Grafted seedling clamping device

Abstract

The present application relates to a kind of grafting seedling clamping devices, including negative pressure generating device and multiple seedling branches;Multiple seedling branches are respectively connected to negative pressure generating device;Each seedling branch is equipped with suction port and the gas path that is connected to negative pressure generating device, suction port is equipped at the end of gas path, and gas path is equipped with gas path opening and closing device in;Wherein, when suction port is blocked by grafting seedling that is adsorbed, gas path opening and closing device is connected to gas path;When suction port is connected, gas path opening and closing device is cut off gas path under the action of negative pressure generating device.Unseedling seedling branch suction port is in the state of being connected, and gas path opening and closing device is cut off gas path under the action of negative pressure generating device, avoid negative pressure generating device gas leakage, ensure that the seedling branch that is being seeded has sufficient vacuum suction force, so as to effectively adsorb grafting seedling, without needing to install negative pressure generating device independently on each seedling branch, will not cause cost waste.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural intelligent equipment, in particular to a grafting seedling clamping device. BACKGROUND

[0002] In the automatic grafting process of vegetable seedlings, grafting seedlings usually need to go through multiple clamping processes.

[0003] The prior art usually uses mechanical clamping or air suction to clamp the grafting seedlings.

[0004] In the mechanical clamping, due to the individual differences in the growth process of plants, it is difficult to ensure the consistency of the diameters of the grafting seedlings, so the general clamping mechanism is easy to damage the stems of the grafting seedlings during clamping, resulting in a decrease in the survival rate after grafting.

[0005] In the air suction, a negative pressure generating device is connected to the upper seedling branches, and the grafting seedlings are adsorbed by the adsorption ports of the upper seedling branches, which can reduce the opportunity of mechanical damage to the grafting seedlings and to a certain extent, plays a role in protecting the grafting seedlings.

[0006] The air suction clamping has the following technical problems:

[0007] When multiple grafting seedlings are operated at the same time, if multiple upper seedling branches share one negative pressure generating device, the branches that are not grafted will leak the gas of the negative pressure generating device, resulting in insufficient vacuum suction of the branches that are being grafted, and the grafting seedlings cannot be effectively adsorbed, and if a negative pressure generating device is independently installed on each upper seedling branch, it will cause cost waste. SUMMARY

[0008] In view of the problems existing in the prior art, the purpose of the present application is to provide a grafting seedling clamping device, multiple upper seedling branches can share one negative pressure generating device, and the grafting seedlings can be effectively adsorbed.

[0009] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0010] A grafting seedling clamping device, comprising a negative pressure generating device and a plurality of upper seedling branches;

[0011] The plurality of upper seedling branches are respectively connected to the negative pressure generating device;

[0012] Each upper seedling branch is provided with an adsorption port and a gas path connected to the negative pressure generating device, the adsorption port is arranged at one end of the gas path, and a gas path opening and closing device is arranged in the gas path;

[0013] When the adsorption port is blocked by the adsorbed grafting seedlings, the gas path opening and closing device is connected to the gas path; when the adsorption port is connected, the gas path opening and closing device is disconnected from the gas path under the action of the negative pressure generating device.

[0014] Furthermore, the air path opening and closing device includes a conical groove vertically arranged in the air path and a small ball that moves up and down in the conical groove. The cross-section of the conical groove gradually increases from top to bottom, and the diameter of the small ball is larger than the top notch of the conical groove and smaller than the bottom notch of the conical groove.

[0015] Furthermore, a limiting rod is provided in the air path below the conical groove, and the ball is provided on the limiting rod. A gap is left between the limiting rod and the inner wall of the air path, and the gap is smaller than the diameter of the ball.

[0016] Furthermore, a positioning block is provided at the adsorption port, and the adsorption port is located in the middle of the positioning block.

[0017] Furthermore, a seedling-supporting limiting plate is provided below the positioning block, and both the positioning block and the seedling-supporting limiting plate are provided with V-shaped openings, and the two V-shaped openings face the same direction.

[0018] Furthermore, a mounting plate is provided on one side of the upper seedling branch, and two clamping fingers, a driving device and a distance adjustment device are provided on the mounting plate;

[0019] The driving devices are respectively connected to the two clamping fingers and are used to drive the two clamping fingers to move toward each other;

[0020] The distance adjustment device is arranged between the two clamping fingers and is used to adjust the distance between the two clamping fingers according to the diameter of the grafted seedling.

[0021] Furthermore, the distance adjustment device includes a triangular limit block, a touch bar is provided above the triangular limit block, the triangular limit block is fixed to the touch bar, the touch bar is slidably connected to the mounting plate, each clamping finger is provided with a recessed portion, the recessed portions of the two clamping fingers form a triangular space, and the triangular limit block is located in the triangular space.

[0022] Furthermore, the mounting plate is provided with a reset device, which is connected to the triangular limit block and is used to drive the triangular limit block to reset.

[0023] Furthermore, the mounting plate is provided with a guide groove, the touch bar is slidably connected to the guide groove, and the reset device includes an air inlet hole provided at the tail of the guide groove.

[0024] Furthermore, the driving device is a parallel air gripper.

[0025] In general, the present invention has the following advantages:

[0026] When seedlings are being planted, if the suction port is blocked by the grafted seedlings, the air path opening and closing device opens the air path, and under the action of the negative pressure generating device, each seedling-planting branch can absorb the grafted seedlings through the suction port. When some of the seedling-planting branches have not been planted, since the suction ports of these unplanted branches are not blocked by the grafted seedlings, the suction ports are in a conducting state, and the air path opening and closing device cuts off the air path under the action of the negative pressure generating device to prevent gas leakage from the negative pressure generating device, ensuring that the seedling-planting branch has sufficient vacuum suction, thereby being able to effectively absorb the grafted seedlings. There is no need to independently install a negative pressure generating device on each seedling-planting branch, which will not cause cost waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the grafted seedling clamping device of the present invention;

[0028] Figure 2 It is a side view structural schematic diagram of the grafted seedling positioning and loading mechanism of the present invention;

[0029] Figure 3 This is a front structural schematic diagram of the grafted seedling positioning and loading mechanism of the present invention;

[0030] Figure 4 This is a schematic diagram of the grafted seedling positioning and seedling placement mechanism of the present invention;

[0031] Figure 5 This is a schematic diagram of the synchronous operation of multiple grafted seedlings by the grafted seedling positioning and planting mechanism of the present invention;

[0032] Figure 6 It is a structural schematic diagram of the grafted seedling clamping mechanism of the present invention;

[0033] Figure 7a It is a schematic diagram of the three-dimensional structure of the touch bar and the triangular limit block of the present invention;

[0034] Figure 7b A schematic structural diagram of the touch bar and the triangular limit block of the present invention from another perspective;

[0035] Figure 8 It is a structural schematic diagram of the guide plate of the present invention;

[0036] Figure 9a This is a schematic diagram of the grafted seedling clamping mechanism of the present invention being opened;

[0037] Figure 9b This is a schematic diagram of the closed operation of the grafted seedling clamping mechanism of the present invention;

[0038] Figure 10 This is a schematic diagram of the grafted seedling clamping mechanism of the present invention clamping the stem;

[0039] Figure 11This is a schematic diagram of the cooperative operation principle of the grafted seedling positioning and loading mechanism and the grafted seedling clamping mechanism of the present invention.

[0040] In the picture:

[0041] 1-grafted seedling positioning and raising mechanism; 2-grafted seedling clamping mechanism; 3-negative pressure generating device; 4-positioning block; 5-small ball; 6-air path sealing plate; 7-limiting rod; 8-grafted seedling; 9-air path multi-channel conversion piece; 10-parallel air claw; 11-clamping finger; 12-touch bar; 121-triangular limiting block; 13-guide plate; 14-electromagnet; 15-mounting plate; 16-seedling supporting and limiting plate; 17-guide groove; 18-air inlet. DETAILED DESCRIPTION

[0042] The present invention will be described in further detail below.

[0043] like Figure 1-Figure 5 As shown, a grafted seedling clamping device includes a grafted seedling positioning and loading mechanism 1 and a grafted seedling clamping mechanism 2; the grafted seedling positioning and loading mechanism 1 is arranged in front of the grafted seedling clamping mechanism 2 in the feeding direction.

[0044] The grafted seedling positioning and placing mechanism 1 comprises a negative pressure generating device 3 and a plurality of placing branches;

[0045] The negative pressure generating device 3 is connected to the plurality of upper seedling branches respectively through the gas path multi-channel conversion member 9;

[0046] Each upper seedling branch is provided with an adsorption port and an air path connected to the negative pressure generating device 3. The adsorption port is located at one end of the air path, and an air path opening and closing device is provided in the air path.

[0047] When the seedlings are being planted, when the suction port is blocked by the grafted seedlings 8 being adsorbed, the air path opening and closing device opens the air path, and under the action of the negative pressure generating device 3, the upper seedling branches can adsorb the grafted seedlings 8 through the suction port. When some of the upper seedling branches have not been planted, since the suction ports of these upper seedling branches that have not been planted are not blocked by the grafted seedlings 8, the suction ports are in a conducting state, and the air path opening and closing device cuts off the air path under the action of the negative pressure generating device 3, preventing gas leakage from the negative pressure generating device 3, ensuring that the upper seedling branches that are being planted have sufficient vacuum suction, thereby being able to effectively adsorb the grafted seedlings 8, without the need to independently install a negative pressure generating device 3 on each upper seedling branch, which does not cause cost waste.

[0048] Specifically, the air path opening and closing device includes a tapered groove vertically arranged in the air path and a small ball 5 that moves up and down in the tapered groove. The tapered groove is preferably circular in cross-section, gradually increasing in size from top to bottom. The ball 5 is made of a lightweight foam material, with a diameter larger than the top notch of the tapered groove and smaller than the bottom notch of the tapered groove.

[0049] Under the action of the negative pressure generating device 3, the ball 5 is attracted upward to the top of the conical groove and closes the conical groove, thereby blocking the air path; when the adsorption port is blocked by the grafted seedling 8, there is no moving airflow in the air path between the ball 5 and the adsorption port, and the ball 5 falls to the bottom of the conical groove under the action of gravity, thereby connecting the air path between the negative pressure generating device 3 and the adsorption port. Under the action of the negative pressure generating device 3, the grafted seedling 8 is firmly adsorbed on the adsorption port.

[0050] A stopper rod 7 is installed within the air path below the conical groove, and the ball 5 is positioned on this stopper rod 7. A gap is left between the stopper rod 7 and the inner wall of the air path, allowing airflow to pass through this gap and draw the ball 5 to the top of the conical groove. This stopper rod 7 reduces the area of ​​airflow within the air path, enhancing the negative pressure attraction effect on the ball 5. Furthermore, the gap is smaller than the diameter of the ball 5, preventing it from escaping from the suction port. When the ball 5 falls back from the top of the conical groove, it rests on the stopper rod 7 below, ensuring that the ball 5 is attracted the next time vacuum suction is used.

[0051] The upper seedling branch includes a vertical branch and a horizontal branch, and the upper and lower ends of the vertical branch are respectively connected to the negative pressure generating device 3 and the horizontal branch. The tapered groove and the limit rod 7 are arranged in the vertical branch, and the suction port is arranged at the front end of the horizontal branch.

[0052] A positioning block 4 for conveniently positioning the grafted seedling 8 is provided at the suction port, and the suction port is located in the middle of the positioning block 4.

[0053] A seedling support plate 16 is located below the horizontal branch. Both the horizontal branch's positioning block 4 and the support plate 16 have V-shaped openings, with the suction port located in the middle of the horizontal branch's V-shaped opening. The two V-shaped openings are spaced apart and face the same direction. When the upper and lower stems of the grafted seedling 8 abut against the two V-shaped openings and slide along the inner walls of the V-shaped openings to the middle of the V-shaped openings, the grafted seedling 8 is suctioned and held in an upright position, facilitating subsequent clamping and transfer.

[0054] The upper and lower ends of the suction port are respectively provided with air path sealing pieces 6 to help strengthen the sealing of the suction port. Preferably, the air path sealing pieces 6 are made of thin rubber material.

[0055] like Figure 6 As shown, the grafted seedling clamping mechanism 2 includes a mounting plate 15, two clamping fingers 11, a driving device and a distance adjustment device. The mounting plate 15 is arranged on one side of the upper seedling branch; the driving device is respectively connected to the two clamping fingers 11, for driving the two clamping fingers 11 to move toward each other to clamp the grafted seedling 8; the distance adjustment device is arranged between the two clamping fingers 11, for adjusting the distance between the two clamping fingers 11 according to the diameter of the grafted seedling 8.

[0056] Specifically, the driving device is a parallel air gripper 10 provided on the mounting plate 15 , which can drive two gripping fingers 11 to move toward or away from each other.

[0057] like Figure 7a 、 Figure 7b 、 Figure 8 As shown, the distance adjustment device includes a triangular limit block 121, and a touch bar 12 made of a magnet-adsorbable material is provided above the triangular limit block 121. The triangular limit block 121 is fixed to the touch bar 12, and the mounting plate 15 is provided with a guide groove 17. The touch bar 12 is slidably connected to the guide groove 17. The side of each clamping finger 11 is provided with a half-triangle-shaped recessed portion. The recessed portions of the two clamping fingers 11 are arranged opposite to each other and can be combined to form a triangular space. The triangular limit block 121 is located in the triangular space.

[0058] When the touch bar 12 contacts the grafted seedling 8, it slides along the guide groove 17, driving the triangular stopper 121 to move backward along the guide groove 17. The triangular stopper 121 then influences the opening and closing of the triangular space formed by the recessed portions of the two clamping fingers 11, thereby enabling the grafted seedling clamping mechanism 2 to adapt to various diameters of grafted seedlings 8. An electromagnet 14 is provided on the mounting plate 15. When the touch bar 12 is retracted (i.e., the grafted seedling clamping mechanism 2 is advanced into position), the electromagnet 14 is energized to attract and secure the touch bar 12.

[0059] Mounting plate 15 is provided with a guide plate 13, and a guide slot 17 is provided in guide plate 13. Mounting plate 15 is also equipped with a reset device, which is connected to triangular stopper 121 and is used to reset triangular stopper 121. Specifically, the reset device includes an air inlet 18 located at the rear of guide slot 17. Both mounting plate 15 and guide plate 13 are made of magnetically insulating material.

[0060] The theoretical feeding position of the grafted seedling clamping mechanism 2 is when the clamping fingers 11 are completely closed and the front end of the touch bar 12 reaches the center line of the grafted seedling positioning mechanism 1. Figure 3 As shown. After the negative pressure generating device 3 in the grafted seedling positioning and raising mechanism 1 is started, the ball 5 for controlling the opening and closing of the air path rises to the top notch of the conical groove set inside the vertical branch of the upper seedling branch under the action of the negative pressure airflow, and the negative pressure air path is now closed. After the grafted seedling 8 is raised, the adsorption port of the horizontal branch of the upper seedling branch is blocked by the grafted seedling 8 and the air path sealing plate 6. At this time, there is no moving airflow in the air path inside the upper seedling branch, and the ball 5 for controlling the opening and closing of the air path falls on the limiting rod 7 below the conical groove under the action of gravity. At this time, the air path inside the upper seedling branch is opened, and the grafted seedling 8 is adsorbed on the adsorption port of the grafted seedling positioning and raising mechanism 1. If there are multiple seedlings to be raised at this time, the negative pressure air paths of other upper seedling branches that have not been raised are still blocked by the ball 5 for controlling the opening and closing of the air path, and no leakage of the negative pressure airflow will occur.

[0061] After the seedlings are placed, the grafted seedling clamping mechanism 2 is fed to the center line of the grafted seedling positioning and placing mechanism 1 when the clamping fingers 11 are fully opened. During the feeding process, the touch bar 12 is blocked by the stems of the grafted seedlings 8, and will retreat along the guide groove 17 of the guide plate 13 with the triangular limit block 121. After retreating to the right position, the electromagnet 14 is energized to adsorb and fix the touch bar 12.

[0062] The parallel air gripper 10 drives the two clamping fingers 11 to move toward each other, and the two clamping fingers 11 gradually close, and the recessed parts on the sides of the two clamping fingers 11 form a triangular space surrounding the triangular limit block 121.

[0063] Affected by the retreat of the touch bar 12 , the triangular limit block 121 will limit the closing degree of the two clamping fingers 11 , so that a certain clamping gap is left between the two clamping fingers 11 to match the diameter of the stem of the grafted seedling 8 .

[0064] like Figure 7a 、 Figure 7b As shown, the triangular stopper 121 is preferably an isosceles triangle with a vertex angle a. The vertex angles of the triangular stopper 121 and the triangular space are both facing the rear mounting plate 15.

[0065] like Figure 9a 、 Figure 9b 、 Figure 10 As shown, if the diameter of the grafted seedling 8 is b, the touch bar 12 retreats a distance of b / 2. Under the influence of the retreat of the triangular limit block 121, a distance of b / 2 is left between the two clamping fingers 11 and the central axis of the triangular limit block 121, thereby generating a clamping gap with a width of b between the two clamping fingers 11, which can automatically match the diameter of the stem of the grafted seedling 8.

[0066] like Figure 11 As shown, taking the grafted seedling 8 with a diameter of 3mm and a 90° vertex angle a of the triangular limit block 121 as an example, during the feeding process, the touch bar 12 will retreat 1.5mm due to the obstruction of the stem of the grafted seedling 8. At this time, when the two clamping fingers 11 are closed towards each other, a 3mm clamping gap will appear due to the influence of the retreat of the touch bar 12, which matches the diameter of the grafted seedling 8. To ensure the clamping force, the actual vertex angle a of the triangular limit block 121 should be slightly smaller than 90°. When the clamped grafted seedling 8 enters other links of the automatic operation, the two clamping fingers 11 move back to back and open, the electromagnet 14 is powered off, and positive pressure air is injected into the air inlet 18 on the guide plate 13 to push the touch bar 12 back to the origin.

[0067] The present invention has the following advantages:

[0068] 1. The ball 5 for controlling the opening and closing of the air circuit is used to control the opening and closing of the air circuit according to the air flow principle. When multiple grafted seedlings 8 are operated synchronously, the same vacuum generating device can be used. The negative pressure holding force of each grafted branch is not affected by whether the grafted seedlings are grafted or not.

[0069] 2. After the seedling stem contacts the touch bar 12, the touch bar 12 retreats to form a certain clamping gap, which limits the clamping width of the clamping fingers 11, thereby achieving the adaptability of the clamping width of the clamping fingers 11 to the diameter of the grafted seedling 8 stem, avoiding damage to the grafted seedling 8 stem.

[0070] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A grafted seedling clamping device, characterized in that: It includes a negative pressure generating device and multiple seedling branches; The plurality of upper seedling branches are respectively connected to the negative pressure generating devices; Each upper seedling branch is provided with an adsorption port and an air path connected to a negative pressure generating device. The adsorption port is provided at one end of the air path, and an air path opening and closing device is provided in the air path. When the adsorption port is blocked by the adsorbed grafted seedling, the air path opening and closing device opens the air path; when the adsorption port is open, the air path opening and closing device cuts off the air path under the action of the negative pressure generating device; A mounting plate is provided on one side of the upper seedling branch, on which two clamping fingers, a driving device and a distance adjustment device are provided; The driving devices are respectively connected to the two clamping fingers and are used to drive the two clamping fingers to move toward each other; The distance adjustment device is provided between the two clamping fingers and is used to adjust the distance between the two clamping fingers according to the diameter of the grafted seedling; The distance adjustment device includes a triangular limit block, a touch bar is provided above the triangular limit block, the triangular limit block is fixed to the touch bar, the touch bar is slidably connected to the mounting plate, each clamping finger is provided with a recessed portion, the recessed portions of the two clamping fingers together form a triangular space, and the triangular limit block is located in the triangular space; The mounting plate is provided with a reset device, which is connected to the triangular limit block and is used to drive the triangular limit block to reset; The mounting plate is provided with a guide groove and an electromagnet, the touch bar is slidably connected to the guide groove, and the reset device includes an air inlet hole provided at the tail end of the guide groove; The driving device is a parallel air gripper; After the seedlings are placed, the grafted seedling clamping mechanism is fed to the center line of the grafted seedling positioning and placing mechanism with the clamping fingers fully opened. During the feeding process, the touch bar is blocked by the stem of the grafted seedling and retreats along the guide groove of the guide plate with the triangular limit block. After retreating to the right position, the electromagnet is energized to adsorb and fix the touch bar; The parallel air grippers drive the two gripping fingers to move toward each other, and the two gripping fingers gradually close. The concave parts on the sides of the two gripping fingers form a triangular space surrounding the triangular limit block; Affected by the retreat of the touch bar, the triangular limit block limits the closing degree of the two clamping fingers, so that a certain clamping gap is left between the two clamping fingers to match the diameter of the grafted seedling stem.

2. A grafted seedling clamping device according to claim 1, characterized in that: The air path opening and closing device includes a conical groove vertically arranged in the air path and a small ball that moves up and down in the conical groove. The cross-section of the conical groove gradually increases from top to bottom. The diameter of the small ball is larger than the top notch of the conical groove and smaller than the bottom notch of the conical groove.

3. A grafted seedling clamping device according to claim 2, characterized in that: A limit rod is provided in the air path below the conical groove, and a small ball is provided on the limit rod. A gap is left between the limit rod and the inner wall of the air path, and the gap is smaller than the diameter of the small ball.

4. A grafted seedling clamping device according to claim 1, characterized in that: A positioning block is provided at the adsorption port, and the adsorption port is located in the middle of the positioning block.

5. A grafted seedling clamping device according to claim 4, characterized in that: A seedling-supporting limiting plate is provided below the positioning block. Both the positioning block and the seedling-supporting limiting plate are provided with V-shaped openings, and the two V-shaped openings face the same direction.

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