A vegetable automatic grafting device and use method thereof

Abstract

The present invention relates to a vegetable automated grafting device and a method of using the device in the field of vegetable grafting technology, including a belt conveyor for conveying stock and scion, a plurality of conveying disks are arranged on the top of the belt conveyor, the stock and scion are arranged side by side in the cavity on the top of the conveying disk, a cutter for cutting the stock and scion is arranged on one side of the belt conveyor, and the cutter is driven by a cutter drive assembly to move toward the scion and the stock. The present invention clamps the upper end of the scion with two arc-shaped clamps and two elastic membranes before cutting the scion, and moves the upper end of the scion above the incision of the stock when the cutter cuts the stock. Since the incision heights of the scion and the stock are consistent and the inclination angles are the same, the incision of the scion is aligned and fitted with the incision of the stock, and the operation is completed when the cutter is reset after cutting the stock. The entire process structure is rigorously designed and cleverly coordinated, and the process of aligning the two incisions in the traditional grafting operation is omitted, which helps to improve the efficiency of the grafting work.

Description

Technical Field

[0001] The present invention relates to the technical field of vegetable grafting, and in particular to an automatic vegetable grafting device and a use method thereof. Background Art

[0002] Grafting is a method of asexual plant propagation, where a branch or bud of one plant is grafted onto the stem or root of another plant, so that the two parts grow into a complete plant. The purpose of this method is to combine the advantages of two plants, for example, one plant may have good disease resistance and the other may have excellent fruit quality. Through grafting, these two advantages can be combined to create a plant that has both disease resistance and high-quality fruit.

[0003] Grafting and root replacement seedling cultivation is a fundamental method for preventing and controlling wilt disease in watermelon and melon vegetables and bacterial wilt disease in tomato, eggplant, pepper and other solanaceous crops. Common methods include stick grafting, approach grafting, cleft grafting and so on. Among them, the most commonly used is stick grafting, which has a fast grafting speed, high survival rate, good interface healing, fast recovery of scion growth, and wide adaptability to vegetables. The stick grafting method requires the removal of the true leaves at the cotyledon of the rootstock, and the scion is cut obliquely downward 8-10 mm below the cotyledon. The incision of the rootstock and scion is a 45-degree bevel, and then the scion is attached to the incision of the rootstock along the bevel incision and fixed with a clamp. Generally, this operation is completed manually, but with the rapid development of economy and technology, the traditional manual operation method can no longer meet the growing demand for vegetable planting. Therefore, the prior art of publication number CN109691313B and publication number CN108419557 B came into being. The use of this equipment greatly improves the efficiency of vegetable grafting. However, the use of the above equipment has the same problems as manual grafting: after the stock and the scion are beveled, an additional process needs to be set to align the incisions of the stock and the scion. Since the diameter of the stem of the vegetable plant is small, the operation has high requirements on the machine and labor on the one hand, and on the other hand it will affect the efficiency of vegetable grafting. Summary of the invention

[0004] In order to solve the problem that the alignment operation of the scion incision and the stock incision affects the grafting efficiency proposed in the above background technology, the present invention provides the following technical solution:

[0005] An automated vegetable grafting device, comprising a belt conveyor for conveying rootstocks and scions, a plurality of conveyor discs are arranged on the top of the belt conveyor, the rootstocks and scions are arranged side by side in a cavity on the top of the conveyor discs, a cutter for cutting the rootstocks and scions is arranged on one side of the belt conveyor, the cutter is driven by a cutter drive assembly to move toward the scion and the rootstock, the scion is located on a side of the conveyor disc close to the cutter, and the cutter drive assembly drives the cutter to first cut the scion and then the rootstock;

[0006] The cutter drive assembly includes a stand erected on the ground, two side-by-side guide rods are fixed on the top of the stand, the outer ends of the guide rods are slidably connected with a cutter moving plate that drives the cutter to move linearly, two cylinders are fixed on one side of the cutter moving plate, a piston rod is inserted in the cylinder, a clamp moving plate that moves following the cutter moving plate is fixed on one end of the piston rod, a clamp for clamping the scion is connected to the bottom of the clamp moving plate through a connecting frame, the clamp is located on the side of the cutter close to the scion, and is used to clamp the scion before the cutter cuts the scion, and then the cutter continues to move to cut the stock, and the clamp moving plate moves the scion above the stock following the movement of the cutter moving plate;

[0007] A plurality of plastic clamps are arranged on the other side of the belt conveyor. The plastic clamps are controlled by a plastic clamp clamping assembly to clamp the outside of the cuts of the scion and the stock to complete the grafting operation of the stock and the scion.

[0008] Furthermore, the clamp includes a finger cylinder a fixed at the bottom of the connecting frame, and the bottom of the finger cylinder a is movably connected to two extension rods symmetrically distributed front and back, and arc-shaped splints are fixed on the side close to the bottom ends of the two extension rods, and elastic membranes are fixed on the inner walls of the openings of the two arc-shaped splints.

[0009] Furthermore, two groups of electromagnets symmetrically distributed front and back are fixed on the top of the stand, which are used to adsorb the fixture moving plate to fix the positions of the two arc-shaped clamping plates after power is turned on;

[0010] The inner walls of the two extension rods are provided with sensors, which are used to send signals to the controller when the two arc-shaped clamps move to the front and rear sides of the scion respectively, and then the controller controls the electromagnet to energize and adsorb the clamp moving plate.

[0011] Furthermore, a pressure sensor is provided at one end of the two cylinders away from the piston rod, and a spring is provided between the pressure sensor and the piston rod. When the clamp moving plate is adsorbed and fixed by the electromagnet, the cutter moving plate continues to push the cylinder to move to increase the pressure value detected by the pressure sensor. After the cutter cuts off the clamped scion, the pressure value reaches a set threshold, and the pressure sensor sends a threshold signal to the controller, which controls the electromagnet to cut off power.

[0012] Furthermore, a magnet a is fixed to the top of the outer end of the cylinder, and two magnets b attracted to the magnet a are fixed to the side of the clamp moving plate facing the cylinder, which are used to retract the piston rod into the cylinder and fix the arc clamp on the top of the cutter.

[0013] Furthermore, the cutter is composed of a blade inclined at 45 degrees, an arc-shaped bent plate and a vertical baffle, wherein the bent plate is fixed at the bottom end of the blade, and the baffle is fixed at the top of the bent plate, and the rootstock cut by the blade moves along the blade into the inside of the bent plate.

[0014] Furthermore, a telescopic frame capable of extension and retraction is fixed to the bottom of the cutter movable plate, and one end of the telescopic frame away from the cutter movable plate is fixed to the cutter side wall.

[0015] Furthermore, the plastic clamping assembly includes a hollow cylinder fixed to the side of the belt conveyor away from the cutter, the interior of the hollow cylinder is hollow, and a rotatable rotating shaft is movably connected to the interior of the hollow cylinder through a bearing, the bottom end of the rotating shaft passes through the hollow cylinder and extends out of the bottom of the hollow cylinder, a reciprocating screw is fixed to the top of the rotating shaft, a push plate is provided at the outer end of the reciprocating screw, the push plate is a hollow structure, a screw nut is fixed in the middle of the top of the push plate, the screw nut is sleeved on the outer end of the reciprocating screw and is threadedly connected to the reciprocating screw, a micro-conveyor for conveying plastic clips is provided on one side of the push plate, the micro-conveyor conveys the plastic clip to the top of the push plate, and the push plate then moves the plastic clip to the top of the hollow cylinder, two clamping claws for clamping the plastic clip are provided on the top of the hollow cylinder, and a movable finger cylinder b is installed on the side of the clamping claw away from the plastic clip, the finger cylinder b drives the two clamping claws to open or close, and the moving finger cylinder b drives the clamped plastic clip to move to the outer end of the stock.

[0016] Furthermore, one side of the top end of the hollow cylinder is connected to a mounting frame, and the micro conveyor is installed at the bottom end inside the mounting frame.

[0017] The present invention also includes a method for using the above-mentioned vegetable automated grafting device, comprising the following steps:

[0018] Step 1: Place multiple scions and rootstocks to be grafted in the cavities on top of multiple conveyor discs in turn, and then place multiple plastic clips on the top of the micro conveyor for conveying. After the plastic clips move to the top of the push plate, the rotating shaft drives the reciprocating screw to rotate, and the reciprocating screw drives the push plate to drive the plastic clips to move up until the plastic clips are moved to the top of the hollow cylinder.

[0019] Step 2: The two clamping jaws are originally in an open state. After the plastic clip moves to the top of the hollow cylinder, the finger cylinder b drives the two clamping jaws to close toward the middle and clamp the plastic clip, so that one end of the plastic clip opens;

[0020] Step 3: When the conveyor disc drives the scion and the stock to move to one side of the cutter, the belt conveyor pauses, and then the cutter moving plate starts to move and drives the cutter and the clamp moving plate to move, and at the same time the clamp moving plate drives the clamp to move toward the scion. Since the clamp is closer to the scion, the arc-shaped clamp plate and the elastic membrane in the clamp will first move to the front and rear sides of the scion, and then the sensor senses the position of the scion and transmits a signal to the controller, and the controller controls the electromagnet to energize and adsorb the clamp moving plate to prevent the clamp moving plate from continuing to move, and at the same time the controller controls the finger cylinder a to drive the two extension rods to drive the two arc-shaped clamp plates to move toward the middle, so as to clamp the scion with the elastic membrane, and the cutter continues to move until the scion is cut off, and at this time the clamp clamps the cut top of the scion;

[0021] As the cutter continues to move, the positions of the arc-shaped clamping plate and the top of the scion remain unchanged, and the cutter moving plate pushes the cylinder to move relative to the piston rod until the magnet a attracts the magnet b. At the same time, the spring at one end of the piston rod squeezes the pressure sensor and increases the pressure applied to the pressure sensor. When the cutter cuts off the scion, the piston rod retracts into the cylinder. The pressure value applied to the pressure sensor is the maximum. At this time, the pressure sensor sends a signal to the controller, which controls the fixture moving plate to cut off the power. Under the adsorption action of the magnets a and b, the arc-shaped clamping plate and the clamped scion are located at the top of the cutter.

[0022] Step 4, the cutter continues to move to cut off the rootstock located on the top of the conveyor disk. At this time, the clamp moving plate moves to between the two electromagnets of another group, and then the cutter starts to move in the opposite direction and reset. At the same time as the cutter resets, the controller electromagnet is energized to adsorb and fix the position of the clamp moving plate. The cutter continues to move in the opposite direction, and pulls magnet a and magnet b apart, and pulls the cylinder to move in the opposite direction along the outer wall of the piston rod. In this process, the cutter moves away from above the incision of the rootstock. At this time, the cut scion is located above the incision of the rootstock. Then the finger cylinder b is controlled to drive the stretched plastic clamp to move to the outside of the rootstock stem, and then the two clamps are released, the belt conveyor continues to work, and the above process is repeated.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention sets the stock and the scion parallel to the moving direction of the cutter, and the scion is located on a side close to the cutter, so that the cutter inclined at 45 degrees can cut the scion and the stock in sequence during the translation process, and because the inclination angle and height of the cutter remain unchanged, cut surfaces with the same position and the same inclination angle are formed on the stems of the scion and the stock, so as to ensure that the incisions on the scion and the stock can be matched.

[0025] The cutter in the present invention can clamp the upper end of the scion by using two arc-shaped clamping plates and two elastic membranes before cutting the scion, and move the upper end of the scion above the incision of the stock when the cutter cuts the stock. Since the incision heights of the scion and the stock are consistent and the inclination angles are the same, the incision of the scion can be aligned and fitted with the incision of the stock. This operation is completed when the cutter is reset after cutting the stock. The entire process structure is rigorously designed and cleverly coordinated, and the process of aligning the two incisions in the traditional grafting operation is omitted, which helps to improve the efficiency of the grafting work.

[0026] At the same time, with the cooperation of the belt conveyor and the plastic parts clamping assembly, the loading and unloading operations are smooth and highly automated during the entire grafting process, which can speed up the existing vegetable grafting rate.

[0027] The cutter in the invention is composed of an inclined blade, a bent plate and a baffle. The top of the stock cut by the blade moves down to the position of the bent plate along the inclined surface of the blade and gathers at the position to prevent it from scattering to the top of the belt conveyor and affecting the cleanliness of the environment.

[0028] The plastic clip of the present invention is made of ABS plastic in an integrated manner, has high elasticity and toughness, and is hard. When in use, the opening of the plastic clip can be opened by pinching the tail of the plastic clip, and the opening can be closed to the initial state under the action of its own elasticity when the pinching of the plastic clip is stopped, so that the scion and the stock cut are clamped and fixed, and no spring is needed, and the normal growth of the grafted plant will not be affected by metal corrosion caused by the spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 A top view of the present invention;

[0031] Figure 3 It is a schematic diagram of the structure of the cutter and the cutter drive assembly of the present invention;

[0032] Figure 4 The figure is a structural diagram of the cutter of the present invention;

[0033] Figure 5 is a schematic structural diagram of a cutter drive assembly of the present invention;

[0034] Figure 6 It is a schematic diagram of the positions of the cylinder, spring and pressure sensor of the present invention;

[0035] Figure 7 For the present invention Figure 6 A magnified view of middle;

[0036] Figure 8 For the present invention Figure 6 Enlarged view of middle B;

[0037] Fig. 9 It is a structural schematic diagram of the cutter moving plate, the clamp moving plate and the guide rod of the present invention;

[0038] Fig.10 It is a structural schematic diagram of the plastic clamping assembly and the belt conveyor of the present invention;

[0039] Fig.11 It is a structural schematic diagram of the plastic clip clamping assembly of the present invention;

[0040] Fig.12 It is a structural schematic diagram of the plastic clip of the present invention;

[0041] Fig.13 It is the system control diagram of the present invention.

[0042] In the accompanying drawings, the names of the components represented by the reference numerals are listed as follows:

[0043] Belt conveyor;

[0044] conveyor disc;

[0045] Cutter; 31, blade; 32, bending plate; 33, baffle;

[0046] Cutter drive assembly; 41, stand; 42, guide rod; 43, cutter moving plate; 44, telescopic frame; 45, cylinder; 46, piston rod; 47, spring; 48, pressure sensor; 49, fixture moving plate; 410, connecting frame; 411, finger cylinder a; 412, extension rod; 413, arc clamp; 414, elastic membrane; 415, sensor; 416, electromagnet; 417, magnet a; 418, magnet b;

[0047] Plastic clips;

[0048] Plastic clamp assembly; 61, clamping claw; 62, finger cylinder b; 63, hollow cylinder; 64, push plate; 65, rotating shaft; 66, reciprocating screw rod; 67, micro conveyor; 68, mounting frame. DETAILED DESCRIPTION

[0049] The preferred specific embodiments for implementing the present invention are described in detail below, and a clear and complete description is made in conjunction with the accompanying drawings.

[0050] See also Figure 1The present invention provides an automated vegetable grafting device, comprising a belt conveyor 1 for conveying rootstocks and scions, a plurality of conveyor discs 2 are arranged on the top of the belt conveyor 1, the rootstocks and scions are arranged side by side in the cavity on the top of the conveyor discs 2, a cutter 3 for cutting the rootstocks and scions is arranged on one side of the belt conveyor 1, the cutter 3 is driven by a cutter driving assembly 4 to move toward the scion and the rootstock, the scion is located on the side of the conveyor disc 2 close to the cutter 3, and the cutter driving assembly 4 drives the cutter 3 to cut the scion first and then the rootstock;

[0051] To ensure that the incision positions and inclination angles of the scion and the rootstock are the same, the cutter 3 in the present invention is composed of a blade 31 inclined at 45°, an arc-shaped bent plate 32 and a vertical baffle 33. The bent plate 32 is fixed at the bottom of the blade 31, and the baffle 33 is fixed at the top of the bent plate 32. The rootstock cut by the blade 31 moves along the blade 31 to the inside of the bent plate 32. The blade 31 inclined at 45° can form an elliptical section with an inclination of 45° on the stem of the rootstock and the scion. Moreover, since the height of the cutter 3 in each grafting operation in the present invention is fixed, the positions of the incisions on the rootstock and the scion are also the same.

[0052] Further, in order to be able to drive the cutter 3 to cut the scion and the rootstock, as Figure 3 , 5 As shown in Figure 9, the cutter drive assembly 4 includes a stand 41 standing on the ground, two side-by-side guide rods 42 are fixed on the top of the stand 41, and the outer ends of the guide rods 42 are slidably connected with a cutter moving plate 43 that drives the cutter 3 to move linearly. The cutter moving plate 43 in the present invention is driven by a driving member that moves linearly, and a telescopic frame 44 that can be extended and retracted is fixed at the bottom of the cutter moving plate 43. One end of the telescopic frame 44 away from the cutter moving plate 43 is fixed to the side wall of the cutter 3. By adjusting the telescopic frame 44, the cutting height of the cutter 3 can be changed, so that it can be suitable for different types of vegetable plants;

[0053] Two cylinders 45 are fixed on one side of the cutter moving plate 43, and a piston rod 46 is inserted inside the cylinder 45. A clamp moving plate 49 that moves with the cutter moving plate 43 is fixed on one end of the piston rod 46. Two groups of electromagnets 416 that are symmetrically distributed front and back are fixed on the top of the stand 41. The two groups of electromagnets 416 are respectively located on both sides of the clamp moving plate 49 and are used to adsorb the clamp moving plate 49 after power is turned on.

[0054] Since the scion needs to be grafted onto the stem of the rootstock, the top of the scion needs to be clamped in advance before the scion is cut by the cutter 3. Figure 6 and 8As shown, the bottom of the clamp moving plate 49 is connected with a clamp for clamping the scion through a connecting frame 410, and the clamp is located on the side of the cutter 3 close to the scion, and is used to clamp the scion before the cutter 3 cuts the scion, and then the cutter 3 continues to move to cut the stock, and the clamp moving plate 49 moves with the cutter moving plate 43 to move the scion above the stock. Specifically, the clamp includes a finger cylinder a411 fixed to the bottom of the connecting frame 410, and the bottom of the finger cylinder a411 is movably connected to two extension rods 412 symmetrically distributed front and back, and the inner walls of the two extension rods 412 are both provided with sensors 415, and the sides close to the bottom ends of the two extension rods 412 are both fixed with arc-shaped clamps 413, and the inner walls of the openings of the two arc-shaped clamps 413 are both fixed with elastic membranes 414;

[0055] When the present invention is used, the staff puts a plurality of scions and rootstocks to be grafted in the cavities on the top of a plurality of conveyor discs 2 in sequence, and conveys them by the belt conveyor 1. Then, when the conveyor disc 2 drives the scions and rootstocks to move to the side of the cutter 3, the belt conveyor 1 is paused, and then the cutter moving plate 43 starts to move and drives the cutter 3 and the clamp moving plate 49 to move. At the same time, the clamp moving plate 49 drives the clamp to move toward the scion. Since the clamp is closer to the scion, the arc clamp plate 413 and the elastic membrane 41 in the clamp are 4 will first move to the front and rear sides of the scion, then the sensor 415 senses the position of the scion and transmits a signal to the controller, and the controller controls the electromagnet 416 to energize and adsorb the clamp moving plate 49 to prevent the clamp moving plate 49 from continuing to move. At the same time, the controller controls the finger cylinder a411 to drive the two extension rods 412 to drive the two arc clamping plates 413 to move toward the middle, so as to clamp the scion with the elastic membrane 414, and the cutter 3 continues to move until the scion is cut off, at which time the clamp clamps the cut top of the scion;

[0056] Next, the cutter 3 continues to move and starts to cut the scion. After the scion is cut, the cutter 3 needs to continue to move to one side. Therefore, in order to prevent the top of the clamped scion from contacting the top of the stock, a pressure sensor 48 is provided at one end of the two cylinders 45 away from the piston rod 46. A spring 47 is provided between the pressure sensor 48 and the piston rod 46. When the clamp moving plate 49 is adsorbed and fixed by the electromagnet 416, the cutter moving plate 43 continues to push the cylinder 45 to move to increase the pressure value detected by the pressure sensor 48. After the cutter 3 cuts off the clamped scion, the pressure value reaches a set threshold value. The pressure sensor 48 sends a threshold signal to the controller, and the controller controls the electromagnet 416 to cut off power. A magnet a417 is fixed on the top of the outer end of the cylinder 45. Two magnets b418 adsorbed with the magnet a417 are fixed on the side of the clamp moving plate 49 facing the cylinder 45. When the cutter 3 cuts off the scion, the magnet a417 contacts with the magnet b418 and is magnetically attracted together.

[0057] The specific process is as follows: as the cutter 3 continues to move, the positions of the arc-shaped clamping plate 413 and the top of the scion remain unchanged, and the cutter moving plate 43 pushes the cylinder 45 to move relative to the piston rod 46 until the magnet a417 attracts the magnet b418. At the same time, the spring 47 at one end of the piston rod 46 squeezes the pressure sensor 48 and increases the pressure applied to the pressure sensor 48. When the cutter 3 cuts off the scion, the piston rod 46 retracts into the cylinder 45, and the pressure value applied to the pressure sensor 48 is the maximum. At this time, the pressure sensor 48 sends a signal to the controller, and the controller controls the fixture moving plate 49 to cut off the power. Under the adsorption effect of the magnet a417 and the magnet b418, the arc-shaped clamping plate 413 and the clamped scion are located at the top of the cutter 3. The magnet a417 and the magnet b418 are strong magnetic magnets, and their suction force is greater than the elastic force of the compressed spring 47, so the scion can be restricted to the top of the cutter;

[0058] After the scion is cut, the cutter 3 continues to move with the cutter moving plate 43 to cut the stock located on the top of the conveyor disc 2. At this time, the clamp moving plate 49 moves between two electromagnets 416 of another group, and then the cutter 3 starts to move in the opposite direction and reset. While the cutter 3 is reset, the controller electromagnet 416 is energized to adsorb and fix the position of the clamp moving plate 49. The cutter 3 continues to move in the opposite direction, and pulls the magnet a417 and the magnet b418 apart, and pulls the cylinder 45 to move in the opposite direction along the outer wall of the piston rod 46. In this process, the cutter 3 moves away from the top of the stock incision. At this time, the cut scion is located above the stock incision. Since the height and inclination angle of the scion incision are consistent with those of the stock incision, the incisions of the two fit together after the cutter 3 is moved away.

[0059] Finally, the scion cut and the rootstock cut need to be clamped. Figure 1 and 12 As shown, a plurality of plastic clamps 5 are provided on the other side of the belt conveyor 1. The plastic clamps 5 are controlled by a plastic clamp assembly 6 to clamp the outside of the cut of the scion and the stock to complete the grafting operation of the stock and the scion. Specifically, as shown in FIG. Fig.11As shown, the plastic clamp assembly 6 includes a hollow cylinder 63 fixed on the side of the belt conveyor 1 away from the cutter 3, the interior of the hollow cylinder 63 is hollow, and two clamping claws 61 for clamping the plastic clamp 5 are arranged on the top of the hollow cylinder 63, and a movable finger cylinder b62 is installed on the side of the clamping claw 61 away from the plastic clamp 5, and a rotating shaft 65 that can rotate is movably connected to the inside of the hollow cylinder 63 through a bearing, and the bottom end of the rotating shaft 65 passes through the hollow cylinder 63 and extends out of the bottom of the hollow cylinder 63, and a reciprocating screw 66 is fixed on the top of the rotating shaft 65, and a push plate 64 is arranged on the outer end of the reciprocating screw 66, and the push plate 64 is a hollow structure, and a screw nut is fixed in the middle of the top of the push plate 64, and the screw nut is sleeved on the outer end of the reciprocating screw 66 and is threadedly connected to the reciprocating screw 66, and a micro conveyor 67 for conveying the plastic clamp 5 is arranged on one side of the push plate 64, and a mounting frame 68 is connected to one side of the top of the hollow cylinder 63, and the micro conveyor 67 is installed on the bottom end of the mounting frame 68;

[0060] The two clamping jaws 61 of the present invention are originally in an open state. After the plastic clip 5 moves to the top of the hollow cylinder 63, the finger cylinder b62 drives the two clamping jaws 61 to close toward the middle and clamp the plastic clip 5, so that the opening at one end of the plastic clip 5 is opened. Fig.12 As shown, after the cutter 3 is pulled out from above the stock, the finger cylinder b62 is driven by the linear drive to drive the clamp 61 and the plastic clamp 5 clamped by the clamp 61 to move to the outer end of the stock stem, and then the finger cylinder b62 controls the two clamps 61 to open outward, so that the opening at one end of the plastic clamp 5, which has a certain elasticity, can automatically close and cover the outer end of the stock stem. In order to make the plastic clamp 5 elastic, the plastic clamp 5 in the present invention is made of ABS plastic. It is known that ABS plastic is a terpolymer of three monomers: acrylonitrile (A), butadiene (B), and styrene (S), and has the common properties of the three components. A makes it resistant to chemical corrosion and heat, and has a certain surface hardness, B makes it have high elasticity and toughness, and S makes it have the processing and molding characteristics of thermoplastic plastics and improves electrical properties.

[0061] After the grafting operation is completed, the belt conveyor 1 continues to work to convey the grafted stock to one side, and then the above process is repeated to achieve the grafting of large quantities of vegetable plants. The alignment operation of the scion incision and the stock incision is completed when the cutter 3 is reset after cutting the stock. The entire process structure is rigorously designed and cleverly coordinated. The process of aligning the two incisions in the traditional grafting operation is omitted, the processing steps are reduced, and the efficiency of the grafting work is improved.

[0062] In addition, it is worth noting that the controller used in the present invention is a programmable logic controller (PLC), which controls the hardware in the present invention as follows: Fig.13 As shown, the specific control process and circuit design can be achieved through technical means in the prior art, so they are not further described in this application.

[0063] Based on the above content and the accompanying drawings, those skilled in the art can understand and implement the present invention. In addition, any non-creative modifications made to the present invention by those skilled in the art without creative work still fall within the protection scope of the present invention.

Claims

1. An automated vegetable grafting device, comprising a belt conveyor (1) for conveying rootstocks and scions, characterized in that: A plurality of conveyor discs (2) are provided on the top of the belt conveyor (1); the rootstock and the scion are arranged side by side in a cavity on the top of the conveyor disc (2); a cutter (3) for cutting the rootstock and the scion is provided on one side of the belt conveyor (1); the cutter (3) is driven by a cutter drive assembly (4) to move toward the scion and the rootstock; the scion is located on a side of the conveyor disc (2) close to the cutter (3); the cutter drive assembly (4) drives the cutter (3) to first cut the scion and then the rootstock; The cutter drive assembly (4) comprises a stand (41) standing on the ground, two guide rods (42) arranged side by side are fixed on the top of the stand (41), the outer ends of the guide rods (42) are slidably connected to a cutter moving plate (43) for driving the cutter (3) to move linearly, two cylinders (45) are fixed on one side of the cutter moving plate (43), a piston rod (46) is inserted into the cylinder (45), one end of the piston rod (46) is fixed to a clamp moving plate (49) that moves following the cutter moving plate (43), the bottom of the clamp moving plate (49) is connected to a clamp for clamping a scion through a connecting frame (410), the clamp is located on a side of the cutter (3) close to the scion, and is used to clamp the scion before the cutter (3) cuts the scion, and then the cutter (3) continues to move to cut the stock, and the clamp moving plate (49) moves following the cutter moving plate (43) to move the scion above the stock; A plurality of plastic clamps (5) are provided on the other side of the belt conveyor (1), and the plastic clamps (5) are controlled by a plastic clamp clamping assembly (6) to clamp on the outside of the cut of the scion and the stock, so as to complete the grafting operation of the stock and the scion.

2. The vegetable automated grafting device according to claim 1, characterized in that: The clamp comprises a finger cylinder a (411) fixed at the bottom of a connecting frame (410), wherein the bottom of the finger cylinder a (411) is movably connected to two extension rods (412) symmetrically distributed front and back, and arc-shaped clamping plates (413) are fixed to the sides close to the bottom ends of the two extension rods (412), and elastic membranes (414) are fixed to the inner walls of the openings of the two arc-shaped clamping plates (413).

3. The vegetable automated grafting device according to claim 2, characterized in that: Two groups of electromagnets (416) symmetrically distributed front and back are fixed on the top of the stand (41) and are used to adsorb the fixture moving plate (49) to fix the positions of the two arc-shaped clamping plates (413) after power is turned on; The inner walls of the two extension rods (412) are provided with sensors (415) for sending signals to the controller when the two arc-shaped clamping plates (413) move to the front and rear sides of the scion respectively, and the controller then controls the electromagnet (416) to energize and adsorb the clamp moving plate (49).

4. The vegetable automated grafting device according to claim 3, characterized in that: A pressure sensor (48) is provided at one end of the two cylinders (45) away from the piston rod (46), and a spring (47) is provided between the pressure sensor (48) and the piston rod (46). When the clamp moving plate (49) is adsorbed and fixed by the electromagnet (416), the cutter moving plate (43) continues to push the cylinder (45) to move so as to increase the pressure value detected by the pressure sensor (48). After the cutter (3) cuts off the clamped scion, the pressure value reaches a set threshold value, and the pressure sensor (48) sends a threshold value signal to the controller, which controls the electromagnet (416) to cut off the power.

5. The vegetable automated grafting device according to claim 4, characterized in that: A magnet a (417) is fixed to the top of the outer end of the cylinder (45), and two magnets b (418) attracted to the magnet a (417) are fixed to the side of the clamp moving plate (49) facing the cylinder (45) for retracting the piston rod (46) into the cylinder (45) and fixing the arc clamping plate (413) on the top of the cutter (3).

6. The vegetable automated grafting device according to claim 5, characterized in that: The cutter (3) is composed of a blade (31) inclined at 45 degrees, an arc-shaped curved plate (32) and a vertical baffle (33), wherein the curved plate (32) is fixed to the bottom end of the blade (31), and the baffle (33) is fixed to the top of the curved plate (32), and the rootstock cut by the blade (31) moves along the blade (31) to the inside of the curved plate (32).

7. The vegetable automated grafting device according to claim 6, characterized in that: A telescopic frame (44) capable of extension and contraction is fixed to the bottom of the cutter moving plate (43); one end of the telescopic frame (44) away from the cutter moving plate (43) is fixed to the side wall of the cutter (3).

8. The vegetable automated grafting device according to claim 7, characterized in that: The plastic clamp assembly (6) comprises a hollow cylinder (63) fixed to a side of the belt conveyor (1) away from the cutter (3), the interior of the hollow cylinder (63) being hollow, the interior of the hollow cylinder (63) being movably connected with a rotatable shaft (65) via a bearing, the bottom end of the shaft (65) passing through the hollow cylinder (63) and extending out of the bottom of the hollow cylinder (63), a reciprocating screw (66) being fixed to the top end of the shaft (65), a push plate (64) being provided at the outer end of the reciprocating screw (66), the push plate (64) being a hollow structure, a screw nut being fixed in the middle of the top of the push plate (64), the screw nut being sleeved on the outer end of the reciprocating screw (66) and being connected to the reciprocating screw (66) 6) Thread connection, a micro conveyor (67) for conveying the plastic clip (5) is provided on one side of the push plate (64), the micro conveyor (67) conveys the plastic clip (5) to the top of the push plate (64), and the push plate (64) then moves the plastic clip (5) to the top of the hollow cylinder (63), the top of the hollow cylinder (63) is provided with two clamping claws (61) for clamping the plastic clip (5), a movable finger cylinder b (62) is installed on the side of the clamping claw (61) away from the plastic clip (5), the finger cylinder b (62) drives the two clamping claws (61) to open or close, and the movable finger cylinder b (62) drives the clamped plastic clip (5) to move to the outer end of the rootstock.

9. The vegetable automated grafting device according to claim 8, characterized in that: One side of the top end of the hollow cylinder (63) is connected to a mounting frame (68), and the micro conveyor (67) is mounted on the bottom end inside the mounting frame (68).

10. A method for using the vegetable automated grafting device according to claim 9, characterized in that: The following steps are involved: Step 1: Place multiple scions and rootstocks to be grafted in the cavities on the top of multiple conveyor plates (2) in sequence, and then place multiple plastic clips (5) on the top of the micro conveyor (67) for conveyance. After the plastic clips (5) move to the top of the push plate (64), the rotating shaft (65) drives the reciprocating screw (66) to rotate, and the reciprocating screw (66) drives the push plate (64) to drive the plastic clips (5) to move upward until the plastic clips (5) are moved to the top of the hollow cylinder (63); Step 2: The two clamping jaws (61) are originally in an open state. After the plastic clip (5) moves to the top of the hollow cylinder (63), the finger cylinder b (62) drives the two clamping jaws (61) to close toward the middle and clamp the plastic clip (5), so that one end of the plastic clip (5) is opened; Step 3: When the conveyor disc (2) drives the scion and the rootstock to move to one side of the cutter (3), the belt conveyor (1) is paused, and then the cutter moving plate (43) starts to move and drives the cutter (3) and the clamp moving plate (49) to move. At the same time, the clamp moving plate (49) drives the clamp to move toward the scion. Since the clamp is closer to the scion, the arc-shaped clamping plate (413) and the elastic membrane (414) in the clamp will first move to the front and rear sides of the scion. Then the sensor (415) senses the position of the scion and transmits a signal to the controller. The controller controls the electromagnet (416) to energize and adsorb the clamp moving plate (49) to prevent the clamp moving plate (49) from moving further. At the same time, the controller controls the finger cylinder a (411) to drive the two extension rods (412) to drive the two arc-shaped clamping plates (413) to move toward the middle, so as to clamp the scion with the elastic membrane (414). The cutter (3) continues to move until the scion is cut off. At this time, the clamp clamps the cut top of the scion. As the cutter (3) continues to move, the positions of the arc-shaped clamping plate (413) and the top of the scion remain unchanged, and the cutter moving plate (43) pushes the cylinder (45) to move relative to the piston rod (46) until the magnet a (417) attracts the magnet b (418). At the same time, the spring (47) at one end of the piston rod (46) squeezes the pressure sensor (48) and increases the pressure applied to the pressure sensor (48). When the cutter (3) cuts off the scion, the piston rod (46) retracts into the cylinder (45), and the pressure value applied to the pressure sensor (48) is the maximum. At this time, the pressure sensor (48) sends a signal to the controller, and the controller controls the fixture moving plate (49) to cut off the power. Under the adsorption action of the magnet a (417) and the magnet b (418), the arc-shaped clamping plate (413) and the clamped scion are located at the top of the cutter (3); Step 4, the cutter (3) continues to move to cut the rootstock located on the top of the conveyor disc (2), at which time the clamp moving plate (49) moves between another group of two electromagnets (416), and then the cutter (3) starts to move in the opposite direction to reset. While the cutter (3) resets, the controller electromagnet (416) is energized to adsorb and fix the position of the clamp moving plate (49), and the cutter (3) continues to move in the opposite direction, and pulls the magnet a (417) and the magnet b (418) apart, and pulls the cylinder (45) to move in the opposite direction along the outer wall of the piston rod (46). In this process, the cutter (3) moves away from the top of the rootstock incision, and the cut scion is located above the rootstock incision. Then the finger cylinder b (62) is controlled to drive the opened plastic clamp (5) to move to the outside of the rootstock stem, and then the two clamps (61) are released, and the belt conveyor (1) continues to work, and the above steps 1 to 4 are repeated.

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