cylinder T03 is fixedly connected to the material distribution baffle. The fourth fixing component is fixedly connected to cylinders T04 and T05 respectively. Cylinder T05 is fixed to the fifth fixing component. The gripper is fixedly connected to cylinder T05. Cylinder T03 is a short-stroke cylinder. Cylinder T04 is a double-acting finger-type cylinder with a stroke of 16mm. Cylinder T05 has a stroke of 50mm.

[0060] The cylinder T03, together with the clamp box and the material distribution baffle, forms a material distributor for separating the grafting clips; the grafting clips are placed in the clamp box and separated one by one from the clamp box for use.

[0061] The cylinder T04 drives the gripper to clamp and release the separated grafting clip.

[0062] The cylinder T05 drives the gripper to move, which is used to transport the clamped grafting clip to the cut of the scion and rootstock and release it to achieve the final goal of scion-rootstock bonding.

[0063] Furthermore, such as Figure 11 As shown, the scion moving module includes a slide rail 8-6, a slider 8-3, a moving frame 8-1, an upper clamping assembly, and a cylinder T02 8-2; the cylinder T02 has a stroke of 100mm; the slider is located on the slide rail, which is fixedly connected to the rear frame; both the slide rail and the slider are of the MGN12C series; the upper clamping assembly is fixed to the moving frame; the moving frame moves horizontally; and the moving frame is fixedly connected to the cylinder T02.

[0064] When cylinder T02 is filled with air, the moving frame moves and enters the feeding stage; after feeding is completed, cylinder T02 is released and enters the connecting stage.

[0065] The upper clamp group includes a second upper clamp A 8-4 and a second upper clamp B 8-5.

[0066] Furthermore, such as Figure 12 As shown, the auxiliary positioning module includes an L-shaped swing arm 9-1, a flange 9-2, a sixth fixing component 9-3, a cylinder T06 9-4, and a positioning block 9-5; the L-shaped swing arm is fixedly connected to the positioning block; the flange is fixedly connected to the L-shaped swing arm; and the cylinder T06 is fixed to the sixth fixing component.

[0067] When cylinder T06 receives air, it drives the L-shaped swing arm to rotate. The alignment block at the end of the L-shaped swing arm and the oncoming grafting clip form an inner circle, encircling the seedling within the circle and achieving the alignment effect. Cylinder T06 is a swing cylinder, capable of rotating up to 90°.

[0068] The PLC control module is programmed with preset operating instructions. When the program in the PLC control module reaches the output instruction, the PLC control module sends a positive voltage level to the valve island, and the corresponding valve plate on the valve island responds, causing the cylinder controlled by that valve plate to start receiving air. This process continues, with the PLC control module (PLC controller) controlling the coordinated movement of seven cylinders. Figure 5 As shown, the valve island is a two-position five-way valve island; the valve island is controlled using a single electric control method.

[0069] like Figure 5 As shown, in this invention, the PLC control module controls the coordinated movement of seven cylinders. The seven cylinders include cylinders T00, T01, T02, T03, T04, T05, and T06. Cylinder T00 is used for automatic feeding, specifically model CDUK10_10D. Cylinder T01 is used for cutting seedlings, specifically model MXH10_25Z. Cylinder T02 is used to move the mobile frame, specifically model CJ2L10_100Z. Cylinder T03 is used to construct the classifier, specifically model MXH6_5Z. Cylinder T04 is used to drive the gripper, specifically model MHF28D1_16. Cylinder T05 is used to move the gripper, specifically model MXS8_50. Cylinder T06 is used to drive the L-shaped swing arm to rotate for auxiliary positioning. The specific model used is CRB2BS10_90.

[0070] like Figure 6The diagram shows the electrical terminal connection between the PLC controller and the valve island in this invention. A power supply of model NES-50-24 provides power to both the PLC controller and the valve island, with an input of 220V AC and an output of 24V DC. The valve island has 25 terminals, with terminal 25 being the common terminal for the other 24 terminals. The PLC controller is a "relay output type, using PNP signal input and output to control the DC load." On the PLC controller, the "COM0", "COM1", and "DC24V" terminals are connected to the "+V" power supply, and the "GND" and "XCOM" terminals are connected to the "-V" power supply. From left to right, the "X00" to "X04" terminals are connected to the start, confirm, reset, emergency stop, and exhaust switches, respectively. From left to right, the "Y00" to "Y08" terminals are connected to the valve island terminals "1", "3", "5", "7", "9", "11", "13", and "15", respectively, which control seven cylinders (i.e., cylinder T00, cylinder T01, cylinder T02, cylinder T03, cylinder T04, cylinder T05, and cylinder T06) and one exhaust port, respectively. The "25" terminal is connected to the "-V" power supply.

[0071] Furthermore, all upper and lower clamps in this invention are connected to the rear frame via M3 bolts. The first, second, and fifth fixing components are all fixedly connected to the rear frame. The slide rails and sliders in this invention are all of the MGN12C series.

[0072] The operation process of this invention is as follows:

[0073] After the device is started by pressing switch X00, cylinder T02 is inlet, and the moving frame moves the second upper clamp A and the second upper clamp B to the right. Cylinder T00 is inlet again, pushing the clamp release device forward to release the upper clamp B and the lower clamp B simultaneously. Press the button backward, hold the scion seedling in the center of the upper clamp A and the lower clamp A, and release the button and the scion seedling in sequence. Hold the rootstock seedling in the center of the upper clamp B and the lower clamp B, press the confirmation switch X01 first, and cylinder T00 releases the rootstock seedling. Then cylinder T00 releases air, the clamp release device resets, and the clamps close. After about 1 second, cylinder T01 is inlet, driving the blade to cut the scion seedling and the rootstock seedling simultaneously. After the cutting is completed, cylinder T01 releases air, and the blade resets. Then cylinder T02 releases air, the moving frame resets, and at this time, the second upper clamp A holds the cut scion, and the lower clamp... B holds the split rootstock, with the stems of the two seedlings almost on the same axis. Cylinder T03 rapidly intakes air, and one grafting clip drops through the material distribution baffle into the claws. Immediately afterward, cylinder T04 intakes air, clamping the end of the grafting clip and opening the head. At this moment, cylinder T05 intakes air, transporting the grafting clip to the scion and rootstock. Since the scion and rootstock are not necessarily on the same axis, the swing cylinder T06 intakes air, causing the adjustable positioning block connected to the L swing arm to rotate to the scion and rootstock. The arc of the end of the positioning block and the arc of the grafting clip head perfectly encircle the scion and rootstock. Finally, cylinder T04 releases air, the end of the grafting clip loosens, and the grafting clip tightly adheres the scion and rootstock. Cylinders T05 and T06 release air and reset to await the next grafting. Reset switch X01 and remove the grafted product.

[0074] In case of emergency, press the emergency stop switch X03. After the fault is repaired, press the reset switch X02. After all grafting work is completed, open the exhaust switch at the back of the machine to release the air.

[0075] Therefore, it can be seen that the "grafting machine" of this invention is simple to operate, can complete the grafting work automatically, and has strong environmental adaptability, which can meet the needs of individual farmers for a large number of grafting tasks in the early stage of agricultural production.

[0076] This invention is characterized by its compact size, portability, ease of operation, low manufacturing cost, and strong environmental adaptability. Compared to existing grafting machines, this invention is smaller in size, measuring only 400mm × 350mm × 300mm, and is more cost-effective, making it ideal for the grafting needs of individual farmers. The frame and components of this invention are made of stainless steel to adapt to damp and muddy grafting environments. It is manufactured using mature sheet metal technology, which greatly reduces manufacturing costs while meeting installation requirements. The clamps are made of PLA material using 3D printing technology, ensuring a stable grip on seedlings without damaging them. This invention can meet the needs of farmers to graft and produce large quantities of crop seedlings in a short time, preventing missed planting "window periods."

[0077] The above description is merely a detailed explanation of preferred embodiments and principles of the present invention. For those skilled in the art, there may be changes in specific implementation methods based on the ideas provided by the present invention, and these changes should also be considered within the scope of protection of the present invention.

Claims

1. An automatic grafting machine for herbaceous crops, characterized in that, include: The feeding module is used to receive scion seedlings and rootstock seedlings and perform feeding operations. The cutting module is used to cut the seedlings that have been loaded into the soil, separating the scion and rootstock; The scion moving module is used to align the scion with the rootstock; The scion-rootstock bonding module is used to transport the grafting clips, which are specially designed for grafting, to the bonding area between the scion and the rootstock, so that the cut surfaces of the scion and the rootstock fit together, thus completing the grafting process. The alignment assistance module is used to assist in the alignment of the scion and rootstock when they are not on the same axis. The control module, including a PLC control module and a valve island, is used to control the operation of the feeding module, the cutting module, the scion movement module, the scion bonding module, and the auxiliary positioning module. The auxiliary positioning module includes an L-shaped swing arm, a flange, a sixth fixing component, a cylinder T06, and a positioning block; the L-shaped swing arm is fixedly connected to the positioning block; the flange is fixedly connected to the L-shaped swing arm; and the cylinder T06 is fixed to the sixth fixing component. When cylinder T06 takes in air, it drives the L-arm to rotate. The alignment block at the end of the L-arm and the grafting clip coming from the opposite direction form an inner circle, which gathers the seedling in the circle and achieves the alignment effect.

2. The automatic grafting machine for herbaceous crops according to claim 1, characterized in that, The feeding module includes a scion seedling feeding module and a rootstock seedling feeding module; The scion seedling feeding module includes a button, a lever, an upper clamp A, a lower clamp A, and a first fixing member; the button, upper clamp A, and lower clamp A are connected by the lever; the first fixing member is used to fix the upper clamp A and lower clamp A; the scion seedling feeding module adopts a manual feeding method. When the lever is pressed, the operator holds the scion seedling and places it in the center of the upper clamp A and lower clamp A, and then releases the lever.

3. The automatic grafting machine for herbaceous crops according to claim 2, characterized in that, The rootstock seedling feeding module includes a cylinder T00, a second fixing component, an upper clamp B, a lower clamp B, and a clamp releaser. The upper clamp B and the lower clamp B are connected to the cylinder T00 via the clamp releaser. The second fixing component is used to fix the cylinder T00. When the rootstock seedling feeding module feeds rootstock seedlings, the cylinder T00 is inflated to push the clamp releaser, causing the upper clamp B and the lower clamp B to loosen. The operator holds the rootstock seedling and places it in the center of the upper clamp B and the lower clamp B, and presses the confirmation switch to indicate that the feeding is complete.

4. The automatic grafting machine for herbaceous crops according to claim 1, characterized in that, The cutting module includes a blade, a blade holder, and a cylinder T01; the blade is fixed on the blade holder; the blade holder is fixed on the cylinder T01; the cutting module drives the blade to quickly cut the seedlings by introducing air into the cylinder T01.

5. The automatic grafting machine for herbaceous crops according to claim 1, characterized in that, The scion moving module includes a slide rail, a slider, a moving frame, an upper clamping assembly, and a cylinder T02; the cylinder T02 has a stroke of 100mm; the slider is located on the slide rail; the upper clamping assembly is fixed on the moving frame; the moving frame moves in the horizontal direction; the moving frame is fixedly connected to the cylinder T02. When cylinder T02 is filled with air, the moving frame moves and enters the feeding stage; after feeding is completed, cylinder T02 is released and enters the connecting stage. The upper clamp group includes a second upper clamp A and a second upper clamp B.

6. The automatic grafting machine for herbaceous crops according to claim 1, characterized in that, The wood-bonding module includes a clamp box, a material distribution baffle, grippers, cylinders T03, T04, and T05, a third fixing component, a fourth fixing component, and a fifth fixing component; the third fixing component is fixedly connected to cylinder T03; cylinder T03 is fixedly connected to the material distribution baffle; the fourth fixing component is fixedly connected to both cylinders T04 and T05; cylinder T05 is fixed to the fifth fixing component; and the grippers are fixedly connected to cylinder T05. The cylinder T03, together with the clamp box and the material distribution baffle, forms a material distributor, which is used to separate the grafting clamps. The cylinder T04 drives the gripper to clamp and release the separated grafting clip. The cylinder T05 drives the gripper to move, which is used to transport the clamped grafting clip to the cut of the scion and rootstock.

7. The automatic grafting machine for herbaceous crops according to claim 1, characterized in that, The PLC control module is programmed with preset operating instructions. When the program in the PLC control module reaches the output instruction, the PLC control module sends a positive level to the valve island, and the corresponding valve plate on the valve island responds, and the cylinder controlled by the valve plate starts to intake air.

8. The automatic grafting machine for herbaceous crops according to any one of claims 1-7, characterized in that, The valve island is a two-position five-way valve island; the valve island is controlled by a single electric control method.

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