A seedling grafting machine

Abstract

The application discloses a seedling grafting machine, which comprises a seedling preparation mechanism and a positioning and clamping mechanism, the seedling preparation mechanism comprises a stock seedling preparation part and a scion seedling preparation part which are arranged at intervals along an X direction, the positioning and clamping mechanism comprises a clamping part and a positioning part which are arranged at intervals along a Z direction, the clamping part comprises a pair of oppositely arranged clamping arms, the middle part of each clamping arm is provided with a receiving structure for receiving a grafting clamp, the upper end of each clamping arm is provided with a seedling supporting inclined table for guiding and righting the scion and the stock which deviate from the butt joint position, the positioning part comprises a positioning member, the positioning member can reciprocatingly move up and down along the Z direction between an initial position and a seedling positioning position under the action of a positioning driving member, the bottom of the positioning member is provided with a positioning structure which corresponds to the upper and lower positions of the clamping opening of the grafting clamp and can abut against the butt joint section of the scion and the stock after the positioning member reaches the seedling positioning position. The seedling automatic grafting can be realized by the application, the grafting efficiency is high, the butt joint precision of the scion and the stock is high, and the survival rate of the grafting is high.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural machinery, and particularly relates to a seedling grafting machine. BACKGROUND

[0002] Grafting technology is widely used in the field of agriculture, and grafting is a kind of vegetative reproduction in asexual reproduction. When grafting, scions and stocks are prepared, and then the scions and the stocks are butted, and a grafting clamp is used for fixation. The tightness of the joint of the scions and the stocks directly affects the survival rate of the grafted seedlings. In order to improve the grafting efficiency, people have developed grafting machines to automatically prepare and clamp the scions and the stocks. However, since the original seedlings are not completely straight, the butting accuracy of the scions and the stocks is low. In order to improve the grafting survival rate, the original seedlings have to be selected, which increases the workload, affects the grafting efficiency, and wastes seedlings. In the automatic clamping process, the butted scions and the stocks are prone to misalignment, which causes the formation layers of the scions and the stocks to fail to be tightly combined, and reduces the grafting survival rate. SUMMARY

[0003] The application provides a seedling grafting machine to solve the problems of low grafting efficiency and low grafting survival rate in the prior art.

[0004] The application aims to solve the problems of low grafting efficiency and low grafting survival rate in the prior art.

[0005] The application provides a seedling grafting machine, which comprises a rack, a seedling preparation mechanism and a positioning and clamping mechanism arranged on the rack. The seedling preparation mechanism comprises a stock seedling preparation part and a scion seedling preparation part which are arranged at intervals along the X direction. The positioning and clamping mechanism is arranged between the stock seedling preparation part and the scion seedling preparation part, and comprises a clamping part and a positioning part which are arranged at intervals along the Z direction. The positioning part is arranged directly above the clamping part. The clamping part comprises a pair of oppositely arranged clamping arms. The middle part of each clamping arm is provided with a receiving structure for receiving a grafting clamp. Two receiving structures define a clamping space for accommodating the grafting clamp. The two clamping arms can move away from or close to each other along the X direction under the action of a clamping driving element to open or close the clamping space. The upper end of each clamping arm is provided with a seedling supporting inclined table for guiding and righting the scion and the stock which deviate from the butt joint position. The positioning part comprises a positioning element which can move up and down between an initial position and a seedling positioning position along the Z direction under the action of a positioning driving element, so as to approach or move away from the clamping arm. The bottom of the positioning element is provided with a positioning structure which corresponds to the position of the clamping opening of the grafting clamp in the up-down direction, and can abut against the butt joint section of the stock and the scion after the positioning element reaches the seedling positioning position.

[0006] As preferred, the stock rootlet part comprises a stock holding assembly and a stock cutting assembly, the scion rootlet part comprises a scion holding assembly and a scion cutting assembly, the stock holding assembly holds the stock horizontally placed thereon, the scion holding assembly holds the scion horizontally placed thereon, and a displacement interval is formed between the stock holding assembly and the scion holding assembly; the clamping part is located below the displacement interval, and the positioning part is located above the displacement interval; the stock holding assembly and the scion holding assembly can move close to and away from each other along the X-axis direction to synchronously reach the respective rootlet holding position and the rootlet clamping position.

[0007] As preferred, the stock holding assembly comprises a stock jaw and a stock clamping plate provided with a clamping groove, the scion holding assembly comprises a scion jaw and a scion clamping plate provided with a clamping groove, and the clamping surfaces of the stock jaw and the scion jaw are both provided with protective pads; the stock cutting assembly and the scion cutting assembly both comprise a cutter and a cutting driving member, the cutter makes swinging cutting movement under the driving of the cutting driving member, the end of the cutter is provided with a bevel, and the bevels of the two cutters are oppositely inclined.

[0008] As preferred, the two clamping arms can move reciprocally between the respective clamping position and the clamping position along the Z direction under the action of the clamping driving member; the rootlet supporting inclined tables are both provided with guiding inclined surfaces, the two guiding inclined surfaces are oppositely arranged and gradually inwardly converge from top to bottom; the width of the clamping space matches the width of the grafting clamp, the grafting clamp is opened when the two clamping arms are close to each other, and the two rootlet supporting inclined tables define a horn-shaped groove with a bottom gap, the horn-shaped groove is in communication with the opening of the grafting clamp.

[0009] As preferred, the lower part of the positioning member has a trapezoidal block matching the profile of the horn-shaped groove, and the positioning structure is a positioning groove recessed in the bottom of the trapezoidal block; when the positioning member is located at the rootlet holding position and the clamping arm is located at the clamping position, the trapezoidal block is embedded in the horn-shaped groove, and the slot of the positioning groove faces downward and is in communication with the opening of the grafting clamp; a flexible pad is arranged in the positioning groove.

[0010] As preferred, the positioning and clamping mechanism further comprises a standby clamping part, the standby clamping part comprises a feeding assembly driving the clamping strip to move forward and a cutting assembly cutting the clamping strip into the grafting clamp, and the clamping strip extends along the Y direction; the feeding assembly comprises a feeding clamp, the feeding clamp can reciprocally translate along the Y direction under the action of a feeding cylinder, and the feeding clamp is provided with a first through cavity for the clamping strip to pass through.

[0011] As preferred, the cutting assembly comprises a cutting clamp and a blade, the cutting clamp is provided with a second through cavity for the clamping strip to pass through, the middle segment of the cutting clamp is provided with a blade passing gap for the blade to make a vertical cutting action, and the blade passing gap is perpendicular to the length direction of the clamping strip.

[0012] As preferred, the overcut gap divides the second through cavity into a front cavity and a rear cavity, wherein the rear cavity is arranged adjacent to the clamping portion, the length of the rear cavity is A, the length of the grafting clamp is B, and A=nB, and the flat pushing stroke of the feeding cylinder is B.

[0013] As preferred, the longitudinal section of the first through cavity and the second through cavity are matched with the longitudinal slope of the clamping strip; the feeding clamp is provided with a first upper cylinder below, the feeding clamp is provided with a first assembly hole for accommodating the top rod of the first upper cylinder, the first assembly hole is communicated with the first through cavity; when the first upper cylinder is up, the top rod of the first upper cylinder abuts against the clamping strip, and the relative freedom degree of the feeding clamp and the clamping strip is limited; the cutting clamp is provided with a second upper cylinder below, the cutting clamp is provided with a second assembly hole for accommodating the top rod of the second upper cylinder, the second assembly hole is communicated with the second through cavity and located in front of the overcut gap; when the second upper cylinder is up, the top rod of the second upper cylinder abuts against the clamping strip, and the relative freedom degree of the cutting clamp and the clamping strip is limited; the first upper cylinder and the second upper cylinder are up alternately.

[0014] As preferred, the side of the positioning portion is further provided with a seedling moving portion, the seedling moving portion comprises a seedling moving gripper, the seedling moving gripper moves synchronously with the positioning member, and moves up and down along the Z direction between an initial position and a seedling taking position, the initial position of the seedling moving gripper is arranged directly above the stock, and the seedling moving gripper reaches the seedling taking position synchronously with the positioning member reaching the seedling taking position to clamp the stock segment of the grafting seedling.

[0015] As preferred, the positioning portion and the seedling moving portion are both slidingly arranged on a slide rail, the slide rail extends along the Y direction, and the positioning portion and the seedling moving portion slide along the Y direction between an initial position and a seedling moving position under the action of a seedling moving driving member to transfer the grafting seedling after grafting.

[0016] Compared with the prior art, the present application has the following beneficial effects: by optimizing the structure of the clamping arm, a seedling supporting inclined table is arranged at the upper end of the clamping arm, and during the movement of the clamping arm, the seedling supporting inclined table can guide and right the stock and the scion deviating from the docking position, so that the cutting surfaces of the stock and the scion can be closely combined, and the survival rate of the grafted seedlings is improved; the positioning member cooperates with the two seedling supporting inclined tables, so that during clamping, the cutting ends of the stock and the scion can accurately enter and be limited in the clamping opening of the grafting clamp, the displacement of the cutting ends of the stock and the scion during clamping is avoided, and the grafting accuracy is improved; the standby clamping part uses a whole clamping strip to prepare the grafting clamp on site by cutting, so that the posture and position of the grafting clamp can be accurately ensured, and the clamping efficiency and clamping accuracy are improved; the feeding clamp cooperates with the feeding cylinder to realize the forward movement of the clamping strip, the cutting clamp cooperates with the cutting assembly to realize the cutting of the clamping strip, two clamps are arranged, and the clamps are alternately clamped and loosened, so that the clamping efficiency can be effectively improved; the through cavities corresponding to the clamping strip profile are arranged in the two clamps, and the clamping strip is fixed by using the upper top cylinder, so that the displacement of the clamping strip position during clamping and loosening of the clamp can be effectively avoided, and the grafting clamp can enter the clamping part with accurate posture and position; by arranging the seedling moving gripper moving synchronously with the positioning member, clamping and seedling moving can be efficiently and synchronously performed, and the scion efficiency is improved; the relative positions of the stock seedling preparation part, the scion seedling preparation part, the clamping part, the standby clamping part, the positioning part and the seedling moving part are reasonably arranged, the movement directions of the parts are reasonable and do not interfere with each other, multiple processes can be synchronously performed, automatic cutting of seedlings, automatic grafting and automatic clamping are realized, the cooperation is efficient, and the grafting efficiency is high. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present application;

[0018] Figure 2 It is a structural schematic diagram of the present application;

[0019] Figure 3 It is a side view of the seedling preparation mechanism and the positioning and clamping mechanism in the present application;

[0020] Figure 4 It is a top view of the seedling preparation mechanism and the positioning and clamping mechanism in the present application;

[0021] Figure 5 It is a structural schematic diagram of the stock seedling preparation part in the present application;

[0022] Figure 6 It is a structural schematic diagram of the scion seedling preparation part in the present application;

[0023] Figure 7 It is a structural schematic diagram of the positioning and clamping mechanism in the present application;

[0024] Figure 8 It is a side view of the standby clamping part and the clamping part in the present application;

[0025] Figure 9 This is a schematic diagram of the clamping part and the mounting part in this invention;

[0026] Figure 10 This is a schematic diagram of the positioning part and the transplanting part in this invention;

[0027] Figure 11 This is a schematic diagram of the positioning component structure in this invention;

[0028] Figure 12 This is a schematic diagram of the clamping arm structure in this invention;

[0029] In the diagram, the markings are: frame 10; conveyor belt 11; electrical control cabinet 12; clamping part 20; clamping arm 21; receiving structure 211; seedling support ramp 212; guide ramp 2121; positioning part 30; positioning component 31; trapezoidal block 311; positioning groove 312; spare clamping part 40; feeding clamp 41; feeding cylinder 42; first upper lifting cylinder 43; first through cavity 411; cutting clamp 44; second 441. Through cavity; 45. Second upper cylinder; 46. Support roller; 47. Blade; 50. Clamping strip; 60. Transplanting section; 61. Transplanting gripper; 62. Slide rail; 63. Connecting plate; 70. Rootstock preparation section; 71. Rootstock claw; 72. Rootstock clamping plate; 73. Rootstock tray; 74. Cutting knife; 80. Scion preparation section; 81. Scion claw; 82. Scion clamping plate; 83. Scion tray; 84. Detailed Implementation

[0030] The present invention will be further described below with reference to the embodiments illustrated in the accompanying drawings:

[0031] like Figures 1-2 As shown, this embodiment discloses a seedling grafting machine, which is mainly used for grafting Solanaceae seedlings. It includes a frame 10 and an electrical control cabinet 12. The frame 10 is equipped with a seedling preparation mechanism and a positioning and clamping mechanism. The seedling preparation mechanism includes a rootstock seedling preparation section 70 and a scion seedling preparation section 80 spaced apart along the X-direction. The positioning and clamping mechanism is located between the rootstock seedling preparation section 70 and the scion seedling preparation section 80. The rootstock seedling preparation section 70 is used to prepare the rootstock, and the scion seedling preparation section 80 is used to prepare the scion. The positioning and clamping mechanism is used to prepare grafting clips and position and clamp the grafting clips onto the grafted seedling.

[0032] like Figures 2-6As shown, the stock root preparation part 70 includes a stock holding assembly and a stock cutting assembly, the scion root preparation part 80 includes a scion holding assembly and a scion cutting assembly, the stock holding assembly holds the stock horizontally placed thereon in a posture, the scion holding assembly holds the scion horizontally placed thereon in a posture, and a displacement interval for the movement of the two holding assemblies is formed between the stock holding assembly and the scion holding assembly; the clamping part 20 is located below the displacement interval, and the positioning part 30 is located above the displacement interval; the stock holding assembly and the scion holding assembly can be close to and away from each other along the X-axis direction to synchronously reach the respective root preparation positions and the root clamping positions, the stock holding assembly and the scion holding assembly are located on the same horizontal plane and are horizontally offset to ensure that the stock cut and the scion cut can be accurately connected. The upper side of the stock root preparation part 70 is provided with a stock tray 74 capable of storing the stock to be cut, and the upper side of the scion root preparation part 80 is provided with a scion tray 84 capable of storing the scion to be cut.

[0033] The stock holding assembly includes a stock clamping jaw 71 and a stock clamping plate 72 provided with a clamping groove, the stock clamping plate 72 supports and limits the stock, and the stock clamping jaw 71 fixes the stock, the stock clamping plate 72 and the stock clamping jaw 71 have a certain interval and the positioning points thereof are at the same height to realize the positioning of two points in the length direction of the stock, keep the horizontal lying posture of the stock, and prepare for the subsequent cutting and connection, the stock clamping jaw 71 is clamped and released by a cylinder hinged to the rack 10, which is simple and reliable; the clamping surface of the stock clamping jaw 71 is provided with a protective pad to protect the stock and avoid damage to the stock; the stock root preparation part 70 further includes a stock supporting plate 73 located on the left side of the stock holding assembly, which supports the soil root part of the stock to further reduce the influence of the weight of the soil root part on the cutting accuracy and the connection accuracy.

[0034] The scion holding assembly includes a scion clamping jaw 81 and a scion clamping plate 82 provided with a clamping groove, the scion clamping plate 82 supports and limits the scion, and the scion clamping jaw 81 fixes the scion, the scion clamping plate 82 and the scion clamping jaw 81 have a certain interval and the positioning points thereof are on the same straight line parallel to the horizontal plane and at the same height with the positioning points of the scion clamping plate 82 and the scion clamping jaw 81 to realize the positioning of two points in the length direction of the scion, keep the horizontal lying posture of the scion, and prepare for the subsequent cutting and connection, the scion clamping jaw 81 is clamped and released by a cylinder hinged to the rack 10, which is simple and reliable; the clamping surface of the scion clamping jaw 81 is provided with a protective pad to protect the scion and avoid damage to the scion; the scion root preparation part 80 further includes a scion supporting plate 83 located on the left side of the scion holding assembly, which supports the soil root part of the scion to further reduce the influence of the weight of the soil root part on the cutting accuracy and the connection accuracy.

[0035] The root of the stock with soil is retained, so the stock holding plate 73 moves together with the stock holding assembly, and the stock holding plate 73 can support the heavy root with soil when the stock is butted with the scion, thereby improving the butt accuracy; the scion retains the plant stem and leaves and is butted with the stock, the holding part can provide sufficient support for the scion, and the root of the scion is retained on the scion holding plate 83, so the scion holding plate 83 does not need to move together with the scion holding assembly. In the embodiment, the two driving members are air cylinders, and the two air cylinders have consistent strokes, and the two air cylinders are fixedly connected with the stock holding assembly and the scion holding assembly through the connecting plate 63; the first guide assembly is arranged between the stock holding assembly and the rack 10, and the second guide assembly is arranged between the scion holding assembly and the rack 10, and the two guide assemblies each include a sliding block and a sliding rail 62, and the guide assemblies can ensure that the stock holding assembly and the scion holding assembly move straight and stably, and ensure that the stock and the scion retained thereon are accurately butted.

[0036] The stock cutting assembly is arranged on the right side of the stock holding assembly, the stock cutting assembly is arranged on the right side of the stock claw 71, the scion cutting assembly is arranged on the left side of the scion holding assembly, and the scion cutting assembly is arranged on the left side of the scion claw 81. The stock cutting assembly and the scion cutting assembly each include a cutter 75 and a cutting driving member, the cutter 75 swings and cuts under the driving of the cutting driving member, the end of the cutter 75 is provided with a bevel, and the bevels of the two cutters 75 are oppositely inclined, the bevels of the two cutters 75 of the stock cutting assembly are oppositely inclined, so that the cuts of the stock and the scion are accurately butted; the cutting driving member is a servo motor, the tail end of the cutter 75 is fixedly connected with the rotating shaft of the servo motor, the bevel is arranged at the front end of the cutter 75, the servo motor is used to drive the cutter 75 to cut, the cutting angle and the cutting frequency can be kept fixed, thereby improving the consistency of the cut and the grafting accuracy. The bevel of the cutter 75 of the stock cutting assembly is arranged close to the stock claw 71, and the bevel of the cutter 75 of the scion cutting assembly is arranged close to the scion claw 81, on the premise that the cutter 75 can complete the cutting action, the gap between the bevel and the claw is minimized, the degree of keeping the posture of the seedling plant during cutting of the cutter 75 is improved, displacement and deformation of the seedling plant caused by the shearing force are avoided, and the cutting accuracy is improved.

[0037] As Figures 7-12As shown, the positioning and clamping mechanism comprises a clamping part 20 and a positioning part 30 arranged in the Z direction, the positioning part 30 is arranged directly above the clamping part 20; the clamping part 20 comprises a pair of oppositely arranged clamping arms 21, the middle part of the clamping arm 21 is provided with a receiving structure 211 for receiving the grafting clamp, and the two receiving structures 211 define a receiving space for receiving the grafting clamp; the upper end of the clamping arm 21 is provided with a seedling supporting inclined table 212 for guiding and supporting the scion and stock which deviate from the butt joint position; the two clamping arms 21 can move towards or away from each other along the X direction under the action of the clamping driving element to open or close the clamp; the positioning part 30 comprises a positioning element 31, which can move up and down along the Z direction between the initial position and the seedling positioning position under the action of the positioning driving element; the bottom of the positioning element 31 is provided with a positioning structure, which corresponds to the position of the clamp opening of the grafting clamp and can abut against the butt joint section of the stock and scion after the positioning element 31 reaches the seedling positioning position.

[0038] The two clamping arms 21 can move up and down along the Z direction under the action of the clamping driving element; the seedling supporting inclined table 212 is provided with a guide inclined surface 2121, and the two guide inclined surfaces 2121 are oppositely arranged and gradually inwardly converging from top to bottom; the width of the receiving space matches the width of the grafting clamp, and when the two clamping arms 21 move towards each other, the grafting clamp opens, and the two seedling supporting inclined tables 212 define a horn groove with a bottom gap, which is in communication with the opening of the grafting clamp. During the upward movement of the clamping arm 21, the seedling supporting inclined table 212 can guide and support the stock and scion which deviate from the butt joint position, so that the stock and scion can enter the clamp opening of the grafting clamp with accurate position and posture, the butt joint accuracy of the scion and stock is higher, the cutting surfaces can be closely combined, and the survival rate of the grafting seedlings is improved. The seedlings which are not straight enough can also realize high-precision grafting under the action of the seedling supporting inclined table 212. In this embodiment, the positioning driving element, the clamping driving element and the clamping driving element are all air cylinders.

[0039] The lower part of the positioning element 31 has a trapezoidal block 311 which matches the contour of the horn groove, and the positioning structure is a positioning groove 312 recessed in the bottom of the trapezoidal block 311; when the positioning element 31 is in the seedling positioning position and the clamping arm 21 is in the clamping position, the trapezoidal block 311 is embedded in the horn groove, and the groove opening of the positioning groove 312 faces downward and is in communication with the clamp opening of the grafting clamp; the cooperation of the trapezoidal block 311 and the horn groove can ensure that the relative position of the positioning groove 312 and the grafting clamp always remains consistent, so as to realize the positioning of the seedlings; in order to avoid damage to the stock and scion by the hard positioning element 31, a flexible pad is arranged in the positioning groove 312. The positioning element 31 cooperates with the two seedling supporting inclined tables 212 to accurately guide the cutting end of the stock and scion into the clamp opening of the grafting clamp during clamping, avoid displacement of the cutting end of the stock and scion during clamping, and improve the grafting accuracy.

[0040] In order to further improve the grafting efficiency and grafting precision, the front of the clamping part 20 is provided with a standby clamping part 40, which is used to transport the whole clamping strip 50 and cut the clamping strip 50 into grafting clips. The standby clamping part 40 comprises a feeding assembly for driving the clamping strip 50 to move forward and a cutting assembly for cutting the clamping strip 50 into grafting clips. The clamping strip 50 extends along the Y direction. The feeding assembly comprises a feeding clamp 41 which can reciprocate along the Y direction under the action of a feeding cylinder 42. The feeding clamp 41 is provided with a first through cavity 411 for the clamping strip 50 to pass through. The feeding assembly further comprises a supporting roller 46 which is sequentially arranged along the Y direction with the feeding clamp 41 and the cutting clamp 44. The supporting roller 46 is provided with a supporting groove along the circumference, which matches the width of the clamping strip 50. The arrangement of the supporting roller 46 can further improve the stability of the horizontal support of the clamping strip 50 and ensure the accuracy of the feeding and cutting.

[0041] The cutting assembly comprises a cutting clamp 44 and a blade 47. The cutting clamp 44 is provided with a second through cavity 441 for the clamping strip 50 to pass through. The middle section of the cutting clamp 44 is provided with a blade passing gap for the blade 47 to make a vertical cutting action. The blade passing gap is perpendicular to the length direction of the clamping strip 50. The blade passing gap is arranged in the middle section of the cutting clamp 44, so that the front and rear sections of the cutting position can be effectively supported, ensuring smooth cutting. The blade passing gap divides the second through cavity 441 into a front cavity and a rear cavity. The rear cavity is arranged adjacent to the clamping part 20. The length of the rear cavity is A, the length of the grafting clip is B, and A=B. The flat pushing stroke of the feeding cylinder 42 is B. The rear cavity can be used as a temporary storage space for the grafting clip to maintain the posture of the grafting clip and ensure that the grafting clip reaches the clamping part 20 with an accurate posture. The length of the rear cavity and the flat pushing stroke of the feeding cylinder 42 are matched with the length of the grafting clip. The grafting clip in the rear cavity can be completely pushed out to the clamping part 20 by the forward movement of the clamping strip 50, which is energy-saving and efficient.

[0042] The longitudinal section of the first through cavity 411 and the second through cavity 441 matches the longitudinal inclined surface of the clamping strip 50. A first upper lifting cylinder 43 is arranged below the feeding clamp 41. The feeding clamp 41 is provided with a first assembly hole for accommodating the top rod of the first upper lifting cylinder 43. The first assembly hole is in communication with the first through cavity 411. When the first upper lifting cylinder 43 is lifted, the top rod of the first upper lifting cylinder 43 abuts against the clamping strip 50 and limits the relative freedom degree of the feeding clamp 41 and the clamping strip 50. A second upper lifting cylinder 45 is arranged below the cutting clamp 44. The cutting clamp 44 is provided with a second assembly hole for accommodating the top rod of the second upper lifting cylinder 45. The second assembly hole is in communication with the second through cavity 441 and is located in front of the blade passing gap. When the second upper lifting cylinder 45 is lifted, the top rod of the second upper lifting cylinder 45 abuts against the clamping strip 50 and limits the relative freedom degree of the cutting clamp 44 and the clamping strip 50. The first upper lifting cylinder 43 and the second upper lifting cylinder 45 are lifted alternately.

[0043] The clamping arms 21 are provided with clamping portions 40 for conveying the whole grafting clip strip 50 and cutting the grafting clip strip 50 into grafting clips, and the clamping portions 20 are used for clamping the grafting clips on the grafting seedlings. When the two clamping arms 21 are located at the grafting clip receiving position, the receiving space is aligned with the cavity opening of the second through cavity 441. When the two clamping arms 21 are located at the grafting clip clamping position, the receiving space intersects with the butt joint position of the stock and the scion. When the two clamping arms 21 are located at the grafting clip receiving position, the receiving space is aligned with the cavity opening of the second through cavity 441. When the two clamping arms 21 are located at the grafting clip clamping position, the receiving space intersects with the butt joint position of the stock and the scion. When the two clamping arms 21 are located at the grafting clip receiving position, the receiving space is aligned with the cavity opening of the second through cavity 441. When the two clamping arms 21 are located at the grafting clip clamping position, the receiving space intersects with the butt joint position of the stock and the scion. Compared with conveying a large number of scattered grafting clips, the grafting clip strip 50 is cut into grafting clips in real time, which can ensure the accurate position of the grafting clip, improve the clamping efficiency and clamping accuracy, and the feeding clamp 41 cooperates with the feeding cylinder 42 to realize the forward movement of the grafting clip strip 50, and the cutting clamp 44 cooperates with the cutting assembly to realize the cutting of the grafting clip strip 50. The two clamps are set to alternately clamp and loosen, which can effectively improve the grafting efficiency. When the feeding cylinder 42 pushes the first clamp, the feeding clamp 41 clamps the grafting clip strip 50, and the cutting clamp 44 is loosened, so that the grafting clip strip 50 moves forward, and the prepared grafting clip is pushed to the receiving space of the clamping arm 21. When the cutting assembly cuts the grafting clip strip 50, the cutting clamp 44 is clamped to fix the grafting clip strip 50, and the feeding clamp 41 is loosened to follow the feeding cylinder 42 to return to the original position to prepare for the next feeding.

[0044] The positioning part 30 is further provided with a seedling moving part 60 which is fixedly connected to the positioning part 30 through a connecting plate 63. The seedling moving part 60 comprises a seedling moving gripper 61 which moves synchronously with the positioning part 31. The seedling moving gripper 61 moves up and down along the Z direction between an initial position and a seedling taking position. The initial position of the seedling moving gripper 61 is located above the stock, and when the positioning part 31 reaches the seedling taking position, the seedling moving gripper 61 reaches the seedling taking position to clamp the stock segment of the grafting seedling. The stock with soil is heavier, and the seedling moving gripper 61 clamps the stock segment, which can avoid displacement of the stock and the scion when the grafting seedling is transferred. The positioning part 30 and the seedling moving part 60 are slidably arranged on a slide rail 62 which extends along the Y direction. The positioning part 30 and the seedling moving part 60 slide along the Y direction between an initial position and a seedling transferring position under the action of a seedling moving driving member to transfer the grafted grafting seedling. A conveying belt 11 is arranged below the seedling transferring position. The seedling moving gripper 61 moves synchronously with the positioning part 31, and the clamping and moving can be efficiently synchronized, which improves the efficiency of the scion.

[0045] The seedling grafting device disclosed by the application can realize automatic grafting of seedlings, is efficient and has high grafting precision. The clamping part 20, the positioning part 30, the standby clamping part 40, the stock seedling preparation part 70 and the scion seedling preparation part 80 have reasonable positional relationships and can be efficiently matched, the corresponding functional parts are respectively moved along the X-axis direction, the Y-axis direction and the Z-axis direction, displacement spaces in various directions are fully utilized, the whole device has compact structure, various mechanisms can be simultaneously operated and do not interfere with each other, efficient matching is realized; the seedlings are cut and butted in a horizontal state, the interference of soil gravity on cutting and grafting is reduced, the root system of the stock is effectively protected while the cutting and grafting precision is ensured, and the survival rate of the grafted seedlings is improved; the seedling supporting inclined table 212 can guide and right the stock and the scion deviating from the butt joint position during the moving process of the clamping arm 21, the positioning part 31 cooperates with the two seedling supporting inclined tables 212 and can position the cutting end of the stock and the scion during clamping, and the grafting precision is improved.

[0046] It should be understood that, in the claims of the application, the specification, all "comprise" are to be construed in an open-ended manner, that is, the meaning is equivalent to "at least include", and should not be construed in a closed manner, that is, the meaning should not be understood as "only include". The terms "first", "second" are only for descriptive purposes, and should not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.

[0047] The above is only a specific embodiment of the application, but the protection scope of the application is not limited thereto, and the changes, modifications, additions or replacements made by the person skilled in the art within the essential scope of the application should be covered within the protection scope of the application.

Claims

1. A seedling grafting machine, comprising a frame, characterized in that, The frame is equipped with a seedling preparation mechanism and a positioning and clamping mechanism. The seedling preparation mechanism includes a rootstock seedling preparation section and a scion seedling preparation section arranged at intervals along the X direction. The positioning and clamping mechanism is located between the rootstock seedling preparation section and the scion seedling preparation section. The positioning and clamping mechanism includes a clamping section and a positioning section arranged at intervals along the Z direction. The positioning section is located directly above the clamping section. The clamping section includes a pair of clamping arms arranged opposite each other. The middle of each clamping arm is provided with a receiving structure for receiving the grafting clip. The two receiving structures define a clamping space for accommodating the grafting clip. Under the action of the clamping drive, the two clamping arms can move closer and separate along the X direction to clamp and close. The upper end of each clamping arm is equipped with a seedling-supporting ramp to guide and straighten scions and rootstocks that have deviated from the grafting position. The positioning part includes a positioning component that can reciprocate up and down along the Z-axis between the initial position and the fixed seedling position under the action of a positioning drive component, moving closer to and away from the clamping arm. The bottom of the positioning component has a positioning structure that corresponds vertically to the clamping position of the grafting clip and can abut against the grafting section of the rootstock and scion after the positioning component reaches the fixed seedling position. The positioning clamping mechanism also includes a pre-clamping part, which includes a feeding component that moves the clamping strip forward and a cutting component that cuts the clamping strip into grafting clips. The clamping bar extends along the Y direction. The feeding assembly includes a feeding clamp, which can reciprocate along the Y direction under the action of a feeding cylinder. The feeding clamp has a first through cavity through which the clamping bar passes. The cutting assembly includes a cutting clamp and a blade. The cutting clamp has a second through cavity through which the clamping bar passes. The middle section of the cutting clamp has a blade clearance for the blade to perform vertical cutting. The blade clearance is perpendicular to the length direction of the clamping bar. The longitudinal sections of the first and second through cavities match the longitudinal inclined surface of the clamping bar. A first upper cylinder is provided below the feeding clamp. A first mounting hole is provided to accommodate the push rod of the first upper-lifting cylinder, and the first mounting hole communicates with the first through cavity; when the first upper-lifting cylinder lifts, its push rod abuts against the clamping bar and restricts the relative degree of freedom between the feeding jig and the clamping bar; a second upper-lifting cylinder is provided below the cutting jig, and a second mounting hole is provided inside the cutting jig to accommodate the push rod of the second upper-lifting cylinder, the second mounting hole communicates with the second through cavity and is located in front of the passing gap; when the second upper-lifting cylinder lifts, its push rod abuts against the clamping bar and restricts the relative degree of freedom between the cutting jig and the clamping bar; the first upper-lifting cylinder and the second upper-lifting cylinder alternately lift.

2. The seedling grafting machine according to claim 1, characterized in that, The rootstock preparation section includes a rootstock holding component and a rootstock cutting component, and the scion preparation section includes a scion holding component and a scion cutting component. The rootstock holding component maintains the posture of the rootstock placed horizontally on it, and the scion holding component maintains the posture of the scion placed horizontally on it. A displacement range is formed between the rootstock holding component and the scion holding component. The clamping part is located below the displacement range, and the positioning part is located above the displacement range. The rootstock holding component and the scion holding component can move closer and further away along the X-axis to synchronously reach their respective preparation positions and clamping positions.

3. The seedling grafting machine according to claim 2, characterized in that, The rootstock retaining assembly includes a rootstock claw and a rootstock retaining plate with a slot; the scion retaining assembly includes a scion claw and a scion retaining plate with a slot; the contact surfaces of the rootstock claw and the scion claw are provided with protective pads; both the rootstock cutting assembly and the scion cutting assembly include a cutter and a cutting drive; the cutter performs a swing cutting motion under the drive of the cutting drive; the end of the cutter is provided with a beveled edge, and the beveled edges of the two cutters are inclined in opposite directions.

4. A seedling grafting machine according to any one of claims 1-3, characterized in that, The two clamping arms can reciprocate synchronously along the Z-axis between their respective clamping positions under the action of the clamping drive; each of the seedling support slopes is provided with a guide slope, the two guide slopes are arranged opposite each other and gradually taper inward from top to bottom; the width of the clamping space matches the width of the grafting clamp, when the two clamping arms come together, the grafting clamp opens, and the two seedling support slopes define a trumpet groove with a bottom gap, the trumpet groove is connected to the opening of the grafting clamp.

5. A seedling grafting machine according to claim 4, characterized in that, The lower part of the positioning component has a trapezoidal block that conforms to the contour of the trumpet groove. The positioning structure is a positioning groove recessed at the bottom of the trapezoidal block. When the positioning component is in the seedling position and the clamping arm is in the clamping position, the trapezoidal block is fitted into the trumpet groove, and the groove opening of the positioning groove faces downward and communicates with the grafting clamp opening. A flexible pad is provided inside the positioning groove.

6. A seedling grafting machine according to claim 5, characterized in that, The blade clearance divides the second through cavity into a front cavity and a rear cavity, wherein the rear cavity is located near the clamping part, the length of the rear cavity is A, the length of the grafting clamp is B, and A = nB, and the horizontal pushing stroke of the feeding cylinder is B.

7. The seedling grafting machine according to claim 1, characterized in that, The positioning part is also provided with a seedling transfer part on its side. The seedling transfer part includes a seedling transfer gripper. The seedling transfer gripper moves synchronously with the positioning part. It moves back and forth up and down between the initial position and the seedling taking position along the Z direction. The initial position of the seedling transfer gripper is set directly above the rootstock. When the positioning part reaches the seedling position, it reaches the seedling taking position at the same time to clamp the rootstock segment of the grafted seedling. The positioning part and the seedling transfer part are both slidably arranged on a slide rail. The slide rail extends along the Y direction. Under the action of the seedling transfer drive, the positioning part and the seedling transfer part slide back and forth between the initial position and the seedling transfer position along the Y direction to transfer the grafted seedling.

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