A vertical alignment semi-automatic grafting machine for solanaceous seedling

Abstract

The present application relates to a kind of vegetable grafting machinery, to provide a kind of solanaceous seedling vertical alignment semi-automatic grafting machine, the machine has the advantages of improving the efficiency and success rate of fruit and vegetable seedling grafting operation, reduce operation cost, simplify mechanical structure and simple operation.The technical scheme is a kind of solanaceous seedling vertical alignment semi-automatic grafting machine, including carousel;Its characterized in that: the carousel can be positioned on the big table body and rotate around vertical axis, and carousel is uniformly distributed with three circulating working arm frames;Three workstations for manually planting, planting grafting clamp and grafting seedling back planting are arranged on the big table body of grafting machine and are uniformly distributed on the circumferential edge of carousel, and scion cutting mechanism and stock cutting mechanism are arranged beside manually planting workstation.

Description

Technical Field

[0001] This invention relates to a vegetable grafting machine, specifically a semi-automatic grafting machine suitable for solanaceous vegetables. Background Technology

[0002] Continuous cropping of vegetables is widespread in my country, leading to severe soil-borne diseases and continuous cropping obstacles, hindering the sustainable development of the vegetable industry. Grafting can enhance the disease and drought resistance of vegetable crops, promote early maturity, and increase crop yield. However, currently, most vegetable seedling grafting in China relies on manual labor, resulting in low efficiency and high labor costs, severely restricting the intensive production process of the vegetable industry. Existing semi-automatic grafting machines mostly require two or three workers to graft the seedlings, which is inefficient and expensive, making it difficult to meet the needs of small and medium-sized seedling nurseries. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a vertical alignment semi-automatic grafting machine for solanaceous seedlings. This machine has the advantages of improving the efficiency and success rate of fruit and vegetable seedling grafting operations, reducing operating costs, simplifying mechanical structure, and being easy to operate.

[0004] The technical solution of the present invention is as follows:

[0005] A semi-automatic vertical alignment grafting machine for solanaceous seedlings includes a turntable; characterized in that: the turntable is rotatably positioned on a large table around a vertical axis and three circulating working arms are evenly distributed on the turntable; three workstations for manual seedling loading, grafting clamp loading, and grafted seedling replanting are respectively set on the large table of the grafting machine and evenly distributed around the circumference of the turntable; the scion seedling cutting mechanism and the rootstock seedling cutting mechanism are set next to the manual seedling loading workstation;

[0006] The scion seedling clamping assembly is vertically movable and positioned on the circulating working arm via a rodless cylinder. The scion seedling cutting mechanism is installed on the top of the cutting platform, thereby cooperating with the scion seedling clamping assembly to cut the scion seedling. The rootstock seedling clamping assembly is fixed at the bottom of the circulating working arm and is arranged vertically and vertically corresponding to the scion seedling clamping assembly. The rootstock seedling cutting mechanism is installed in the middle of the cutting platform, thereby cooperating with the rootstock seedling clamping assembly to cut the rootstock seedling.

[0007] The cutting clamping mechanism is set at the upper grafting clamp station, including the cutting blade of the fixed-length cutting material grafting clamp and the contour track for directional conveying of the grafting clamp;

[0008] The grafting replanting mechanism is installed on a small table near the large table. It includes a seedling tray with empty holes driven by an XY axis slide and a replanting track that is installed on the large table body via a replanting track arm and aligned with the seedling tray from top to bottom.

[0009] The scion seedling clamping assembly includes a scion slide cylinder horizontally mounted on a rodless cylinder slider, a scion finger cylinder mounted directly in front of the scion slide cylinder and fixing the scion clamping end, and a scion fixing clamping rod mounted on the scion slide cylinder and located in front of the scion finger cylinder; the axis of the vertically arranged V-shaped groove at the front end of the scion fixing clamping rod coincides with the center of the scion clamping end.

[0010] The scion cutting mechanism is horizontally arranged on the upper surface of the cutting platform and located below the end of the scion clamping device. It includes a pen-shaped cylinder horizontally fixed on the cutting platform, a small knife fixed to the front end of the cylinder rod with a sharpened front end, and a cutting track fixing block installed on the cutting platform and located in front of the knife holder. The cutting track fixing block has a through cutting track for guiding the movement of the small knife and a notch for cutting the scion is vertically opened at the front end. A knife groove is opened on one side of the notch and communicates with the cutting track through the air.

[0011] The clamping center axis at the end of the scion clamp intersects perpendicularly with the cutting track of the cutting track fixing block to facilitate the cutting of the scion seedling.

[0012] The rootstock seedling clamping assembly includes a rootstock slide cylinder horizontally mounted on a turntable, a rootstock substrate finger cylinder driven by the cylinder rod of the rootstock slide cylinder, and a rootstock finger cylinder fixed to the front end of the cylinder rod of the rootstock slide cylinder and located above the rootstock substrate finger cylinder; the cylinder rod of the rootstock slide cylinder moves in the direction of the axis of the turntable; the front end of the rootstock substrate finger cylinder has a rootstock substrate clamping end for clamping the rootstock seedling substrate; the front end of the rootstock finger cylinder has a rootstock clamping end for clamping the rootstock seedling and a rootstock fixing clamping rod is fixed thereon; the vertically arranged V-shaped groove axis at the front end of the rootstock fixing clamping rod coincides with the clamping center of the rootstock clamping end.

[0013] In the cutting clamping mechanism, the grafting clamp contouring channel, the first contouring track, and the second contouring track are arranged sequentially from top to bottom on the erect mounting base to guide the long strip-shaped material grafting clamp. The grafting clamp forward pushing mechanism dual-axis cylinder, vertically installed on the left side of the grafting clamp contouring channel, drives the grafting clamp holding end through the grafting clamp holding cylinder to vertically drive the grafting clamp between the grafting clamp contouring channel and the first contouring track. The cutting blade driven by the grafting clamp cutting forward pushing dual-axis cylinder, horizontally arranged on the right side of the grafting clamp contouring channel, cuts the material grafting clamp between the first contouring track and the second contouring track. The grafting clamp forward pushing dual-axis cylinder then pushes the cut grafting clamp to the grafting seedling to fix the grafting part of the grafting seedling.

[0014] The grafting clamp push-forward dual-axis cylinder is horizontally installed, and the front end of its cylinder rod is fixed to the grafting clamp holding cylinder. The grafting clamp holding cylinder carries the grafting clamp contouring end, which is correspondingly set below the second contouring track to receive the grafting clamp output from the second contouring track and open the clamping mouth of the grafting clamp. The cylinder rod of the grafting clamp push-forward dual-axis cylinder moves in a direction perpendicular to the axis of the grafting clamp contouring channel and the direction of the grafting clamp cutting push-forward dual-axis cylinder, so that it moves towards the turntable during operation to perform the grafting clamp operation.

[0015] The grafting replanting mechanism includes an XY-axis slide plate horizontally installed on a small table, a seedling tray driven by the XY-axis slide plate, and a replanting track that is vertically arranged on the seedling tray via a replanting track arm and is cylindrical in shape with a larger top and smaller bottom.

[0016] The beneficial effects of this invention are:

[0017] This invention employs a single-person seedling loading method and an integrated, cyclical grafting process, enabling the completion of a large number of grafting operations in a short time. This improves production efficiency and grafting quality while reducing costs and labor intensity. The vertical structure, with rootstock and grafted seedlings arranged vertically, minimizes space requirements, ensures stable and reliable grafting operations, and simplifies and enhances safety. Immediate replanting after grafting significantly reduces manpower and material resources while effectively minimizing damage to the grafted seedlings. The seedling clamping mechanism is safe and reliable, reducing the difficulty of manual seedling loading and significantly increasing the speed of manual loading. Furthermore, the machine's simple structure, low manufacturing cost, and high grafting efficiency make it highly valuable for widespread application. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention.

[0019] Figure 2 This is a top view of the structure according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the main side structure of an embodiment of the present invention.

[0021] Figure 4 This is a magnified schematic diagram of a partial structure of the manual seedling loading station in an embodiment of the present invention.

[0022] Figure 5 This is a three-dimensional structural diagram of the cutting device in an embodiment of the present invention.

[0023] Figure 6 This is a three-dimensional structural diagram of the cutting clamping mechanism in an embodiment of the present invention.

[0024] Figure 7 This is a three-dimensional structural diagram of the grafted seedling replanting mechanism in an embodiment of the present invention.

[0025] Figure 8 This is a three-dimensional structural diagram of the material grafting clip in an embodiment of the present invention.

[0026] Figure 9 This is a three-dimensional structural diagram of a cutting and usable grafting clip in an embodiment of the present invention.

[0027] Figure label:

[0028] 1. Circulating working boom; 1.1. Scion seedling clamping assembly; 1.2. Rootstock seedling clamping assembly; 1.3. Upper limit block; 1.4. Boom slider; 1.5. L-shaped connecting plate; 1.6. Rodless cylinder; 1.7. Fixed connecting piece; 1.8. Lower limit block; 1.9. Transmission track; 1.1.1. Connecting plate; 1.1.2. Scion fixing clamping rod; 1.1.3. Scion clamping end; 1.1.4. Scion finger cylinder; 1.1.5. Scion sliding table cylinder;

[0029] 2. Cutting device; 2.1 Scion cutting mechanism; 2.2 Rootstock cutting mechanism; 2.1.1 Knife; 2.1.2 Cutting track; 2.1.3 Notch; 2.1.4 Cutting track fixing block; 2.1.5 Knife holder; 2.1.6 Finger cylinder fixing seat; 2.1.7 Pen-shaped cylinder; 2.1.8 Arm connecting plate; 2.1.9 Rootstock slide cylinder; 2.1.10 Rootstock fixing connecting plate; 1.11 Rootstock clamping end; 2.1.12 Rootstock fixing clamping rod; 2.1.13 Rootstock seedling substrate; 2.1.14 Rootstock substrate clamping end; 2.1.15 Knife groove; 2.1.16 Rootstock finger cylinder; 2.1.17 Rootstock substrate finger cylinder; 2.3 Scion waste slide track; 2.4 Support column; 2.5 Cutting platform; 2.6 Scion waste bin; 2.7 Rootstock seedling waste outlet;

[0030] 3. Cutting clamping mechanism; 3.1. Grafting clamp pushing mechanism with dual-axis cylinder; 3.2. Grafting clamp holding cylinder; 3.3. Cutting blade; 3.4. Cutting tool holder; 3.5. Second contouring track; 3.6. Grafting clamp contouring end; 3.7 Grafting clamp holding cylinder; 3.8 Mounting base; 3.9. First contouring track; 3.10. Grafting clamp pushing mechanism with dual-axis cylinder; 3.11. Grafting clamp cutting mechanism with dual-axis cylinder; 3.12. Grafting clamp holding end; 3.13. Grafting clamp contouring channel.

[0031] 4. Grafted seedling replanting mechanism; 4.1. Empty seedling tray fixing seat; 4.2. Slide rail; 4.3. Slider; 4.4. Connecting plate; 4.5. Guide rod; 4.6. Servo motor; 4.7. Empty seedling tray; 4.8. Replanting track; 4.9. Replanting track arm;

[0032] 5. Large table body; 6. Small table body; 7. Motor mounting plate; 8. Cam divider; 9. Turntable; 10. Cam divider motor. Detailed Implementation

[0033] To make the objectives and technical solutions of this invention clearer, the invention will be further described in detail below with reference to the embodiments shown in the accompanying drawings.

[0034] The semi-automatic vertical grafting machine for solanaceous seedlings shown in the figure has three stations (manual seedling loading station, grafting clamp loading station, and replanting station); see [link / reference] Figure 2 The left end of the manual seedling loading station is equipped with a cutting device 2, which includes a rootstock seedling cutting mechanism 2.1 and a scion seedling cutting mechanism 2.2. The rootstock seedling cutting mechanism and the scion seedling cutting mechanism are arranged vertically on the cutting platform 2.5. Directly in front of the manual seedling loading station and directly below the rootstock cutting position is a rootstock seedling disposal port 2.7 opened on the large table 5. The scion waste bin 2.6 is arranged on the small table 6, close to the edge of the large table. The small table and the large table are set close to each other and are both fixed to the ground.

[0035] The circulating working arm 1 consists of three arms, vertically arranged at 120° intervals on the turntable 9. The turntable 9 can rotate around its vertical axis via a support frame and is horizontally arranged on the large table 5. A cam divider 8 for driving the turntable is installed in the support frame, so that the turntable 9 is at a certain height above the table. The cam divider motor 10 is installed below the large table via a motor mounting plate 7. This motor drives the cam divider to rotate the turntable 9 counterclockwise, thus forming a three-station cyclic working mode. The circulating working arm 1 is vertically installed on the turntable 9. The arm is equipped with a rodless cylinder 1.6, a scion seedling clamping assembly 1.1, and a rootstock seedling clamping assembly 1.2. The scion seedling clamping assembly 1.1 and the rootstock seedling clamping assembly 1.2 are arranged vertically, with the scion seedling clamping assembly above and the rootstock seedling clamping assembly below. The rodless cylinder 1.6 is installed on the turntable 9 via a fixed connector 1.7, and the axis of motion of the rodless cylinder is perpendicular to the turntable 9.

[0036] like Figure 3 , Figure 4 , Figure 5As shown. The scion seedling clamping assembly 1.1 includes a scion slide cylinder 1.1.5, a scion finger cylinder 1.1.4, a scion clamping end 1.1.3, and a scion fixing clamping rod 1.1.2. The scion seedling clamping assembly 1.1 is connected to the arm slider 1.4 on the rodless cylinder 1.6 via an L-shaped connecting plate 1.5. When the slider is in close contact with the upper limit block 1.3, it is in the initial position of the rodless cylinder. By venting and de-venting the rodless cylinder 1.6, the slider 1.4 can be driven to move up and down. The scion slide cylinder 1.1.5 is horizontally mounted on the L-shaped connecting plate 1.5. The connecting plate 1.1.1 is mounted on the slide of the scion slide cylinder 1.5. The scion finger cylinder 1.1.4 is mounted on the lower surface of the connecting plate and is located in front of the slide cylinder. When the scion slide cylinder 1.5 is vented or de-vented, it can drive the scion finger cylinder 1.1.4 to move back and forth (its horizontal projection is in the diameter direction of the turntable). The scion finger cylinder 1.1.4 carries a movable scion clamping end 1.1.3 (i.e., a pair of clamping hands). The scion fixing clamping rod 1.1.2 is installed on the upper surface of the finger cylinder connecting plate 1.1.1. The front end of the scion fixing clamping rod has a vertically arranged V-shaped groove, which is located in the center of the pair of clamping hands at the scion clamping end. When the scion finger cylinder 1.1.4 is ventilated, it can drive the movable clamping end clamping hand 1.1.3 to open and close, so that the scion clamping end clamping hand and the scion fixing clamping rod 1.1.2 work together to complete the seedling placement and clamping operations.

[0037] The scion cutting mechanism 2.1 is horizontally arranged on the upper surface of the cutting platform 2.5; preferably, the scion cutting device 2.1 is located 7mm below the movable clamping end 1.1.3 of the scion. The scion cutting mechanism 2.1 includes a cutting finger cylinder 2.1.7, a finger cylinder fixing seat 2.1.6, a small knife 2.1.1, a cutting track fixing block 2.1.4, and a scion waste slide track 2.3. The cutting finger cylinder is horizontally fixed on the cutting table. The horizontal projection of its cylinder rod is located on the diameter line of the turntable and extends towards the outer diameter of the turntable. A tool holder 2.1.5 with a small knife is fixed to the front end of the cylinder rod. The cutting track fixing block 2.1.4 is installed on the cutting table and located in front of the tool holder. A cutting track 2.1.2 for guiding the movement of the small knife is opened through the cutting track fixing block. A notch 2.1.3 is also vertically opened at the front end of the cutting track fixing block 2.1.4. The opening direction of the notch is opposite to the rotation direction of the turntable. A tool groove 2.1.15 is opened on one side of the notch 2.1.3. The tool groove is connected to the cutting track and is used as a guide when the small knife extends. The small knife 2.1.1 is installed on the tool holder 2.1.5 at an angle of 60° and has a sharpened front end. When it extends forward, it can be directly inserted into the tool groove from the cutting track. Specifically, the clamping center axis of the movable clamping end 1.1.3 of the scion seedling intersects perpendicularly with the cutting track 2.1.2 of the cutting track fixing block 2.1.4, and when manually loading the scion seedling, the scion seedling is positioned vertically against the inner surface of the notch 2.1.3. The scion waste slide track 2.3 is fixed to the boom connecting plate 2.1.8 by six support columns 2.4 (the boom connecting plate is fixed to the middle position of the cutting platform 2.5), and is located directly below the cutting track 2.1.2.

[0038] Before operation, the scion clamping end 1.1.3 is in the open position. The two opposing clamping surfaces of this end are each provided with an inclined surface on one side of the scion fixing clamping rod. When manually inserting the scion, the scion is first placed vertically in the V-groove of the scion fixing clamping rod for positioning. Then, the scion finger cylinder 1.1.4 is vented, causing the scion clamping end 1.1.3 located above the notch to clamp together, so that the two inclined surfaces of the scion clamping end and the V-groove of the scion fixing clamping rod 1.1.2 work together to clamp the scion. After the scion clamping action is completed, the finger cylinder 2.1.7 of the scion cutting structure is vented. The cylinder rod of the finger cylinder 2.1.7 drives the front-sharpened blade 2.1.1 forward. The blade extends forward through the notch 2.1.3 on the cutting track fixing block 2.1.4, completing the cutting of the scion. The upper part of the scion seedling is still held by the scion clamping end 1.1.3, while the lower half of the scion seedling (scion waste) is cut off and falls into the scion waste slide track 2.3 installed directly below the scion seedling cutting mechanism 2.1. It then slides down the waste slide track 2.3 and finally falls into the scion waste bin 2.6 placed on the small table 6 (when the scion waste bin 2.6 is full, it is manually removed and discarded). When the air supply to the finger cylinder 2.1.7 of the scion cutting mechanism 2.1 is cut off, the cylinder rod of the finger cylinder 2.1.7 drives the small knife 2.1.1 backward, so that the blade of the small knife 2.1.1 fits against the outer surface of the scion cutting fixing track block 2.1.4, reaching the initial position. This completes one cutting action of the scion. The above actions are repeated to complete the cutting work of each scion seedling.

[0039] Depend on Figure 4 , Figure 5As shown, the rootstock seedling clamping assembly includes a rootstock sliding cylinder 2.1.9, a rootstock clamping end 2.1.11, a rootstock fixing clamping rod 2.1.12, a rootstock seedling substrate clamping end 2.1.13, a rootstock substrate finger cylinder 2.1.14, and a rootstock finger cylinder 2.1.16. The rootstock sliding cylinder 2.1.9 is horizontally mounted on the rootstock fixing connecting plate 2.1.10. One end of the rootstock fixing connecting plate is horizontally mounted on the turntable 9 and located directly below the horizontal section of the L-shaped connecting plate 1.5. The other end of the rootstock fixing connecting plate 2.1.10 is equipped with the rootstock sliding cylinder 2.1.9 for fixing the rootstock seedling substrate and the rootstock substrate finger cylinder 2.1.14 fixed in front of the rootstock sliding cylinder. The rootstock substrate finger cylinder has a rootstock seedling substrate clamping end 2.1.13. The front end of the cylinder rod of the rootstock sliding cylinder is fixed to the rootstock finger cylinder 1.1.16 with the rootstock clamping end 2.1.11 (the rootstock clamping end 2.1.11 is located at...) via the connecting plate. Above the rootstock substrate clamping end 2.1.13; the rootstock fixing clamping rod 2.1.12 is installed at the front of the rootstock finger cylinder 2.1.16, and the front end of the rootstock fixing clamping rod has a vertically arranged V-shaped groove, which is located in the center of the pair of clamping hands at the rootstock movable clamping end; when the rootstock substrate finger cylinder 2.1.17 is ventilated, it can drive the pair of clamping hands at the rootstock substrate clamping end 2.1.14 to move closer together to wrap and clamp the rootstock substrate 2.1.13; while when the rootstock finger cylinder 2.1.16 is ventilated, it can drive the pair of clamping hands at the rootstock clamping end 2.1.11 to move closer together to clamp the rootstock seedling stem, in order to cooperate with the cutting of the rootstock seedling stem.

[0040] The rootstock cutting mechanism has the same structure and working principle as the scion cutting mechanism, except that another pen-shaped cylinder 2.1.7 is installed on the lower surface of the boom connecting plate 2.1.8 and is located directly above the movable clamping end of the rootstock (see...). Figure 5 The notch 2.1.3 on the front side of the cutting fixed track block 2.1.4 is used as a cutting board for cutting the rootstock seedling stem. In particular, the vertical clamping center axes of the rootstock clamping end, the rootstock seedling substrate clamping end, and the scion seedling movable clamping end coincide.

[0041] During preparation, both the gripper at the rootstock clamping end 2.1.11 and the gripper at the rootstock substrate clamping end 2.1.3 are in the open position. After the rootstock seedling is manually placed in the soil, the rootstock finger cylinder 2.1.4 drives the rootstock clamping end 2.1.11 to clamp the seedling; the rootstock substrate finger cylinder drives the rootstock substrate clamping end 2.1.16 to clamp the substrate. This prevents excessive shaking of the substrate during rotation, thus avoiding loosening and ensuring a high survival rate after grafting and replanting. After completing the above actions, the pen-shaped cylinder 2.1.7 of the rootstock cutting mechanism 2.2 drives the cutter holder 2.1.5 forward to cut the rootstock seedling. After cutting, the upper part of the rootstock seedling (rootstock waste) falls into the rootstock seedling waste opening 2.7, thus completing the cutting work of the rootstock seedling. At this time, the lower part of the seedling stem is still held by the rootstock clamping end 2.1.11, and the lower part of the rootstock seedling substrate is also held by the rootstock substrate clamping end 2.14. In particular, both the cut of the rootstock seedling and the cut of the scion seedling are inclined at 60°, and the cutting action of the rootstock seedling and the cutting action of the scion seedling are carried out simultaneously, after both the rootstock seedling and the scion seedling are held stably.

[0042] After completing the above seedling loading and cutting actions, the motor 10 drives the cam divider 8 through the transmission track 1.9 to rotate the turntable 9 counterclockwise. After the cutting is completed, the rootstock seedlings and scion seedlings are rotated 120° from the manual seedling loading station to the grafting station.

[0043] like Figure 1 , Figure 8 , Figure 9 As shown, the cutting clamping mechanism 3 is arranged on the upper right side of the large table 5 and is located around the turntable 9. Figure 6It can be seen that: the mounting base 3.8 stands on the large table, with the grafting clip contouring channel 3.13 fixed at its top. Below the grafting clip contouring channel are the first contouring track 3.9 and the second contouring track 3.5, with corresponding intervals between them. To the left of the grafting clip contouring channel is a grafting clip forward-pushing dual-axis cylinder 3.1, whose cylinder rod can move up and down; to the right is a grafting clip cutting forward-pushing dual-axis cylinder 3.11, whose cylinder rod can move horizontally. A grafting clip finger-holding cylinder 3.2 is fixed to the cylinder rod of the grafting clip forward-pushing dual-axis cylinder. The cylinder drives a pair of gripping hands at the end 3.12 of the grafting clamp to extend laterally into the gap between the grafting clamp contouring channel and the first contouring track to clamp the material grafting clamp; the cylinder rod of the grafting clamp cutting front push dual-axis cylinder 3.11 faces the outlet direction of the grafting clamp contouring channel, and the front end of the cylinder rod is fixed to the cutting tool holder 3.4 equipped with cutting blades 3.3 by a connecting frame. The cutting blades can be inserted into the gap between the first contouring track 3.9 and the second contouring track when the grafting clamp cutting front push dual-axis cylinder moves, thereby cutting the long strip of material grafting clamp into the required length. The grafting clip front-pushing dual-axis cylinder 3.10 is horizontally mounted on the mounting base 3.8 and located below the grafting clip cutting front-pushing dual-axis cylinder. The front end of the cylinder rod of the grafting clip front-pushing dual-axis cylinder 3.10 is fixed to the grafting clip holding finger cylinder 3.7. The grafting clip contouring end 3.6 driven by the grafting clip holding finger cylinder is located directly below the second contouring track and is close to the second contouring track. The cylinder rod of the grafting clip front-pushing dual-axis cylinder moves perpendicular to the axis of the grafting clip contouring channel and the direction of movement of the grafting clip cutting front-pushing dual-axis cylinder, and moves towards the turntable during operation to realize the transport of the grafting clip.

[0044] Long strip material grafting clips (such as) Figure 8 As shown, after being cut to a fixed length, it becomes the required grafting clip (in the prior art). It enters from top to bottom through the grafting clip contouring channel 3.13, directly into the end of the second contouring track 3.5. During operation, the grafting clip push-forward finger cylinder 3.2 is ventilated, causing the grafting clip clamping end 3.12 to clamp the material grafting clip; then, the grafting clip cutting-forward dual-axis cylinder 3.11 is ventilated, causing the cutting tool holder 3.4 to move forward, cutting the material grafting clip; after cutting, the grafting clip cutting-forward dual-axis cylinder 3.11 is de-ventilated, causing the cutting tool holder 3.4 to move backward, and the grafting clip (such as...) is ready for use. Figure 9(As shown) It remains in the second contour track 3.5. Then, the grafting clip forward push mechanism dual-axis cylinder 3.1 drives the grafting clip forward push mechanism finger cylinder 3.2 holding the grafting clip to move downward, pulling the long strip of material grafting clip forward, and at the same time pushing the cut grafting clip remaining in the second contour track 3.5 into the grafting clip contour end clamping hand 3.6, the lower part of the grafting clip contour end clamping hand 3.6 is partially closed. Specifically, after the cut grafting clip enters the grafting clip contour end 3.6, the grafting clip holding finger cylinder 3.7 is vented, causing the grafting clip contour end 3.6 to move, thus opening the clamping jaws of the grafting clip. Then, the grafting clip forward-pushing dual-axis cylinder 3.10 moves the grafting clip holding finger cylinder 3.7 forward, inserting the grafting clip with its open jaws onto the grafting site of the grafted seedling, and then releasing it to clamp the grafted seedling tightly. This completes the clip delivery action. Specifically, the height of the opened grafting clip held by the grafting clip contour end 3.6 is consistent with the height of the cut part of the lower half of the rootstock seedling held by the rootstock seedling holding component 1.2, ensuring that during grafting, the upper half of the scion seedling and the lower half of the rootstock seedling can be stably fixed together by the grafting clip.

[0045] The clamping action begins after the manual seedling loading station is completed. At this time, the scion seedling clamping component 1.1 carries the upper half of the scion seedling, and the rootstock seedling clamping component 1.2 carries the lower half of the rootstock seedling. The motor 10 drives the cam divider to rotate the turntable 9 counterclockwise from the manual seedling loading station to the cutting and clamping station. After reaching the cutting and clamping station, the rodless cylinder 1.6 vents air to drive the slider 1.5 to move downward. When the slider 1.5 contacts the lower limit block 1.8, it stops moving. At this time, the cutting surfaces of the upper half of the scion seedling and the cutting surfaces of the lower half of the rootstock seedling are in contact with each other, and the clamping mechanism described above completes the clamping. After reaching the designated position, the grafting clamp holding finger cylinder 3.7 releases and disengages from the grafting clamp, so that the grafting clamp fixes the two parts tightly, thus completing the grafting of one seedling.

[0046] After grafting, the grafting clip pushes forward, and the dual-axis cylinder 3.10 drives the grafting clip holding finger cylinder 3.7 to move backward, returning to its original position to begin the next series of actions to open the grafting clip and move it forward. Simultaneously, the scion holding finger cylinder 1.1.4 opens the scion holding end 1.1.3, the scion slide cylinder 2.1.6 moves backward, driving the scion finger cylinder 1.1.4 backward (to prevent the scion holding end from being unable to pass due to the large surface area of ​​the grafted seedling). The rodless cylinder 1.6 drives the slider 1.4 to move vertically upward until it hits the upper limit stop 1.3 and stops. The scion slide cylinder 2.1.6 moves forward, driving the scion finger cylinder 1.1.4 forward. At this point, the scion holding assembly 1.1 has completely returned to its initial position.

[0047] After the grafting station is completed, motor 10 drives the cam divider to rotate the turntable counterclockwise. The grafted seedling that has been successfully clamped rotates 120° from the grafting station to the replanting station.

[0048] like Figure 2 , Figure 3 , Figure 7 As shown, the grafting replanting mechanism 4 is installed on the small table 6. The small table 6 is the same length as the large table 5, and the height difference is the height of one grafted seedling. It is placed horizontally on the left side of the large table. The replanting device consists of an XY axis slide, a seedling tray fixing seat 4.1, a replanting track 4.8, and a replanting track fixing arm 4.9.

[0049] The XY-axis slide table consists of two linear electric guide rails, each equipped with a slider. One linear electric guide rail is mounted on the slider 4.3 of the other linear electric guide rail via a connecting plate 4.4, forming a cross-shaped connection. Each slide rail has a servo motor 4.6 installed at its end, which can precisely control the movement of the upper and lower sliders 4.3 on the slide rail 4.2. A seedling tray fixing seat 4.1 is installed on the slider of the uppermost slide rail, and the seedling tray 4.7 (with 6 x 12 holes) is placed in the seedling tray fixing seat 4.1. A cylindrical replanting track 4.8 (with a diameter larger than the rootstock substrate to guide its movement) is vertically fixed on the replanting track arm 4.9 and located directly below the grafting completion station. The replanting track arm 4.9 is flush with the arm connecting plate 2.1.5, which is equipped with the rootstock substrate clamping device, and is installed on the tabletop of the large table 5.

[0050] After the grafting station completes one operation, the scion clamping component 1.1 is fully returned to its initial position, directly above the rootstock clamping component 1.2. The rootstock clamping end 2.1.11 holds the grafted seedling, and the rootstock substrate clamping end 2.1.14 holds the grafted seedling's substrate. When the replanting mechanism moves, the air supply to the rootstock finger cylinder is cut off, causing the rootstock movable clamping end 2.1.11 to release its grip on the grafted seedling. The rootstock sliding cylinder 2.1.9 moves backward, driving the rootstock finger cylinder 2.1.16 backward via the connecting plate (to prevent the scion clamping end from being unable to pass through due to the large surface area of ​​the grafted seedling). After the above actions are completed, the air in the rootstock finger cylinder is de-pressed, opening the device and causing the rootstock substrate clamping end 2.1.14 to open. The grafted seedling then slides down the replanting track 4.8 and falls smoothly into the empty hole of the replanting device. After one grafted seedling is replanted, the upper and lower sliders 4.3, driven by the servo motor, slide one hole's distance, moving the next empty hole in the seedling tray directly below the replanting track 4.8, waiting for the next grafted seedling to fall. This process is repeated to complete the replanting of the grafted seedlings. In particular, the two servo motors drive the upper and lower sliders 4.3 in coordination, and the replanting path is S-shaped until the entire seedling tray is filled with grafted seedlings.

[0051] After the grafting and replanting process is completed, motor 10 drives the cam divider to rotate the turntable counterclockwise, moving it 120° from the replanting station to the manual seedling placement station. (Each time the turntable rotates to a different station, it pauses for a certain period of time to allow for the operation of each mechanism; during each pause, all three stations operate simultaneously, performing manual seedling placement, grafting clamp placement, and replanting respectively). This completes one grafting cycle. Figure 2 As shown, the grafting sequence is as follows: after manual placement of the seedling, the cutting mechanism 2 cuts both the rootstock seedling and the scion seedling. Then, the turntable rotates to the upper clamp grafting station, and after grafting, it moves to the replanting station. The above three station processes are repeated in a cycle, which can efficiently complete the grafting of rootstock seedlings and scion seedlings.

[0052] It should also be noted that each pneumatic device needs to be equipped with an air source (preferably an air pump), air pipes, and pneumatic components, all of which are conventional components and are omitted from the figure.

[0053] Finally, it should be noted that the above examples are merely specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments and can have many variations, such as replacing the air-powered rodless cylinder with an electrically powered ball screw slide. All variations that can be directly derived or conceived by those skilled in the art from the disclosure of this invention should be considered within the scope of protection of this invention.

Claims

1. A semi-automatic vertical alignment grafting machine for seedlings of solanaceous plants, comprising a carousel (9); characterized in that: The rotating disc is rotatably positioned on the large table body (5) around a vertical axis and is uniformly distributed with three circulating working arm frames (1); three workstations respectively for artificial seedling, grafting clamp and grafting seedling back planting are arranged on the large table body of the grafting machine and are uniformly distributed on the circumferential edge of the rotating disc, and the scion seedling cutting mechanism (2.1) and the stock seedling cutting mechanism (2.2) are arranged beside the artificial seedling workstation; The scion seedling clamping assembly is vertically movably positioned on the circulating working arm frame through the rodless cylinder (1.6), the scion seedling cutting mechanism is installed on the top of the cutting pedestal (2.5), so as to cooperate with the scion seedling clamping assembly to cut the scion seedling; the stock seedling clamping assembly is fixed at the bottom end of the circulating working arm frame and is arranged in correspondence with the scion seedling clamping assembly, and the stock seedling cutting mechanism is installed in the middle of the cutting pedestal, so as to cooperate with the stock seedling clamping assembly to cut the stock seedling; The cutting and clamping mechanism (3) is arranged at the grafting clamp workstation, which includes a cutting blade (3.3) of a fixed-length cutting material grafting clamp and a profiling track of a directional conveying grafting clamp; The grafting back planting mechanism (4) is installed on the small table surface close to the large table surface, which includes a hole seedling disc (4.7) driven by an XY axis sliding table, and a back planting track (4.8) installed on the large table body through a back planting track arm frame (4.9) and aligned with the hole seedling disc from top to bottom; The scion seedling clamping assembly includes a scion sliding table cylinder (1.1.5) horizontally installed on the sliding block of the rodless cylinder, a scion finger cylinder (1.1.4) fixed with a scion clamping end (1.1.3) and installed in front of the scion sliding table cylinder, and a scion fixed seedling leaning rod (1.1.2) installed on the scion sliding table cylinder and located in front of the scion finger cylinder; the V-shaped groove axis arranged vertically at the front end of the scion fixed seedling leaning rod coincides with the clamping center of the scion clamping end; The scion seedling cutting mechanism is horizontally arranged on the upper surface of the cutting pedestal and located below the scion clamping end, which includes a pen-shaped cylinder (2.1.7) fixed horizontally on the cutting pedestal, a small knife (2.1.1) with a blade at the front end and fixed at the front end of the pen-shaped cylinder rod, and a cutting track fixed block (2.1.4) installed on the cutting pedestal and located in front of the knife seat; the cutting track fixed block is provided with a cutting track (2.1.2) for guiding the movement of the small knife and a notch (2.1.3) for cutting the scion seedling vertically at the front end, and a knife groove (2.1.15) is provided on one side of the notch and communicates with the cutting track in space; The stock seedling clamping assembly includes a stock sliding table cylinder ( ​ 2.1.9), a stock base finger cylinder 2.1.14 driven by a cylinder rod of the stock slide cylinder, and a stock finger cylinder (2.1.16) fixed at a front end of the cylinder rod of the stock slide cylinder and located above the stock base finger cylinder, a movement direction of the cylinder rod of the stock slide cylinder points to an axis of the rotary table, the stock base finger cylinder (2.1.17) has a stock base clamping end (2.1.14) at a front end thereof for clamping the stock seedling base (2.1.13), the stock finger cylinder has a stock clamping end (2.1.11) at a front end thereof for clamping the stock seedling and is fixed with a stock clamping seedling leaning rod (2.1.12), and a V-shaped groove vertically arranged at a front end of the stock clamping seedling leaning rod coincides with a center of the stock clamping end; The cutting and clamping mechanism is characterized in that the grafting clamp profiling channel (3.13), the first profiling track (3.9) and the second profiling track (3.5) are sequentially arranged on the standing mounting seat from top to bottom to guide the long strip-shaped grafting clamp, the grafting clamp front pushing mechanism double-shaft cylinder (3.1) vertically arranged at the left side of the grafting clamp profiling channel drives the grafting clamp clamping end (3.12) through the grafting clamp clamping cylinder (3.2) to vertically drive the grafting clamp between the grafting clamp profiling channel and the first profiling track, the cutting blade (3.3) driven by the grafting clamp cutting and front pushing double-shaft cylinder (3.11) horizontally arranged at the right side of the grafting clamp profiling channel cuts the grafting clamp between the first profiling track and the second profiling track, and the grafting clamp front pushing double-shaft cylinder (3.10) pushes the cut grafting clamp to the grafting seedling to fix the grafting part of the grafting seedling.

2. The vertical alignment semi-automatic grafting machine for solanaceous seedling according to claim 1, characterized in that: The clamping center axis of the scion clamping end and the cutting track of the cutting track fixing block are perpendicular to each other, so as to facilitate the cutting of the scion seedling.

3. The vertical alignment semi-automatic grafting machine for solanaceous seedling according to claim 2, characterized in that: The grafting clamp front pushing double-shaft cylinder is horizontally installed, the cylinder rod front end of the grafting clamp front pushing double-shaft cylinder is fixed with the grafting clamp clamping finger cylinder (3.7), the grafting clamp profiling end (3.6) carried by the grafting clamp clamping finger cylinder is correspondingly arranged below the second profiling track to receive the grafting clamp output by the second profiling track and open the clamp opening of the grafting clamp, the movement direction of the cylinder rod of the grafting clamp front pushing double-shaft cylinder is perpendicular to the axis of the grafting clamp profiling channel and the movement direction of the grafting clamp cutting and front pushing double-shaft cylinder, so as to move to the rotary table direction during work to perform the upper grafting clamp operation.

4. The vertical alignment semi-automatic grafting machine for solanaceous seedling according to claim 3, characterized in that: The grafting and replanting mechanism comprises an XY axis slide table horizontally installed on the small table body, the cavity seedling tray (4.7) driven by the XY axis slide table, and the replanting track (4.8) vertically arranged on the cavity seedling tray through the replanting track arm frame (4.9) and in a cylindrical shape from large to small.

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