A mechanized grafting device and grafting method for oil-tea camellia

Abstract

A mechanized grafting device and grafting method for oil tea belong to the technical field of oil tea grafting equipment. The present invention solves the problems of the current manual oil tea seedling rootstock grafting method being time-consuming, labor-intensive, and difficult to achieve through mechanization. The frame of the present invention is provided with two circulating chains, one circulating chain is provided with a plurality of rootstock seedling spring sliders, and the other circulating chain is provided with a plurality of scion seedling spring sliders. The centering track is installed on the frame, and the centering track is arranged between the two circulating chains. A first movable stator is slidingly provided on the first stator slide, and the first movable stator is connected to the scion seedling clamp claw. A third movable stator and a fourth movable stator are provided on the second stator slide, and the third movable stator is connected to the seedling taking clamp manipulator, and the fourth movable stator is connected to the seedling sending clamp manipulator. The mechanized oil tea grafting device of the present invention realizes the automatic docking of oil tea rootstock seedlings and scion seedlings, thereby reducing the labor cost.

Description

Technical Field

[0001] The invention belongs to the technical field of oil-tea camellia grafting equipment, and in particular relates to a mechanized oil-tea camellia grafting device and a grafting method. Background Art

[0002] Cleft grafting is the main method of grafting tea oil seedlings. The traditional manual tea oil grafting method is to use a single-sided blade to split the pith of the rootstock in the middle, with an opening length of 10mm. The single-sided blade is used to cut the left and right sides of the scion seedling into an angle of 10°~15° and a bevel about 10mm long. The scion is inserted into the rootstock and wrapped with aluminum foil to obtain the grafted seedling. The manual tea oil seedling rootstock grafting method has a high survival rate, but it is time-consuming, labor-intensive, and difficult to achieve mechanization. As the labor cost in tea oil producing areas becomes higher and higher and it becomes more and more difficult to hire workers, tea oil planting areas urgently need a seedling grafting machinery and equipment.

[0003] In order to realize the actual needs of factory-based and mechanized grafting of oil-tea seedlings, the present application proposes a oil-tea grafting device that uses cleft grafting as the main grafting method, is suitable for precise docking of oil-tea seedlings, and realizes the grafting function to solve the above problems. Summary of the Invention

[0004] The present invention is developed to address the time-consuming and labor-intensive process of manual cleft grafting of oil-tea camellia seedlings, as well as the difficulty of mechanization. A brief overview of the present invention is provided below to provide a basic understanding of certain aspects of the present invention. It should be understood that this overview is not an exhaustive overview of the present invention. It is not intended to identify key or important aspects of the present invention, nor is it intended to limit the scope of the present invention.

[0005] The technical solution of the present invention:

[0006] Option 1: A mechanized tea oil grafting device, including a frame, a circulating chain, a spring slider for rootstock seedlings, a spring slider for scion seedlings, a centering rail, a seedling retrieval clamp robot, a seedling delivery clamp robot, a first stator slide and a second stator slide. Two circulating chains are provided on the frame, one circulating chain is provided with multiple spring sliders for rootstock seedlings, and the other circulating chain is provided with multiple spring sliders for scion seedlings. The centering rail is installed on the frame and arranged between the two circulating chains. The frame is provided with a first stator slide and a second stator slide. A first movable stator is slidingly provided on the first stator slide, and the first movable stator is connected to the scion seedling clamp claw. A third movable stator and a fourth movable stator are provided on the second stator slide. The third movable stator is connected to the seedling retrieval clamp robot, and the fourth movable stator is connected to the seedling delivery clamp robot.

[0007] Furthermore, the frame includes a first frame and a second frame, the first frame is connected to the second frame, two circulating chains and a first stator slide are installed on the first frame, the two circulating chains are arranged in parallel, and the first frame is also provided with a seedling clip feeding bin, and the seedling clip feeding bin has multiple seedling clips, and the second stator slide is installed on the second frame, and the first stator slide and the second stator slide are arranged at 90°.

[0008] Furthermore, the first moving stator is connected to a first electric cylinder, the execution end of the first electric cylinder is connected to the electric claw fixing frame of the spiky wood seedling, the electric claw fixing frame of the spiky wood seedling is provided with a spiky wood seedling set slider push block and a spiky wood seedling clamping claw, the spiky wood seedling clamping claw clamps the spiky wood seedling spring slider, the spiky wood seedling set slider push block is connected to the spiky wood seedling spring slider

[0009] Furthermore, a second movable stator and a stationary stator are provided on the first stator slide, and the first movable stator, the second movable stator and the stationary stator are arranged in sequence on the first stator slide, and a second electric cylinder is installed on the second movable stator, and the execution end of the second electric cylinder is connected to the broaching device, and the broaching device is connected to the spiking wood broaching knife, and a third electric cylinder and a fourth electric cylinder are provided on the stationary stator, and the execution end of the third electric cylinder is installed with a micro-rotating electric clamp, and the micro-rotating electric clamp is connected to the stock chopping knife through the stock knife connecting frame, and the fourth electric cylinder is connected with a stock seedling clamping claw piece, and the stock seedling clamping claw piece is used to clamp the stock seedling spring slider.

[0010] Furthermore, the seedling retrieval clamp robot includes a second rotating electric clamp and a seedling retrieval device. The second rotating electric clamp is connected to the third movable stator through the sixth electric cylinder, and the seedling retrieval device is installed at the execution end of the second rotating electric clamp.

[0011] Furthermore, the seedling clamp manipulator includes a first rotating electric clamp and a seedling clamp device. The first rotating electric clamp is connected to the fourth movable stator through the fifth electric cylinder, and the seedling clamp device is installed at the execution end of the first rotating electric clamp.

[0012] Furthermore, a centering rail connecting platform is provided on the second frame, and the centering rail is installed on the second frame through the centering rail connecting platform, and the centering rail connecting platform is arranged between the upper seedling clamp device and the seedling taking device.

[0013] Furthermore, the rootstock seedling spring slider includes a rootstock seedling clamp chain support plate, a first rubber block, a first clamping spring and a first spring shaft. The rootstock seedling clamp chain support plate is installed on the circular chain. The first spring shaft is symmetrically arranged on the rootstock seedling clamp chain support plate. The first spring shaft is fitted with a first clamping spring. Each first spring shaft is connected to a first rubber block. The rootstock seedling is clamped and fixed on the rootstock seedling clamp chain support plate by the symmetrically arranged first rubber blocks.

[0014] Furthermore, the spring slider comprises a chain support plate, a second rubber block, a second clamping spring, a second spring shaft and a slider. The chain support plate and the slider are integrally formed, and the second spring shafts are symmetrically arranged on the chain support plate, each second spring shaft is respectively fitted with a second clamping spring, and each second spring shaft is mounted with a second rubber block. The seedlings are fixed to the chain support plate by the symmetrically arranged second rubber blocks, and the slider is connected with the slider push block.

[0015] Solution 2: This method is implemented based on the mechanized grafting device for camellia oleifera described in Solution 1 and includes the following steps:

[0016] Step 1: clamp one rootstock seedling on each rootstock seedling spring slider on the circulating chain, and clamp one fringe seedling on each fringe seedling spring slider on the other circulating chain;

[0017] Step 2: Control the first electric cylinder to drive the electric claw fixing frame of the spicate wood seedling to move longitudinally, and clamp the spicate wood seedling clamp chain plate on the circulating chain through the spicate wood seedling clamp claw on the spicate wood seedling electric claw fixing frame, and connect the spicate wood seedling cover slider push block on the spicate wood seedling electric claw fixing frame with the spicate wood seedling cover slider, and then control the first moving stator to drive the electric claw fixing frame of the spicate wood seedling to move horizontally, and move the spicate wood seedling spring slider on the circulating chain to the side of the rootstock seedling spring slider through the centering track;

[0018] Step 3: During the movement of the first moving stator, the second electric cylinder on the second moving stator drives the broaching device to move longitudinally, the first moving stator drives the spicate wood seedling clamping claw to fit with the broaching device, the spicate wood broaching knife on the broaching device is located above the spicate wood seedling, and the second electric cylinder is controlled to continue to move downward, and the spicate wood seedling is broached by the spicate wood broaching knife. After broaching, the second electric cylinder drives the spicate wood broaching knife to move upward, and the first moving stator continues to drive the spicate wood seedling to move toward the side of the rootstock seedling spring slider;

[0019] Step 4: The fourth electric cylinder on the micro-rotating electric clamp drives the rootstock seedling clamp claw to move up and down, clamping the rootstock seedling clamp support chain plate on the circulating chain, and then the third electric cylinder on the fixed stator drives the micro-rotating electric clamp to move downward until the rootstock chopping knife on the micro-rotating electric clamp is above the scion seedling, and the fourth electric cylinder is continued to be controlled to move downward, and the rootstock seedling is split by the rootstock chopping knife. The micro-rotating electric clamp drives the rootstock chopping knife to rotate 0.5 degrees to open the chopping on the rootstock seedling;

[0020] Step 5: The third electric cylinder drives the rootstock splitting knife to move upward, and the first moving stator drives the scion seedling clamped on the scion seedling clamping claw to continuously move toward the rootstock seedling until the scion seedling is docked with the rootstock seedling;

[0021] Step 6: After the rootstock seedling and the scion seedling are docked, the fourth moving stator is controlled to drive the upper seedling clamp device to move horizontally, the fifth electric cylinder drives the upper seedling clamp device to move longitudinally, and then the first rotating electric clamp drives the upper seedling clamp device to take out the seedling clamp in the seedling clamp feeding bin and move it to the docking position of the rootstock seedling and the scion seedling, and the rootstock seedling and the scion seedling are tied tightly at the docking position by the seedling clamp, the third moving stator and the sixth electric cylinder are controlled to drive the seedling taking device to move horizontally and longitudinally, the second rotating electric clamp is controlled to control the swing angle of the seedling taking device, and the seedling taking device is driven to take out the grafted rootstock seedling and scion seedling and move them to the next station;

[0022] Step 7: The first moving stator and the first electric cylinder are reset, the fourth electric cylinder is reset, the rootstock seedling clamping claw and the rootstock seedling clamping claw no longer clamp the spicate seedling spring slider and the rootstock seedling spring slider, and the spicate seedling spring slider and the rootstock seedling spring slider are respectively placed on the corresponding circular chain;

[0023] Step 8: Repeat steps 1 to 7 to connect the next rootstock seedling with the scion seedling.

[0024] The present invention has the following beneficial effects:

[0025] 1. The mechanized grafting device of the oil-tea camellia tree can automatically connect the rootstock seedlings and scion seedlings of the oil-tea camellia tree by cutting, connecting and delivering the seedlings, thereby reducing the labor cost and realizing the mechanization and factoryization of the cleft-grafting grafting of the oil-tea camellia tree.

[0026] 2. The mechanized grafting device for oil tea of the present invention realizes the incision of the rootstock and the scion by means of the rootstock splitting knife and the scion broaching knife respectively, and under the action of the micro-rotating electric clamp, the rootstock splitting knife is driven to micro-move a certain angle during the splitting process, thereby increasing the opening angle of the splitting of the rootstock to a certain extent, which is more conducive to the docking of the rootstock and the scion. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of a mechanized grafting device for oil-tea camellia;

[0028] Figure 2 This is a schematic diagram of the rootstock seedling spring slider structure;

[0029] Figure 3 It is a spring slider of Suimu seedling;

[0030] Figure 4 Schematic diagram of the coordination relationship between the first stator slideway and the first movable stator, the second movable stator and the stationary stator;

[0031] Figure 5 It is a schematic diagram of a spike wood broaching knife broaching a spike wood seedling;

[0032] Figure 6This is a schematic diagram of a rootstock splitter splitting a rootstock seedling;

[0033] Figure 7 It is a schematic diagram of a circulating chain device for installing a spring slider of a suimu seedling;

[0034] Figure 8 Schematic diagram of the coordination relationship between the second stator slideway and the third and fourth movable stators;

[0035] Figure 9 It is a schematic diagram of the docking of rootstock seedlings and scion seedlings;

[0036] Figure 10 This is a schematic diagram of the rootstock seedling and the scion seedling being fixed by seedling clips after being docked.

[0037] In the figure, 1-first frame, 2-second frame, 3-circular chain, 4-rootstock seedling spring slider, 5-spike seedling spring slider, 6-centering track, 8-seedling clamp manipulator, 9-seedling clamp manipulator, 10-seedling clamp feeding bin, 11-first stator slide, 12-second stator slide, 13-first moving stator, 14-second moving stator, 15-third moving stator, 16-fourth moving stator, 17-stationary stator, 18-first electric cylinder, 19-second electric cylinder, 20-third electric cylinder, 21-fourth electric cylinder, 22-fifth electric cylinder, 23-sixth electric cylinder, 24-spike seedling electric claw fixing frame, 25-spike seedling sleeve slider push block, 26-spike seedling clamp claw, 27-pull Knife device, 28-spike wood broaching knife, 29-micro-rotating electric clamp, 30-rootstock knife connecting frame, 31-rootstock chopping knife, 32-rootstock seedling clamping claw piece, 33-first rotary electric clamp, 34-second rotary electric clamp, 35-upper seedling clamp device, 36-seedling taking device, 37-centering track connecting platform, 38-first bracket, 39-second bracket, 40-third bracket, 41-rootstock seedling clamp chain plate, 42-first rubber block, 43-first clamping spring, 44-rootstock seedling, 45-first spring shaft, 51-spike wood seedling clamp chain plate, 52-second rubber block, 53-second clamping spring, 54-spike wood seedling, 55-second spring shaft, 56-spike wood seedling sleeve slider, 57-seedling clamp. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is described below using specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0039] The connections mentioned in the present invention are divided into fixed connections and detachable connections. The fixed connections (i.e., non-detachable connections) include but are not limited to conventional fixed connection methods such as hemming, rivet connection, bonding connection, and welding connection. The detachable connections include but are not limited to conventional detachable methods such as threaded connection, snap connection, pin connection, and hinge connection. When the specific connection method is not clearly specified, it is assumed that at least one connection method can always be found among the existing connection methods to achieve the function. Those skilled in the art can choose according to their needs. For example: a welded connection is selected for a fixed connection, and a hinge connection is selected for a detachable connection.

[0040] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0041] Example 1, combined Figures 1-10 Describe this embodiment. A mechanized tea oil grafting device of this embodiment includes a frame, a circulating chain 3, a rootstock seedling spring slider 4, a scion seedling spring slider 5, a centering rail 6, a seedling retrieval clamp robot 8, a seedling delivery clamp robot 9, a first stator slide 11 and a second stator slide 12. Two circulating chains 3 are provided on the frame, one circulating chain 3 is provided with multiple rootstock seedling spring sliders 4, the other circulating chain 3 is provided with multiple scion seedling spring sliders 5, the centering rail 6 is installed on the frame, and the centering rail 6 is arranged between the two circulating chains 3. The frame is provided with a first stator slide 11 and a second stator slide 12. A first movable stator 13 is slidingly provided on the first stator slide 11, and the first movable stator 13 is connected to the scion seedling clamp claw 26. A third movable stator 15 and a fourth movable stator 16 are provided on the second stator slide 12. The third movable stator 15 is connected to the seedling retrieval clamp robot 8, and the fourth movable stator 16 is connected to the seedling delivery clamp robot 9.

[0042] The frame includes a first frame 1 and a second frame 2. Two circulating chains 3 are installed on the first frame 1. The two circulating chains 3 are arranged in parallel. One circulating chain 3 is installed with multiple rootstock seedling spring sliders 4, and the other circulating chain 3 is installed with multiple scion seedling spring sliders 5. The first frame 1 is installed with a centering rail connecting platform 37. The centering rail 6 is connected to the first frame 1 through the centering rail connecting platform 37. The centering rail 6 is arranged between the two circulating chains 3. Each circulating chain 3 is powered by a motor.

[0043] The first frame 1 is provided with a first stator slide 11, on which the first moving stator 13 and the second moving stator 14 are slidably connected, and the fixed stator 17 is fixed on the first stator slide 11. The first moving stator 13 is connected with a first electric cylinder 18, and the execution end of the first electric cylinder 18 is connected with the electric claw fixing frame 24 of the sapling. The electric claw fixing frame 24 of the sapling is respectively provided with a sapling cover slider pushing block 25 and a sapling clamping claw 26. The sapling cover slider pushing block 25 is used to be connected with the sapling cover slider 56 of the sapling spring slider 5, and plays a role in positioning the sapling spring slider 5. The sapling clamping chain plate 51 of the sapling spring slider 5 is clamped by the sapling clamping claw 26. The sapling spring slider 5 is driven to move horizontally by the first moving stator 13, and the sapling electric claw fixing frame 24 is driven to move longitudinally by the first electric cylinder 18;

[0044] A second electric cylinder 19 is mounted on the second movable stator 14. A broaching device 27 is mounted on the execution end of the second electric cylinder 19. The bottom of the broaching device 27 is connected to a tassel wood broaching knife 28. The tassel wood broaching knife 28 is driven by the second movable stator 14 to move laterally, and the second electric cylinder 19 drives the tassel wood broaching knife 28 to move longitudinally. The function of the tassel wood broaching knife 28 is to broach the tassel wood seedling 54, so that a wedge with an angle of 12° is formed on the tassel wood seedling 54.

[0045] The third electric cylinder 20 and the fourth electric cylinder 21 are installed on the fixed stator 17, and the third electric cylinder 20 is connected with a micro-rotating electric clamp 29. The executing end of the fourth electric cylinder 21 is provided with a stock seedling clamping claw piece 32, and the stock seedling clamping chain plate 41 of the stock seedling spring slider 4 is clamped by the stock seedling clamping claw piece 32. At the same time, the executing end of the micro-rotating electric clamp 29 is connected with the stock chopper 31 through the stock knife connecting frame 30. Under the action of the third electric cylinder 20, the stock chopper 31 is used to split the stock seedling 44. In the process of splitting the stock chopper 31, the stock chopper 31 is driven to rotate micro-rotate 0.5° by the micro-rotating electric clamp 29, so that the chopping on the stock seedling 44 opens a certain angle, which is conducive to the docking of the stock seedling 44 with the fringe wood seedling 54.

[0046] The first movable stator 13 is connected to the first electric cylinder 18 through the third bracket 40, the second movable stator 14 is connected to the second electric cylinder 19 through the second bracket 39, and the stationary stator 17 is connected to the third electric cylinder 20 through the first bracket 38. Under the action of each bracket, the connection stability between the electric cylinder and the stator is improved.

[0047] A second stator slide 12 is installed on the second bracket 2, and the second stator slide 12 is arranged at 90 degrees with the first stator slide 11. The second stator slide 12 is slidably connected to the third movable stator 15 and the fourth movable stator 16. The third movable stator 15 is installed with a sixth electric cylinder 23. The execution end of the sixth electric cylinder 23 is connected with the seedling taking device 36 through a second rotating electric clamp 34. The second rotating electric clamp 4 and the seedling taking device 36 form a seedling taking clamp manipulator 8. A seedling clamp feeding bin 10 is installed on the first frame 1. The seedling clamp feeding bin 10 has a plurality of seedling clamps 57. Under the action of the third movable stator 15 and the sixth electric cylinder 23, the seedling taking device 36 is driven to move horizontally and vertically. The second rotating electric clamp 4 drives the seedling taking device 36 to rotate an angle, and the grafted rootstock seedlings 44 and fringe wood seedlings 54 are moved from the grafting position to the next station;

[0048] The fourth movable stator 16 is connected to the fifth electric cylinder 22, and the execution end of the fifth electric cylinder 22 is connected to the upper seedling clamp device 35 through the first rotating electric clamp 33. The upper seedling clamp device 35 and the first rotating electric clamp 33 form a seedling clamp feeding manipulator 9. The upper seedling clamp device 35 is driven by the fourth movable stator 16 and the fifth electric cylinder 22 to realize horizontal and vertical movement. The upper seedling clamp device 35 is rotated by the first rotating electric clamp 33. The seedling clamp 57 in the seedling clamp feeding bin 10 is moved to the position where the rootstock seedling 44 and the fringe wood seedling 54 are connected by the upper seedling clamp device 35, and the rootstock seedling 44 and the fringe wood seedling 54 are tied and fixed by the seedling clamp 57.

[0049] The stock seedling spring slider 4 includes a stock seedling clamp chain support plate 41, a first rubber block 42, a first clamping spring 43 and a first spring shaft 45. The stock seedling clamp chain support plate 41 is installed on the circulating chain 3. The stock seedling clamp chain support plate 41 is symmetrically provided with the first spring shaft 45. The first spring shaft 45 is sleeved with the first clamping spring 43. Each first spring shaft 45 is connected to a first rubber block 42. The stock seedling 44 is clamped and fixed on the stock seedling clamp chain support plate 41 by the symmetrically arranged first rubber blocks 42;

[0050] The spicate seedling spring slider 5 includes a spicate seedling clamp chain plate 51, a second rubber block 52, a second clamping spring 53, a second spring shaft 55 and a spicate seedling sleeve slider 56. The spicate seedling clamp chain plate 51 and the spicate seedling sleeve slider 56 are integrally formed. The spicate seedling clamp chain plate 51 is symmetrically provided with second spring shafts 55, each second spring shaft 55 is respectively fitted with a second clamping spring 53, and each second spring shaft 55 is installed with a second rubber block 52. The spicate seedlings 54 are fixed to the spicate seedling clamp chain plate 51 through the symmetrically arranged second rubber blocks 52, and the spicate seedling sleeve slider 56 is connected with the spicate seedling sleeve slider push block 25.

[0051] Example 2, combined with Figures 1-10This embodiment describes a mechanized tea grafting method, which includes the following steps:

[0052] Step 1: clamp one rootstock seedling 44 on each rootstock seedling spring slider 4 on the circulating chain 3, and clamp one fringe seedling 54 on each fringe seedling spring slider 5 on the other circulating chain 3;

[0053] Step 2: Control the first electric cylinder 18 to drive the electric claw fixing frame 24 of the sapling to move longitudinally, and the sapling clamp chain plate 51 on the circulating chain 3 is clamped by the sapling clamp claw 26 on the sapling electric claw fixing frame 24, and the sapling cover slider push block 25 on the sapling electric claw fixing frame 24 is connected to the sapling cover slider 56, and then control the first moving stator 13 to drive the electric claw fixing frame 24 of the sapling to move horizontally, and move the sapling spring slider 5 on the circulating chain 3 through the centering track 6 to the side of the rootstock spring slider 4;

[0054] Step 3: During the movement of the first moving stator 13, the second electric cylinder 19 on the second moving stator 14 drives the broaching device 27 to move longitudinally, and the first moving stator 13 drives the spicate wood seedling clamping claw 26 to fit with the broaching device 27. The spicate wood broaching knife 28 on the broaching device 27 is located above the spicate wood seedling 54, and the second electric cylinder 19 is controlled to continue to move downward, and the spicate wood broaching knife 28 is used to broach the spicate wood seedling 54. After broaching, the second electric cylinder 19 drives the spicate wood broaching knife to move upward, and the first moving stator 13 continues to drive the spicate wood seedling 54 to move toward the side of the rootstock seedling spring slider 4;

[0055] Step 4: The fourth electric cylinder 21 on the micro-rotating electric clamp 29 drives the rootstock seedling clamping claw piece 32 to move up and down, clamping the rootstock seedling clamp chain plate 41 on the circulating chain 3, and then the third electric cylinder 20 on the fixed stator 17 drives the micro-rotating electric clamp 29 to move downward until the rootstock chopping knife 31 on the micro-rotating electric clamp 29 is located above the fringe wood seedling 54, and the fourth electric cylinder 21 is continued to be controlled to move downward, and the rootstock chopping knife 31 is used to split the rootstock seedling 44, and the micro-rotating electric clamp 29 drives the rootstock chopping knife 31 to rotate 0.5° to open the chopping on the rootstock seedling 44;

[0056] Step 5: The third electric cylinder 20 drives the rootstock splitting knife 31 to move upward, and the first moving stator 13 drives the scion seedling 54 clamped on the scion seedling clamping claw 26 to continuously move toward the rootstock seedling 44 until the scion seedling 54 is docked with the rootstock seedling 44;

[0057] Step 6: After the rootstock seedling 44 and the fringe wood seedling 54 are docked, the fourth moving stator 16 is controlled to drive the upper seedling clamp device 35 to move horizontally, and the fifth electric cylinder 22 drives the upper seedling clamp device 35 to move longitudinally, and then the upper seedling clamp device 35 is driven by the first rotating electric clamp 33 to take out the seedling clamp 57 in the seedling clamp feeding bin 10 and move it to the docking position of the rootstock seedling 44 and the fringe wood seedling 54, and the rootstock seedling 44 and the fringe wood seedling 54 are tied tightly at the docking position by the seedling clamp 57, the third moving stator 15 and the sixth electric cylinder 23 are controlled to drive the seedling taking device 36 to move horizontally and longitudinally, the second rotating electric clamp 34 is controlled to control the swing angle of the seedling taking device 36, and the seedling taking device 36 is driven to take out the grafted rootstock seedling 44 and the fringe wood seedling 54 and move them to the next station;

[0058] Step 7: The first moving stator 13 and the first electric cylinder 18 are reset, the fourth electric cylinder 21 is reset, the stock seedling clamping claw 26 and the stock seedling clamping claw 32 no longer clamp the spicate seedling spring slider 5 and the stock seedling spring slider 4, and the spicate seedling spring slider 5 and the stock seedling spring slider 4 are respectively placed on the corresponding circulating chain 3;

[0059] Step 8: Repeat steps 1 to 7 to dock the next rootstock seedling 44 with the scion seedling 54.

[0060] This embodiment is only an illustrative description of this patent and does not limit its scope of protection. Those skilled in the art may also make partial changes to it. As long as they do not exceed the spirit of this patent, they are within the scope of protection of this patent.

Claims

1. A mechanized grafting device for oil-tea camellia, characterized by: The invention comprises a frame, a circulating chain (3), a rootstock seedling spring slider (4), a spikelet seedling spring slider (5), a centering rail (6), a seedling clamp manipulator (8), a seedling clamp manipulator (9), a first stator slideway (11) and a second stator slideway (12), two circulating chains (3) are arranged on the frame, a plurality of rootstock seedling spring sliders (4) are installed on one circulating chain (3), a plurality of spikelet seedling spring sliders (5) are installed on the other circulating chain (3), a centering rail (6) is installed on the frame, and the centering rail (6) is arranged on the two stator slideways. Between the circulating chains (3), a first stator slideway (11) and a second stator slideway (12) are installed on the frame, a first movable stator (13) is slidably provided on the first stator slideway (11), the first movable stator (13) is connected to the spikewood seedling clamp claw (26), a third movable stator (15) and a fourth movable stator (16) are provided on the second stator slideway (12), the third movable stator (15) is connected to the seedling taking clamp manipulator (8), and the fourth movable stator (16) is connected to the seedling sending clamp manipulator (9); The first stator slideway (11) is further provided with a second movable stator (14) and a fixed stator (17). The first movable stator (13), the second movable stator (14) and the fixed stator (17) are sequentially arranged on the first stator slideway (11). The second movable stator (14) is provided with a second electric cylinder (19). The execution end of the second electric cylinder (19) is connected to a broaching device (27). The broaching device (27) is connected to a spiky wood broaching knife (28). The fixed stator (17) is provided with a third electric cylinder (20) and a fourth electric cylinder (21). The execution end of the third electric cylinder (20) is provided with a micro-rotating electric clamp (29). The micro-rotating electric clamp (29) is connected to a stock chopping knife (31) via a stock knife connecting frame (30). The fourth electric cylinder (21) is connected to a stock seedling clamping claw (32). The stock seedling clamping claw (32) is used to clamp the stock seedling spring slider (4).

2. The mechanized grafting device for oil-tea camellia according to claim 1, characterized in that: The frame comprises a first frame (1) and a second frame (2), the first frame (1) being connected to the second frame (2), two circulating chains (3) and a first stator slideway (11) being mounted on the first frame (1), the two circulating chains (3) being arranged in parallel, a seedling clamp feeding bin (10) being further provided on the first frame (1), a plurality of seedling clamps (57) being arranged in the seedling clamp feeding bin (10), and a second stator slideway (12) being mounted on the second frame (2), the first stator slideway (11) and the second stator slideway (12) being arranged at 90 degrees.

3. The mechanized grafting device for oil-tea camellia according to claim 2, characterized in that: The first movable stator (13) is connected to a first electric cylinder (18), an execution end of the first electric cylinder (18) is connected to a sapling electric claw fixing frame (24), a sapling cover slider push block (25) and a sapling clamping claw (26) are provided on the sapling electric claw fixing frame (24), the sapling clamping claw (26) clamps the sapling spring slider (5), and the sapling cover slider push block (25) is connected to the sapling spring slider (5).

4. The mechanized grafting device for oil-tea camellia according to claim 3, characterized in that: The seedling retrieval clamp manipulator (8) comprises a second rotating electric clamp (34) and a seedling retrieval device (36). The second rotating electric clamp (34) is connected to the third movable stator (15) via a sixth electric cylinder (23). The seedling retrieval device (36) is installed at the execution end of the second rotating electric clamp (34).

5. The mechanized grafting device for oil-tea camellia according to claim 4, characterized in that: The seedling clamp manipulator (9) comprises a first rotating electric clamp (33) and a seedling clamping device (35). The first rotating electric clamp (33) is connected to the fourth movable stator (16) via a fifth electric cylinder (22). The seedling clamping device (35) is installed at the execution end of the first rotating electric clamp (33).

6. The mechanized grafting device for oil-tea camellia according to claim 5, characterized in that: A centering rail connecting platform (37) is provided on the second frame (2), and the centering rail (6) is mounted on the second frame (2) via the centering rail connecting platform (37). The centering rail connecting platform (37) is arranged between the upper seedling clamp device (35) and the seedling removal device (36).

7. The mechanized grafting device for oil-tea camellia according to claim 6, characterized in that: The rootstock seedling spring slider (4) comprises a rootstock seedling clamp chain support plate (41), a first rubber block (42), a first clamping spring (43) and a first spring shaft (45). The rootstock seedling clamp chain support plate (41) is installed on the circulating chain (3). The rootstock seedling clamp chain support plate (41) is symmetrically provided with the first spring shaft (45). The first spring shaft (45) is sleeved with the first clamping spring (43). Each first spring shaft (45) is connected to a first rubber block (42). The rootstock seedling (44) is clamped and fixed on the rootstock seedling clamp chain support plate (41) by the symmetrically arranged first rubber blocks (42).

8. The mechanized grafting device for oil-tea camellia according to claim 7, characterized in that: The spicate sapling spring slider (5) comprises a spicate sapling clamp chain support plate (51), a second rubber block (52), a second clamping spring (53), a second spring shaft (55) and a spicate sapling sleeve slider (56). The spicate sapling clamp chain support plate (51) and the spicate sapling sleeve slider (56) are integrally formed. The spicate sapling clamp chain support plate (51) is symmetrically provided with second spring shafts (55). Each second spring shaft (55) is respectively provided with a second clamping spring (53). Each second spring shaft (55) is provided with a second rubber block (52). The spicate sapling (54) is fixed to the spicate sapling clamp chain support plate (51) through the symmetrically arranged second rubber blocks (52). The spicate sapling sleeve slider (56) is cooperatively connected with the spicate sapling sleeve slider push block (25).

9. A grafting method using a mechanized grafting device for oil-tea camellia, the method being implemented by the mechanized grafting device for oil-tea camellia according to claim 8, characterized in that: The following steps are involved: Step 1: clamping one rootstock seedling (44) on each rootstock seedling spring slider (4) on the circulating chain (3), and clamping one fringe seedling (54) on each fringe seedling spring slider (5) on the other circulating chain (3); Step 2: Control the first electric cylinder (18) to drive the sapling electric claw fixing frame (24) to move longitudinally, clamp the sapling clamp chain plate (51) on the circulating chain (3) through the sapling clamp claw (26) on the sapling electric claw fixing frame (24), connect the sapling cover slider push block (25) on the sapling electric claw fixing frame (24) with the sapling cover slider (56), and then control the first moving stator (13) to drive the sapling electric claw fixing frame (24) to move horizontally, and move the sapling spring slider (5) on the circulating chain (3) to the side of the rootstock spring slider (4) through the centering track (6); Step 3: During the movement of the first movable stator (13), the second electric cylinder (19) on the second movable stator (14) drives the broaching device (27) to move longitudinally, the first movable stator (13) drives the sapling clamping claw (26) to fit with the broaching device (27), the sapling broaching knife (28) on the broaching device (27) is located above the sapling (54), and the second electric cylinder (19) is controlled to continue to move downward, and the sapling (54) is broached by the sapling broaching knife (28). After broaching, the second electric cylinder (19) drives the sapling broaching knife to move upward, and the first movable stator (13) continues to drive the sapling (54) to move toward the side of the rootstock spring slider (4); Step 4: The fourth electric cylinder (21) on the micro-rotating electric clamp (29) drives the rootstock seedling clamping claw piece (32) to move up and down, clamping the rootstock seedling clamping chain plate (41) on the circulating chain (3), and then the third electric cylinder (20) on the fixed stator (17) drives the micro-rotating electric clamp (29) to move downward until the rootstock chopping knife (31) on the micro-rotating electric clamp (29) is located above the spike wood seedling (54), and continues to control the fourth electric cylinder (21) to move downward, and the rootstock chopping knife (31) is used to split the rootstock seedling (44), and the micro-rotating electric clamp (29) drives the rootstock chopping knife (31) to rotate 0.5°, so that the chopping on the rootstock seedling (44) is opened; Step 5: The third electric cylinder (20) drives the rootstock chopping knife (31) to move upward, and the first moving stator (13) drives the sapling (54) clamped on the sapling clamp claw (26) to continuously move toward the rootstock seedling (44) until the sapling (54) is docked with the rootstock seedling (44); Step 6: After the rootstock seedling (44) and the fringe wood seedling (54) are docked, the fourth moving stator (16) is controlled to drive the upper seedling clamp device (35) to move horizontally, the fifth electric cylinder (22) drives the upper seedling clamp device (35) to move longitudinally, and then the first rotating electric clamp (33) drives the upper seedling clamp device (35) to take out the seedling clamp (57) in the seedling clamp feeding bin (10) and move it to the docking position of the rootstock seedling (44) and the fringe wood seedling (54), and the rootstock seedling (44) and the fringe wood seedling (54) are tied to the docking position by the seedling clamp (57), the third moving stator (15) and the sixth electric cylinder (23) are controlled to drive the seedling removal device (36) to move horizontally and longitudinally, the second rotating electric clamp (34) is controlled to control the swing angle of the seedling removal device (36), and the seedling removal device (36) is driven to take out the grafted rootstock seedling (44) and the fringe wood seedling (54) and move them to the next station; Step 7: The first moving stator (13) and the first electric cylinder (18) are reset, the fourth electric cylinder (21) is reset, the sapling clamping claw (26) and the rootstock clamping claw (32) no longer clamp the sapling spring slider (5) and the rootstock spring slider (4), and the sapling spring slider (5) and the rootstock spring slider (4) are respectively placed on the corresponding circulating chain (3); Step eight: Repeat steps one to seven to dock the next rootstock seedling (44) with the spikewood seedling (54).

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