A small, fully automatic eggplant seedling grafting machine

Abstract

This invention discloses a small-scale fully automatic eggplant seedling grafting machine. It includes a first frame (1); the first frame (1) is equipped with a rootstock clamping and cutting mechanism (2) and a scion clamping mechanism (4); a rootstock conveying mechanism (3) is connected to one side of the rootstock clamping and cutting mechanism (2), and a grafting rootstock mechanism (7) is connected to the output end of the rootstock conveying mechanism (3); a scion transfer mechanism (5) is provided to one side of the scion clamping mechanism (4), and a grafting scion mechanism (8) is connected to the side of the scion transfer mechanism (5); a grafting mechanism (6) is connected to the same side of the grafting rootstock mechanism (7) and the grafting scion mechanism (8), and a vibrating disc (12) is provided on the side of the grafting mechanism (6), with a grafting sleeve (14) installed in the vibrating disc (12). This invention can improve grafting efficiency and has the advantages of low cost, high efficiency, and labor saving.

Description

Technical Field

[0001] This invention relates to the field of seedling grafting technology, specifically a small, fully automatic eggplant seedling grafting machine. Background Technology

[0002] In modern agriculture, seedling grafting is an important crop cultivation method. It involves attaching a bud or branch (scion) of one plant to the stem or root of another (rootstock). This allows for the combination of the advantageous characteristics of different plants, such as growth rate and resistance to pests and diseases, thereby cultivating crops that are better adapted to specific growing conditions and possess higher economic value. Traditional grafting methods rely mainly on manual operation, requiring a significant investment of manpower and time for steps such as aligning and wrapping the scion and rootstock, resulting in low grafting efficiency. Since eggplant seedling cultivation also requires grafting of rootstock and scion, a fully automated eggplant seedling grafting machine is needed to improve the efficiency of eggplant seedling grafting. Summary of the Invention

[0003] The purpose of this invention is to provide a small, fully automatic eggplant seedling grafting machine. This invention can improve grafting efficiency and has the advantages of low cost, high efficiency, and labor saving.

[0004] The technical solution of the present invention: A small fully automatic eggplant seedling grafting machine, comprising a first frame; the first frame is provided with a rootstock clamping and cutting mechanism and a scion clamping mechanism; a rootstock conveying mechanism is connected to one side of the rootstock clamping and cutting mechanism, and a grafting rootstock mechanism is connected to the output end of the rootstock conveying mechanism; a scion transfer mechanism is provided to one side of the scion clamping mechanism, and a grafting scion mechanism is connected to the side of the scion transfer mechanism; a grafting mechanism is connected to the same side of the grafting rootstock mechanism and the grafting scion mechanism, and a vibrating disc is provided on the side of the grafting mechanism, and a grafting sleeve is provided in the vibrating disc;

[0005] In use, the rootstock clamping and cutting mechanism clamps the rootstock above the rootstock conveying mechanism, then cuts the rootstock, causing it to fall into the rootstock conveying mechanism, which then transports the rootstock to the grafting rootstock mechanism. The scion clamping mechanism clamps the scion to the scion transfer mechanism, which then transfers the scion to the grafting scion mechanism. The vibrating drum transports the grafting sleeve to the grafting mechanism. Then, the grafting rootstock mechanism and the grafting scion mechanism move the rootstock and scion to the grafting mechanism respectively, and grafting is performed using the grafting sleeve.

[0006] The aforementioned small fully automatic eggplant seedling grafting machine includes a grafting mechanism comprising a sixth pneumatic slide fixed to a first frame. The telescopic end of the sixth pneumatic slide is connected to a sixth finger cylinder and a grafting guide block. The movable end of the sixth finger cylinder is connected to a pair of sixth grippers, which are positioned on the upper part of the grafting guide block. The grafting guide block has a slot on its side and a guide groove at its bottom. A sixth cylinder is located at the lower part of the sixth pneumatic slide and is fixed to the first frame. The telescopic end of the sixth cylinder is connected to a sliding groove block. A pair of blade handles are located at the front end of the sixth cylinder, with the middle of the handles hinged to the first frame. The rear end of the blade handles is embedded in the sliding groove block. A blade holder is fixed to the front end of the blade handles, and a sixth blade is fixed on the blade holder, positioned on the front side of the grafting guide block.

[0007] The aforementioned small fully automatic eggplant seedling grafting machine includes a rootstock clamping and cutting mechanism comprising a second translation mechanism located at the top of a first frame. A second motion mechanism is located at the lower part of the second translation mechanism, and an upper clamping claw fixing plate is connected to the side of the second motion mechanism. The second motion mechanism is used to realize the lifting, lowering, and horizontal rotation of the upper clamping claw fixing plate. Multiple upper movable claws are slidably arranged at the lower part of the upper clamping claw fixing plate, and multiple upper fixed claws are fixed at the lower part of the upper clamping claw fixing plate. The upper fixed claws are located on the side of the upper movable claws. A lower fixed claw is fixed at the lower part of the upper fixed claws, and a lower clamping claw fixing plate is fixed at the lower part of the lower fixed claws. A lower movable claw is slidably arranged at the upper part of the lower clamping claw fixing plate, and the lower movable claw is located on the side of the lower fixed claw. Second flexible clamping blocks are respectively provided on the inner sides of the upper movable claws and the upper fixed claws. A second blade is provided on the inner side of the lower movable claw.

[0008] The aforementioned small fully automatic eggplant seedling grafting machine includes a rootstock conveying mechanism comprising a conveyor belt located on the side of the rootstock clamping and cutting mechanism, and a plurality of third seedling cups on the conveyor belt.

[0009] The aforementioned small fully automatic eggplant seedling grafting machine includes a grafting rootstock mechanism comprising a seventh motion mechanism mounted on a first frame. The seventh motion mechanism is equipped with a seventh finger cylinder on its side and is used to lift and lower the seventh finger cylinder. A pair of seventh gripping claws are connected to the movable end of the seventh finger cylinder.

[0010] The aforementioned small fully automatic eggplant seedling grafting machine includes a scion clamping mechanism comprising a fourth translation mechanism located at the top of the first frame, a fourth motion mechanism located at the lower part of the fourth translation mechanism, and a plurality of fourth pneumatic grippers located at the lower part of the fourth motion mechanism. The fourth motion mechanism is used to realize the lifting and lowering of the plurality of fourth pneumatic grippers.

[0011] The aforementioned small-scale fully automatic eggplant seedling grafting machine includes a scion transfer mechanism comprising multiple fifth cylinders fixed on a first frame. The telescopic ends of the fifth cylinders are connected to fifth slide rails, and fifth sliders are mounted on the fifth slide rails. A seedling cup mounting plate is fixed to the side of the fifth slider, and multiple fifth seedling cups are mounted on the seedling cup mounting plate. A protrusion is located on the rear side of the seedling cup mounting plate, and a rack is located at the bottom of the seedling cup mounting plate. A grooved plate is located at the front end of the fifth cylinder, and the protrusion is fitted into the grooved plate. A gear set is located on the front side of the seedling cup mounting plate, and the gear set is rotatably mounted on the first frame. The rack meshes with the gear set, and a fifth motor is connected to the front side of the gear set.

[0012] The aforementioned small fully automatic eggplant seedling grafting machine includes an eighth motion mechanism mounted on a first frame. The eighth motion mechanism has an eighth finger cylinder and an eighth pneumatic slide on its side. The eighth motion mechanism is used to realize the lifting, translation, and horizontal rotation of the eighth finger cylinder and the eighth pneumatic slide. The movable end of the eighth finger cylinder is connected to a pair of eighth gripping claws. The movable end of the eighth pneumatic slide is fixed with an ejector plate, which is located below the eighth gripping claws.

[0013] The aforementioned small fully automatic eggplant seedling grafting machine has a second frame on the side of the first frame; a seedling tray conveying mechanism is provided on the second frame, and a seedling transfer mechanism is provided on the upper part of the seedling tray conveying mechanism; the seedling tray conveying mechanism includes a lifting mechanism and a tenth translation mechanism mounted on the second frame; a seedling tray frame is provided on the upper part of the lifting mechanism; a pair of tenth slide rails are provided above the seedling tray frame, and the tenth slide rails are fixed on the second frame; multiple tenth pneumatic grippers are provided above the tenth slide rails, and the tenth pneumatic grippers are fixed on the second frame; multiple tenth sliders are provided on the tenth slide rails, and seedling tray conveying frames are provided on the tenth sliders; the seedling tray conveying frames are connected to the tenth translation mechanism.

[0014] The aforementioned small fully automatic eggplant seedling grafting machine includes a seedling transfer mechanism comprising a ninth pneumatic slide table mounted on a second frame. The movable end of the ninth pneumatic slide table is connected to a ninth motor, and the extended end of the ninth motor is connected to a transfer arm. The end of the transfer arm is rotatably connected to a gripper connecting plate, and the lower part of the gripper connecting plate is provided with multiple ninth pneumatic grippers.

[0015] Compared with the prior art, in use, the present invention involves a rootstock clamping and cutting mechanism that clamps the rootstock above the rootstock conveying mechanism, then cuts the rootstock so that it falls into the rootstock conveying mechanism, which then transports the rootstock to the grafting rootstock mechanism. A scion clamping mechanism clamps the scion to a scion transfer mechanism, which then transfers the scion to the grafting scion mechanism. A vibrating drum transports the grafting sleeve to the grafting mechanism. The grafting rootstock mechanism and the grafting scion mechanism then move the rootstock and scion to the grafting mechanism respectively, and grafting is performed using the grafting sleeve. This invention improves grafting efficiency and has the advantages of low cost, high efficiency, and labor saving. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is a structural diagram of the mechanism on the first frame;

[0018] Figure 3 This is a structural diagram of the mechanism within the first frame;

[0019] Figure 4 This is a structural diagram of the grafting mechanism and the vibrating disc tank;

[0020] Figure 5 This is a schematic diagram of the grafting mechanism;

[0021] Figure 6 This is a schematic diagram of the bottom structure of the grafting mechanism;

[0022] Figure 7 This is a schematic diagram of the grafting sleeve structure;

[0023] Figure 8 This is a schematic diagram of the anvil clamping and cutting mechanism;

[0024] Figure 9 This is a side view of the anvil clamping and cutting mechanism;

[0025] Figure 10 This is a structural diagram of the upper movable jaw, upper fixed jaw, lower fixed jaw, and lower movable jaw;

[0026] Figure 11 This is a schematic diagram of the rootstock conveying mechanism;

[0027] Figure 12 This is a schematic diagram of the grafting rootstock mechanism;

[0028] Figure 13 This is a schematic diagram of the scion-grafting mechanism;

[0029] Figure 14 This is a schematic diagram of the scion transfer mechanism;

[0030] Figure 15 This is a schematic diagram of the grafting scion mechanism;

[0031] Figure 16 This is a schematic diagram of the seedling tray conveying mechanism;

[0032] Figure 17 This is a schematic diagram of the seedling transfer mechanism.

[0033] The labels in the attached diagram are as follows: 1-First frame, 2-Rootstock clamping and cutting mechanism, 201-Second translation mechanism, 202-Second motion mechanism, 203-Upper gripper fixing plate, 204-Upper movable gripper, 205-Upper fixed gripper, 206-Lower fixed gripper, 207-Lower gripper fixing plate, 208-Lower movable gripper, 209-Second flexible clamping block, 210-Second blade, 3-Rootstock conveying mechanism, 301-Conveyor belt, 302-Third seedling cup, 4-Scion clamping mechanism, 401 402-Fourth translation mechanism, 403-Fourth motion mechanism, 404-Fourth pneumatic gripper, 5-Scion transfer mechanism, 505-Fifth cylinder, 506-Fifth slide rail, 507-Fifth slider, 508-Seedling cup mounting plate, 509-Fifth seedling cup, 5000-Protrusion, 501-Rack, 502-Groove plate, 503-Gear set, 510-Fifth motor, 601-Sixth pneumatic slide, 602-Sixth finger cylinder, 603-Grafting guide block 604-Sixth gripper, 605-Groove, 606-Guide groove, 607-Sixth cylinder, 608-Slide block, 609-Knife handle, 610-Knife holder, 611-Sixth blade, 7-Grafting rootstock mechanism, 701-Seventh motion mechanism, 702-Seventh finger cylinder, 703-Seventh gripper, 8-Grafting scion mechanism, 801-Eighth motion mechanism, 802-Eighth finger cylinder, 803-Eighth pneumatic slide, 804-Eighth gripper, 805-Ejector plate 9-Seedling transfer mechanism, 901-Ninth pneumatic slide, 902-Ninth motor, 903-Gripper connecting plate, 904-Ninth pneumatic gripper, 10-Seedling tray conveying mechanism, 1001-Elevator, 1002-Tenth translation mechanism, 1003-Seedling tray frame, 1004-Tenth slide rail, 1005-Tenth slider, 1006-Seedling tray conveying frame, 1007-Tenth pneumatic gripper, 11-Second frame, 12-Vibrating disc, 13-Transfer arm, 14-Grafting sleeve. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0035] Example: A small, fully automatic eggplant seedling grafting machine, with the following structure. Figure 1 , Figure 2 and Figure 3 As shown, it includes a first frame 1; the first frame 1 is provided with a rootstock clamping and cutting mechanism 2 and a scion clamping mechanism 4; a rootstock conveying mechanism 3 is connected to one side of the rootstock clamping and cutting mechanism 2, and a grafting rootstock mechanism 7 is connected to the output end of the rootstock conveying mechanism 3; a scion transfer mechanism 5 is provided to one side of the scion clamping mechanism 4, and a grafting scion mechanism 8 is connected to the side of the scion transfer mechanism 5; a grafting mechanism 6 is connected to the same side of the grafting rootstock mechanism 7 and the grafting scion mechanism 8, and a vibrating disc 12 is provided on the side of the grafting mechanism 6, and a grafting sleeve 14 is provided in the vibrating disc 12;

[0036] In use, the rootstock clamping and cutting mechanism 2 clamps the rootstock above the rootstock conveying mechanism 3, then the rootstock clamping and cutting mechanism 2 cuts the rootstock, causing the rootstock to fall into the rootstock conveying mechanism 3, and then the rootstock conveying mechanism 3 conveys the rootstock to the grafting rootstock mechanism 7; the scion clamping mechanism 4 clamps the scion to the scion transfer mechanism 5, and then the scion transfer mechanism 5 transfers the scion to the grafting scion mechanism 8; the vibrating drum 12 conveys the grafting sleeve 14 to the grafting mechanism 6; then the grafting rootstock mechanism 7 and the grafting scion mechanism 8 move the rootstock and scion to the grafting mechanism 6 respectively, and grafting is performed using the grafting sleeve 14.

[0037] The structure of grafting mechanism 6 is as follows Figure 4 , Figure 5 and Figure 6 As shown, the grafting mechanism 6 includes a sixth pneumatic slide 601 fixed on the first frame 1, the model of which is HLQ8-50S; the telescopic end of the sixth pneumatic slide 601 is fixed with a sixth finger cylinder 602 and a cylindrical grafting guide block 603 by bolts, the model of which is MHZ2-25D; the movable end of the sixth finger cylinder 602 is connected to a pair of sixth grippers 604, the sixth grippers 604 being located on the upper part of the grafting guide block 603; the side of the grafting guide block 603 is provided with a slot 605 for the rootstock and scion to pass through, the inner end of the slot 605 leading to the middle of the grafting guide block 603, the vibrating drum 12 conveying the grafting sleeve 14 to the inner end of the slot 605 through the sleeve guide rail, the shape of the grafting sleeve 14 being as shown in the figure. Figure 7As shown, the grafting sleeve 14 is made of plastic. The rear end of the grafting sleeve 14 is clamped between the sixth grippers 604. When the sixth grippers 604 close, the rear end of the grafting sleeve 14 moves inward, causing the C-shaped front end of the grafting sleeve 14 to open. The bottom of the grafting guide block 603 is provided with a conical guide groove 606, which is used to accommodate the rootstock. The lower part of the sixth pneumatic slide 601 is provided with a sixth cylinder 607, which is model MGQM12-10. The sixth cylinder 607 is fixed to the first frame 1 by bolts. The telescopic end of the sixth cylinder 607... A sliding block 608 is connected, and a transverse sliding groove is formed on the sliding block 608. A pair of blade handles 609 are provided at the front end of the sixth cylinder 607, and the middle part of the blade handles 609 is hinged to the first frame 1. The rear end of the blade handles 609 is engaged in the middle part of the sliding groove of the sliding block 608 through the sliding block, at which time the blade handles 609 are in an open state. When the telescopic end of the sixth cylinder 607 extends, the sliding block 608 is pushed forward. Since the middle part of the blade handles 609 is hinged and fixed to the first frame 1, the rear end of the blade handles 609 moves to both sides relative to the sliding block 608, thereby closing the front end of the blade handles 609 inward. A blade holder 610 is fixed to the front end of the blade handles 609, and a sixth blade 611 is fixed on the blade holder 610. The sixth blade 611 is located on the front side of the grafting guide block 603. When the front end of the blade handles 609 closes inward, the two sixth blades 611 close and cut the scion. When the grafting mechanism 6 is in use, the grafting scion mechanism 8 moves the scion to the grafting mechanism 6. When the scion is moved to the sixth blade 611, the sixth blade 611 cuts the scion. Then, in conjunction with the extension of the sixth pneumatic slide 601, the scion moves through the slot 605 to the upper part of the grafting guide block 603. At this time, the grafting rootstock mechanism 7 moves the rootstock through the guide groove 606 to the lower part of the scion and fits it together. The fitting point is located on the upper part of the grafting guide block 603. Then, the movable end of the sixth finger cylinder 602 closes the sixth clamp 604, causing the C-shaped front end of the grafting sleeve 14 on the grafting guide block 603 to open. The sleeve then wraps around the fitting point of the rootstock and scion, completing the grafting. In addition, a pair of guide rods are hinged to the grafting guide block 603. When the grafting guide block 603 moves forward, the guide rods open outward, which can guide the rootstock and scion.

[0038] The structure of the anvil clamping and cutting mechanism 2 is as follows: Figure 8 , Figure 9 and Figure 10As shown, a rootstock seedling tray is placed below the rootstock clamping and cutting mechanism 2, and rootstocks are placed in the rootstock seedling tray. The rootstock clamping and cutting mechanism 2 includes a second translation mechanism 201 set on the top of the first frame 1. The second translation mechanism 201 is a stepper motor and synchronous belt combined horizontal movement mechanism. The stepper motor and synchronous belt are set on the top of the first frame 1, and a moving platform is provided on the synchronous belt. A second motion mechanism 202 is provided at the lower part of the second translation mechanism 201. The second motion mechanism 202 is fixed on the moving platform of the second translation mechanism 201. The second motion mechanism 202 includes a cylinder MGPM25-150Z for lifting and lowering. The telescopic end of the cylinder MGPM25-150Z is fixed with a rotating... A rotating plate has a servo motor fixed on it for horizontal rotation. The extended end of the servo motor is connected to the upper gripper fixing plate 203. The rotating plate has an arc-shaped rotating groove. A flange is connected to the upper gripper fixing plate 203. The flange is connected to a heavy-duty universal ball joint connecting plate via a support shaft. A heavy-duty universal ball is installed in the slot of the heavy-duty universal ball joint connecting plate, and the heavy-duty universal ball abuts against the rotating groove. When the second motion mechanism 202 is working, it achieves lifting and lowering by the extension and retraction of the cylinder MGPM25-150Z, and horizontal rotation by the rotation of the servo motor. When the extended end of the servo motor rotates, it drives the upper gripper fixing plate 203 to rotate. At this time, the heavy-duty universal ball connected to the upper gripper fixing plate 203 via the flange and support shaft slides in the rotating groove. The upper gripper fixing plate 203 is supported by a flange, a support shaft, and a heavy-duty universal ball joint for rotation around the extended end of the servo motor; the upper gripper fixing plate 203 is connected to the side of the second motion mechanism 202, which is used to realize the lifting and horizontal rotation of the upper gripper fixing plate 203; the lower part of the upper gripper fixing plate 203 is provided with multiple upper movable grippers 204 through the cooperation of the second slide rail a and the second slider a. The upper movable grippers 204 are fixed to the second slider a by an integral connecting plate a. A cylinder a is horizontally fixed to the lower part of the upper gripper fixing plate 203. The integral connecting plate a is fixed to the extension end of the cylinder a. The multiple upper movable grippers 204 move as a whole through the extension and retraction of the cylinder a; the lower part of the upper gripper fixing plate 203... The upper part is fixed with multiple upper fixed claws 205; the upper fixed claws 205 are disposed on the side of the upper movable claw 204; the lower part of the upper fixed claw 205 is fixed with a lower fixed claw 206, the lower part of the lower fixed claw 206 is fixed with a lower clamping claw fixing plate 207, the upper part of the lower clamping claw fixing plate 207 is slidably provided with a lower movable claw 208 through the cooperation of a second slide rail b and a second slider b, the lower movable claw 208 is fixed on the second slider b through an integral connecting plate b, the upper part of the lower clamping claw fixing plate 207 is laterally fixed with a cylinder b, the integral connecting plate b is fixed to the telescopic end of the cylinder b, and the multiple lower movable claws 208 move as a whole through the telescopic movement of the cylinder b; the lower movable claws 208 are disposed on the side of the lower fixed claw 206.The upper clamping jaw fixing plate 203, upper fixed jaw 205, lower fixed jaw 206, and lower clamping jaw fixing plate 207 remain relatively stationary during the movement of the anvil clamping and cutting mechanism 2. The upper movable jaw 204 and lower movable jaw 208 move independently in parallel through the extension and retraction of cylinders a and b, respectively. Both cylinders a and b are of model TN-10X20-S. The inner sides of the upper movable jaw 204 and upper fixed jaw 205 are respectively provided with second flexible clamping blocks 209. The inner side of the lower movable jaw 208 is provided with a second blade 210. When the anvil clamping and cutting mechanism 2 is in use, cylinders a and b are initially in a retracted state. When the upper movable claw 204, upper fixed claw 205, lower movable claw 208, and lower fixed claw 206 move to the anvil, cylinder a extends first, causing the upper movable claw 204 to close above the fixed claw 205. The second flexible clamping blocks on the upper movable claw 204 and upper fixed claw 205 clamp the anvil. Then, the servo motor rotates 90°, moving the anvil above the anvil conveying mechanism 3. Then, cylinder b extends, causing the lower movable claw 208 to close below the fixed claw 206. The second blade 210 of the lower movable claw 208 cuts the anvil, causing it to fall into the anvil conveying mechanism 3.

[0039] The structure of the rootstock conveying mechanism 3 is as follows: Figure 11 As shown, the rootstock conveying mechanism 3 includes a conveyor belt 301 disposed on the side of the rootstock clamping and cutting mechanism 2. The conveyor belt 301 is a synchronous belt and is driven by a stepper motor. The stepper motor is fixed on the first frame 1. The conveyor belt 301 is provided with a plurality of third seedling cups 302. After the rootstock clamping and cutting mechanism 2 sends the rootstock into the third seedling cup 302, the conveyor belt 301 conveys the third seedling cup 302 to the grafting rootstock mechanism 7.

[0040] The structure of grafting rootstock mechanism 7 is as follows Figure 12As shown, the grafting rootstock mechanism 7 includes a seventh motion mechanism 701 mounted on the first frame 1. The seventh motion mechanism 701 includes a seventh cylinder, model MGPM12-50Z, vertically fixed to the first frame 1. A pair of seventh slide rails, model MGN7R, are fixed to the side of the seventh cylinder. A seventh slider, model MGN7C, is mounted on the seventh slide rails. An L-shaped plate is fixed to the telescopic end of the seventh cylinder. The side of the L-shaped plate is fixed to the seventh slider, and a seventh pneumatic slide is vertically fixed to the side of the L-shaped plate. The platform includes a seventh pneumatic slide, model HJQ6X10, and a seventh finger cylinder 702 that fixes the movable end of the seventh pneumatic slide. The seventh motion mechanism 701 has a seventh finger cylinder 702 on its side, which is used to lift the seventh finger cylinder 702. The movable end of the seventh finger cylinder 702 is connected to a pair of seventh gripping claws 703. A seventh flexible clamping block is fixed to the inner side of the seventh gripping claws 703, and a through-beam photoelectric sensor a and a through-beam photoelectric sensor b are fixed to the outer side of the seventh gripping claws 703, respectively. The seventh gripper 703 is located at the end of the rootstock conveying mechanism 3. When the rootstock conveying mechanism 3 conveys the rootstock to the seventh gripper 703, the through-beam photoelectric sensor a and through-beam photoelectric sensor b are blocked by the rootstock, thereby controlling the seventh finger cylinder 702 to close and clamp the rootstock. Then the seventh cylinder extends upward, causing the rootstock to move towards the grafting mechanism 6. After the grafting mechanism 6 has finished cutting the scion, the seventh pneumatic slide slowly rises upward, so that the rootstock and scion fit tightly together.

[0041] The structure of the scion clamping mechanism 4 is as follows: Figure 13 As shown, a scion seedling tray is placed below the scion clamping mechanism 4, and scions are placed inside the scion seedling tray. The scion clamping mechanism 4 includes a fourth translation mechanism 401 set at the top of the first frame 1. The fourth translation mechanism 401 is a stepper motor and synchronous belt combined horizontal movement mechanism. The stepper motor and synchronous belt are set at the top of the first frame 1, and a moving platform is provided on the synchronous belt. A fourth motion mechanism 402 is provided at the lower part of the fourth translation mechanism 401. The fourth motion mechanism 402 is fixed on the moving platform. The fourth motion mechanism 402 is a vertically set fourth cylinder, and multiple fourth pneumatic grippers 403 are fixed to the telescopic end of the fourth cylinder. Multiple fourth pneumatic grippers 403 are provided at the lower part of the fourth motion mechanism 402. The fourth pneumatic grippers 403 are used to clamp the scions, and the fourth motion mechanism 402 is used to realize the lifting and lowering of the multiple fourth pneumatic grippers 403. When the scion clamping mechanism 4 is working, the fourth translation mechanism 401 and the fourth motion mechanism 402 control the parallel movement and lifting of the fourth pneumatic gripper 403 respectively. Then, the closing and opening of the fourth pneumatic gripper 403 correspond to the clamping and lowering of the scion respectively.

[0042] The structure of the scion transfer mechanism 5 is as follows: Figure 14 As shown, the scion transfer mechanism 5 includes two fifth cylinders 501 fixed on the first frame 1. The fifth cylinders 501 are model TN16-50S. The telescopic ends of the fifth cylinders 501 are connected to a fifth slide rail 502, model MGN9R. A fifth slider 503, model MGN9C, is provided on the fifth slide rail 502. A seedling cup mounting plate 504 is fixed to the side of the fifth slider 503. Three fifth seedling cups 505 are provided on the seedling cup mounting plate 504. The rear of the seedling cup mounting plate 504... The side is formed with a protrusion 506, and the bottom of the seedling cup mounting plate 504 is provided with a rack 507; the front end of the fifth cylinder 501 is provided with a groove plate 508, and the protrusion 506 is fitted into the groove of the groove plate 508; the front side of the seedling cup mounting plate 504 is provided with a gear set 509, the gear set 509 is set on the central axis of the two fifth cylinders 501, the gear set 509 is rotatably mounted on the first frame 1, the rack 507 meshes with the gear set 509, and the front side of the gear set 509 is connected to a fifth motor 510, which is a 42 stepper motor. When the scion transfer mechanism 5 is working, the scion clamping mechanism 4 clamps the scion in the scion seedling plate and places it into the fifth seedling cup 505; then the telescopic end of the fifth cylinder 501 extends, driving the fifth slide rail 502, the fifth slider 503 and the seedling cup mounting plate 504 to move forward to the gear set 509. When the rack 507 at the bottom of the seedling cup mounting plate 504 meshes with the gear set 509, the fifth motor 510 drives the gear set 509 to rotate, causing the seedling cup mounting plate 504 to move forward. The fifth seedling cup 505 moves to the grafting scion mechanism 8 for clamping. Additionally, three blocks are fixed to the front of the seedling cup mounting plate 504, each corresponding to one of the three fifth seedling cups 505. Three photoelectric sensors are fixed to the side of the gear set 509. When the seedling cup mounting plate 504 moves via the gear set 509, the blocks block the photoelectric sensors, and the fifth motor 510 immediately stops, allowing for more precise scion transfer. After three grafting operations are completed, the fifth motor 510 reverses, and then the fifth cylinder 501 retracts, causing the protrusion 506 to re-enter the groove of the grooved plate 508. Subsequently, another fifth motor 501 repeats the above actions, completing the scion transfer process.

[0043] The structure of grafting scion mechanism 8 is as follows: Figure 15As shown, the grafting scion mechanism 8 includes an eighth motion mechanism 801 mounted on the first frame 1. The eighth motion mechanism 801 includes a swing cylinder MSQB20A mounted on the first frame 1. The swing cylinder MSQB20A is used for horizontal rotation. A horizontally mounted pneumatic slide a (model HLQ8X40S) is fixed to the movable end of the swing cylinder MSQB20A for translation. A vertically mounted pneumatic slide b (model HLQ8X75S) is fixed to the movable end of the pneumatic slide a for lifting. The eighth finger cylinder 802 and the eighth pneumatic slide 803 are fixed to the movable end of the pneumatic slide b. The eighth motion mechanism 801 has an eighth finger cylinder 802 and an eighth pneumatic slide 803 on its side. The eighth finger cylinder 802 is model MHZ2-16D and the eighth pneumatic slide 803 is model HLQ6-20S. The eighth motion mechanism 801 is used to realize the lifting, translation and horizontal rotation of the eighth finger cylinder 802 and the eighth pneumatic slide 803. The movable end of the eighth finger cylinder 802 is connected to a pair of eighth gripping claws 804. An eighth flexible clamping block is fixed on the inner side of the eighth gripping claws 804. The movable end of the eighth pneumatic slide 803 is fixed with an ejector plate 805, which is located below the eighth gripping claws 804. The eighth clamping claw 804 is located on the central axis of the side of the scion transfer mechanism 5. When the fifth seedling cup 505 containing the scion moves to the side of the eighth clamping claw 804, the eighth motion mechanism 801 controls the eighth clamping claw 804 to move to the scion. Then, the eighth finger cylinder 802 drives the eighth clamping claw 804 to close and clamp the scion. Then, the eighth motion mechanism 801 controls the eighth clamping claw 804 to move to the grafting mechanism 6. When the grafting mechanism 6 cuts the lower part of the scion, the ejector plate 805 pushes the lower half of the scion forward to avoid incomplete cutting. After the scion and rootstock are grafted into a seedling, the eighth clamping claw 804 continues to hold the seedling and then transports the seedling to the fifth seedling cup 505 of the scion transfer mechanism 5. Then, the scion clamping mechanism 4 transports the seedling in the fifth seedling cup 505 to the seedling tray below it, waiting for the seedling transfer mechanism 9 to transfer the seedling to the empty seedling tray.

[0044] The structure of the seedling tray conveying mechanism 10 is as follows: Figure 16As shown, a second frame 11 is provided on the side of the first frame 1, and four casters are connected to the bottom of the second frame 11; a seedling tray conveying mechanism 10 is provided on the second frame 11, and a seedling transfer mechanism 9 is provided on the upper part of the seedling tray conveying mechanism 10; the seedling tray conveying mechanism 10 includes a lifting mechanism 1001 and a tenth translation mechanism 1002 provided on the second frame 11, the tenth translation mechanism 1002 is a stepper motor and synchronous belt combined horizontal moving mechanism, the stepper motor and synchronous belt are provided on the side of the second frame 11, a moving platform is provided on the synchronous belt, and the seedling tray conveying frame 1006 is fixed to the moving platform; the lifting mechanism 1001 is a conventional mechanism and can be manufactured using commercially available... The specific structure is not described in detail here; a seedling tray rack 1003 is fixed on the upper part of the elevator 1001, and multiple layers of empty seedling trays are stacked on the seedling tray rack 1003; a pair of tenth slide rails 1004 are provided above the seedling tray rack 1003, and the tenth slide rails 1004 are fixed on the second frame 11; multiple tenth pneumatic grippers 1007 are vertically provided above the tenth slide rails 1004, and the tenth pneumatic grippers 1007 are fixed on the second frame 11; multiple tenth sliders 1005 are provided on the tenth slide rails 1004, and seedling tray conveying racks 1006 are provided on the tenth sliders 1005; the seedling tray conveying racks 1006 are connected to the tenth translation mechanism 1002. In addition, a photoelectric sensor is vertically installed on the side of the tenth pneumatic gripper 1007; the elevator 1001 lifts the empty seedling tray, the edge of the empty seedling tray blocks the photoelectric sensor, and then controls the tenth pneumatic gripper 1007 to close, clamping the empty seedling tray. Then the tenth translation mechanism 1002 drives the seedling tray conveyor 1006 to move below the empty seedling tray, the tenth pneumatic gripper 1007 opens, and the empty seedling tray falls on the seedling tray conveyor 1006, thus realizing the automatic conveying of the seedling tray.

[0045] The structure of seedling transfer mechanism 9 is as follows Figure 17As shown, the seedling transfer mechanism 9 includes a ninth pneumatic slide 901 mounted on the second frame 11. The movable end of the ninth pneumatic slide 901 is connected to a ninth motor 902, which is a 57 stepper motor. The model of the ninth pneumatic slide 901 is HLQ8-20S. The extended end of the ninth motor 902 is connected to a transfer arm 13. The end of the transfer arm 13 is rotatably connected to a gripper connecting plate 903. The lower part of the gripper connecting plate 903 is provided with multiple ninth pneumatic grippers 904. The transfer arm 13 includes a channel steel fixed to the front end of the ninth motor 902. The transfer arm 13 is rotatably connected inside the channel steel. The extended end of the ninth motor 902 is connected to a bevel gear a1. The bevel gear a1 meshes with a bevel gear b1. The bevel gear b1 meshes with a bevel gear a2. The bevel gear a2 is coaxially arranged with the bevel gear a1 and is fixed inside the transfer arm 13. A connecting rod a is fixedly connected to the end of the bevel gear b1. The connecting rod a is rotatably arranged inside the transfer arm 13. The other end of the connecting rod is fixedly connected to a bevel gear b2. The bevel gear b2 meshes with a bevel gear c. The bevel gear c is connected to a connecting rod b. The bevel gear c and the connecting rod b are rotatably arranged at the end of the transfer arm 13. The other end of the connecting rod b is fixed to the gripper connecting plate 903. When the seedling transfer mechanism 9 is working, the ninth pneumatic gripper 904 picks up the grafted seedling, and then the ninth motor 902 rotates, driving the transfer arm 13 to rotate and transfer the grafted seedling from the seedling tray below the scion gripping mechanism 4 to the empty seedling tray of the seedling tray conveying mechanism 10.

[0046] Working principle: In use, the rootstock clamping and cutting mechanism 2 clamps the rootstock above the rootstock conveying mechanism 3, then cuts the rootstock, causing it to fall into the rootstock conveying mechanism 3. The rootstock conveying mechanism 3 then transports the rootstock to the grafting rootstock mechanism 7. The scion clamping mechanism 4 clamps the scion to the scion transfer mechanism 5, then the scion transfer mechanism 5 transfers the scion to the grafting scion mechanism 8. The vibrating drum 12 transports the grafting sleeve 14 to the grafting mechanism 6. Then, the grafting rootstock mechanism 7 and the grafting scion mechanism 8 move the rootstock and scion to the grafting mechanism 6 respectively, and grafting is performed using the grafting sleeve 14. This invention can improve grafting efficiency and has the advantages of low cost, high efficiency, and labor saving.

[0047] The above embodiments merely illustrate implementation methods of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. Furthermore, in these embodiments, "up," "down," "left," "right," "front," and "back" represent relative positions only, not absolute positions. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A small, fully automatic eggplant seedling grafting machine, characterized in that: The system includes a first frame (1); the first frame (1) is provided with a rootstock clamping and cutting mechanism (2) and a scion clamping mechanism (4); a rootstock conveying mechanism (3) is connected to one side of the rootstock clamping and cutting mechanism (2), and a grafting rootstock mechanism (7) is connected to the output end of the rootstock conveying mechanism (3); a scion transfer mechanism (5) is provided to one side of the scion clamping mechanism (4), and a grafting scion mechanism (8) is connected to the side of the scion transfer mechanism (5); a grafting mechanism (6) is connected to the same side of the grafting rootstock mechanism (7) and the grafting scion mechanism (8), and a vibrating disc (12) is provided to the side of the grafting mechanism (6), and a grafting sleeve (14) is provided in the vibrating disc (12); In use, the rootstock clamping and cutting mechanism (2) clamps the rootstock above the rootstock conveying mechanism (3), and then the rootstock clamping and cutting mechanism (2) cuts the rootstock, causing the rootstock to fall into the rootstock conveying mechanism (3). The rootstock conveying mechanism (3) then conveys the rootstock to the grafting rootstock mechanism (7). The scion clamping mechanism (4) clamps the scion to the scion transfer mechanism (5), and then the scion transfer mechanism (5) transfers the scion to the grafting scion mechanism (8). The vibrating drum (12) conveys the grafting sleeve (14) to the grafting mechanism (6). Then the grafting rootstock mechanism (7) and the grafting scion mechanism (8) move the rootstock and scion to the grafting mechanism (6) respectively, and grafting is performed using the grafting sleeve (14). The grafting mechanism (6) includes a sixth pneumatic slide (601) fixed on the first frame (1). The telescopic end of the sixth pneumatic slide (601) is connected to a sixth finger cylinder (602) and a grafting guide block (603). The movable end of the sixth finger cylinder (602) is connected to a pair of sixth grippers (604), which are located on the upper part of the grafting guide block (603). The grafting guide block (603) has a slot (605) on its side and a guide groove (606) at its bottom. The lower part of the sixth pneumatic slide (601) is provided with... A sixth cylinder (607) is fixed on the first frame (1); the telescopic end of the sixth cylinder (607) is connected to a sliding block (608); a pair of knife handles (609) are provided at the front end of the sixth cylinder (607), the middle part of the knife handles (609) is hinged to the first frame (1); the rear end of the knife handles (609) is fitted into the sliding block (608); a knife holder (610) is fixed at the front end of the knife handles (609), and a sixth blade (611) is fixed on the knife holder (610), and the sixth blade (611) is set on the front side of the grafting guide block (603); The anvil clamping and cutting mechanism (2) includes a second translation mechanism (201) located at the top of the first frame (1). A second motion mechanism (202) is located at the lower part of the second translation mechanism (201). An upper jaw fixing plate (203) is connected to the side of the second motion mechanism (202). The second motion mechanism (202) is used to realize the lifting and horizontal rotation of the upper jaw fixing plate (203). Multiple upper movable jaws (204) are slidably provided at the lower part of the upper jaw fixing plate (203), and multiple upper fixed jaws (205) are fixed at the lower part of the upper jaw fixing plate (203). A fixed claw (205) is disposed on the side of the upper movable claw (204); a lower fixed claw (206) is fixed to the lower part of the upper fixed claw (205), a lower clamping claw fixing plate (207) is fixed to the lower part of the lower fixed claw (206), a lower movable claw (208) is slidably disposed on the upper part of the lower clamping claw fixing plate (207), and the lower movable claw (208) is disposed on the side of the lower fixed claw (206); a second flexible clamping block (209) is disposed on the inner side of the upper movable claw (204) and the upper fixed claw (205); a second blade (210) is disposed on the inner side of the lower movable claw (208). The scion transfer mechanism (5) includes multiple fifth cylinders (501) fixed on the first frame (1). The telescopic ends of the fifth cylinders (501) are connected to fifth slide rails (502). Fifth slide rails (502) are provided with fifth sliders (503). Seedling cup mounting plates (504) are fixed to the side of the fifth sliders (503). Multiple fifth seedling cups (505) are provided on the seedling cup mounting plates (504). A protrusion (506) is provided on the rear side of the seedling cup mounting plates (504). The bottom of the seedling cup mounting plate (504) is provided with a rack (507); the front end of the fifth cylinder (501) is provided with a groove plate (508), and the protrusion (506) is fitted into the groove plate (508); the front side of the seedling cup mounting plate (504) is provided with a gear set (509), the gear set (509) is rotatably mounted on the first frame (1), the rack (507) meshes with the gear set (509), and the front side of the gear set (509) is connected to a fifth motor (510).

2. The small fully automatic eggplant seedling grafting machine according to claim 1, characterized in that: The rootstock conveying mechanism (3) includes a conveyor belt (301) located on the side of the rootstock clamping and cutting mechanism (2), and a plurality of third seedling cups (302) are provided on the conveyor belt (301).

3. The small fully automatic eggplant seedling grafting machine according to claim 1, characterized in that: The grafting rootstock mechanism (7) includes a seventh motion mechanism (701) mounted on the first frame (1). The seventh motion mechanism (701) has a seventh finger cylinder (702) on its side. The seventh motion mechanism (701) is used to realize the lifting and lowering of the seventh finger cylinder (702). The movable end of the seventh finger cylinder (702) is connected to a pair of seventh gripping claws (703).

4. The small fully automatic eggplant seedling grafting machine according to claim 1, characterized in that: The scion clamping mechanism (4) includes a fourth translation mechanism (401) set on the top of the first frame (1). The lower part of the fourth translation mechanism (401) is provided with a fourth motion mechanism (402). The lower part of the fourth motion mechanism (402) is provided with a plurality of fourth pneumatic grippers (403). The fourth motion mechanism (402) is used to realize the lifting and lowering of the plurality of fourth pneumatic grippers (403).

5. The small fully automatic eggplant seedling grafting machine according to claim 1, characterized in that: The grafting scion mechanism (8) includes an eighth motion mechanism (801) mounted on the first frame (1). The eighth motion mechanism (801) has an eighth finger cylinder (802) and an eighth pneumatic slide (803) on its side. The eighth motion mechanism (801) is used to realize the lifting, translation and horizontal rotation of the eighth finger cylinder (802) and the eighth pneumatic slide (803). The movable end of the eighth finger cylinder (802) is connected to a pair of eighth gripping claws (804). The movable end of the eighth pneumatic slide (803) is fixed with an ejector plate (805), which is located below the eighth gripping claws (804).

6. The small fully automatic eggplant seedling grafting machine according to claim 1, characterized in that: The first frame (1) has a second frame (11) on its side; the second frame (11) has a seedling tray conveying mechanism (10), and the upper part of the seedling tray conveying mechanism (10) has a seedling transfer mechanism (9); the seedling tray conveying mechanism (10) includes a lift (1001) and a tenth translation mechanism (1002) mounted on the second frame (11); the upper part of the lift (1001) has a seedling tray frame (1003); the upper part of the seedling tray frame (1003) has a pair of tenth slide rails (9). 1004), the tenth slide rail (1004) is fixed on the second frame (11); a plurality of tenth pneumatic grippers (1007) are provided above the tenth slide rail (1004), the tenth pneumatic grippers (1007) are fixed on the second frame (11); a plurality of tenth sliders (1005) are provided on the tenth slide rail (1004), and a seedling tray conveying frame (1006) is provided on the tenth slider (1005); the seedling tray conveying frame (1006) is connected to the tenth translation mechanism (1002).

7. The small fully automatic eggplant seedling grafting machine according to claim 6, characterized in that: The seedling transfer mechanism (9) includes a ninth pneumatic slide (901) mounted on a second frame (11). The movable end of the ninth pneumatic slide (901) is connected to a ninth motor (902). The extended end of the ninth motor (902) is connected to a transfer arm (13). The end of the transfer arm (13) is rotatably connected to a gripper connecting plate (903). The lower part of the gripper connecting plate (903) is provided with multiple ninth pneumatic grippers (904).

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