Automatic clamping device of grafting machine and method thereof

Abstract

The application discloses a grafting machine automatic clamping device and method, and belongs to the field of automatic grafting machines. The device comprises a rack, a feeding unit, a positioning and clamping unit, a cutting unit and a delivery and clamping unit installed on the rack. The feeding unit delivers the closed material clamp in an elongated linear form to the positioning and clamping unit. The closed material clamp is clamped by the clamp block to enter the second feeding channel to the upper side of the positioning needle, and the accurate positioning of the material clamp is completed. The cutting unit cuts the closed material clamp at the length limiting block to complete the cutting of the specified length, and the stable clamping of the material clamp is ensured. The feeding and clamping unit opens the closed material clamp through the pinch fingers, and clamps the material clamp on the grafting seedling through the pinch gripper cylinder, and the clamping work of the grafting machine is completed. The application can automatically realize the feeding, cutting, opening and delivery of the material clamp, can realize the accurate clamping of the grafting machine in the vegetable grafting planting scene, and can stably realize the grafting of the shoot of one kind of vegetable to the rootstock of another kind of vegetable.

Description

Technical Field

[0001] This invention relates to the field of automatic grafting machinery, and more specifically to an automatic clamping device and method for a grafting machine. Background Technology

[0002] With increasing population demand, the cultivation area of ​​vegetables and other crops is growing year by year, leading to problems such as continuous cropping obstacles, which seriously hinder the sustainable development of the vegetable industry. Currently, people usually use soil chemical treatment to solve this problem; however, from the perspective of sustainable agricultural economic development and the protection of farmland ecological environment, this method is not suitable for large-scale promotion, and the state has also issued a series of restrictions. Vegetable grafting technology refers to the cultivation technique of grafting the seedling of one vegetable onto the rhizome of another vegetable, allowing them to grow into a new plant. This technology can enhance the disease resistance of vegetables, improve their adaptability to adverse environments, and also help improve the quality of vegetables, gaining widespread recognition. However, currently, most vegetable seedling grafting work in China relies on manual labor, resulting in high labor costs and low efficiency. Existing semi-automatic grafting machines suffer from alignment difficulties and low success rates during the clamping process. Therefore, there is a particular need to research an automatic clamping device for grafting machines that can achieve precise clamping and stable grafting. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of alignment difficulties and low success rate in the clamping process of existing semi-automatic grafting machines, and to provide an automatic clamping device and method for grafting machines, so as to achieve accurate clamping and stable grafting of semi-automatic grafting machines.

[0004] The specific technical solution adopted in this invention is as follows:

[0005] In a first aspect, the present invention provides an automatic clamping device for a grafting machine, which includes a frame and a feeding unit, a positioning and clamping unit, a cutting unit and a delivery clamping unit mounted on the frame;

[0006] The feeding unit is used to store and convey long wire clips downstream in a spiral winding manner;

[0007] The positioning and clamping unit is installed downstream of the feeding unit and is used to unwind a fixed-length clamp from the feeding unit and feed it into the cutting unit, while positioning the clamp located downstream of the cutting port.

[0008] The cutting unit is used to cut the clamp in the positioning state at the cutting nozzle to form a clamp unit for clamping the grafting object;

[0009] The delivery upper clamping unit is used to apply pressure to the both side wing ends of the cut-off material clamping monomer to open the originally closed material clamping monomer, and then deliver the opened material clamping monomer to the grafting seedling to complete the fixation of the grafting object and return to the initial state.

[0010] As a preferred embodiment of the first aspect, the feeding unit comprises a storage bin mounted on the frame, a first feeding channel and a second feeding channel;

[0011] The storage bin is mounted on the top of the frame and used to store the material clamps required for grafting in a spiral winding form.

[0012] The first feeding channel and the second feeding channel are sequentially mounted on the frame, and the material clamps are sequentially passed through the first feeding channel and the second feeding channel after being unwound from the storage bin.

[0013] A spacing interval is maintained between the outlet of the first feeding channel and the inlet of the second feeding channel, and the installation height of the positioning and clamping unit on the frame is within the height range of the spacing interval.

[0014] As a preferred embodiment of the first aspect, the positioning and clamping unit comprises a feeding cylinder, a feeding clamping cylinder, a material clamp clamping block, a cylinder adjusting block, a anti-back-off clamping cylinder, a material clamp anti-back-off clamping block, a needle positioning cylinder, a needle positioning adjusting platform, and a positioning needle.

[0015] The feeding cylinder is mounted on the frame, and the driving direction of the cylinder is parallel to the extension direction of the material clamps in the spacing interval. The feeding clamping cylinder is mounted on the driving end of the feeding cylinder and synchronously extends and retracts with the driving end of the feeding cylinder. The material clamp clamping block is a group of controllable clamping mechanisms for clamping and releasing the material clamps in the spacing interval under the control of the feeding clamping cylinder.

[0016] The anti-back-off clamping cylinder is mounted on the frame, and the material clamp anti-back-off clamping block is a group of controllable clamping mechanisms for clamping and releasing the material clamps in the spacing interval under the control of the anti-back-off clamping cylinder. The clamping position of the material clamp anti-back-off clamping block is upstream of the clamping position of the material clamp clamping block.

[0017] The feeding cylinder, the feeding clamping cylinder, and the anti-back-off clamping cylinder are linked and controlled. When the anti-back-off clamping cylinder controls the material clamp anti-back-off clamping block to be in the initial released state, the feeding clamping cylinder controls the material clamp clamping block to be in the clamped state. The feeding cylinder drives the feeding clamping cylinder and the material clamps clamped by the material clamp clamping block to move downstream by a quantitative elongation of the driving end, and then controls the material clamp anti-back-off clamping block to be in the clamped state while the material clamp clamping block returns to the released state.

[0018] The top pin positioning cylinder is installed at the lower part of the frame, and the driving direction of the cylinder is parallel to the extending direction of the material clamp in the interval; the positioning pin adjusting platform is installed on the driving end of the top pin positioning cylinder in a horizontal posture, the positioning pin is installed vertically on the positioning pin adjusting platform, and the positioning pin adjusting platform has a fine adjustment function for the spatial position of the positioning pin, so that the positioning pin can be inserted into the ring hole of the material clamp output from the second clamp conveying channel outlet, and the top height of the positioning pin is lower than the cutting port.

[0019] As a preferred embodiment of the first aspect, the positioning pin adjusting platform comprises a first positioning pin adjusting block and a second positioning pin adjusting block connected and assembled by a positioning pin adjusting block baffle, and the first positioning pin adjusting block and the second positioning pin adjusting block respectively provide two vertical adjustment degrees in the horizontal plane.

[0020] As a preferred embodiment of the first aspect, the cutting unit comprises a cutting cylinder, a blade fixing seat, a cutting blade, a cutting blade pressing plate and a material clamp length limiting block.

[0021] The material clamp length limiting block is installed on the frame and located between the positioning pin adjusting platform and the outlet end surface of the second clamp conveying channel, and the gap between the top surface of the material clamp length limiting block and the outlet end surface of the second clamp conveying channel constitutes the cutting port.

[0022] The cutting cylinder is installed on the frame, and the cutting blade is installed on the driving end of the cutting cylinder through the blade fixing seat; the cutting edge side of the cutting blade faces the material clamp in the cutting port, and can enter the cutting port to cut the material clamp to form a material clamp monomer and then retreat to the initial position under the driving of the cutting cylinder.

[0023] As a preferred embodiment of the first aspect, the delivery and clamping unit comprises a clamp limiting block, a linear rail slide, a pinch claw hand cylinder, a pinch finger and a pushing cylinder.

[0024] The linear rail slide and the pushing cylinder are installed on the frame, and the clamp limiting block is located at the end of the linear rail slide away from the frame; the pinch finger is a group of pinch fingers for applying pressure to the both side wing ends of the material clamp monomer under the control of the pinch claw hand cylinder, so as to open the originally closed material clamp monomer; the pinch claw hand cylinder and the pinch finger are integrally installed on the driving end of the pushing cylinder, and can be integrally pushed to the limit position of the clamp limiting block along the linear rail slide by the pushing cylinder.

[0025] The push cylinder, the pinch claw hand cylinder and the ejector pin positioning cylinder are linked and controlled, after the pinch claw hand cylinder controls the pinch fingers to clamp and open the material clamp monomer, and before the push cylinder pushes the pinch claw hand cylinder and the pinch fingers as a whole, the ejector pin positioning cylinder needs to return to the initial position where the ejector pin is separated from the material clamp monomer; after the push cylinder synchronously delivers the material clamp monomer in the open state with the pinch fingers to the limit position where the clamping limiting block is located by pushing, the pinch claw hand cylinder needs to control the pinch fingers to release the material clamp monomer to complete the fixation of the grafting object, and then the push cylinder controls the pinch claw hand cylinder and the pinch fingers to retreat to the initial position.

[0026] As a preferred embodiment of the first aspect, the rack comprises a rotating disc support and a clamping support, the rotating disc support is installed above the clamping support, the material storage bin is installed on the rotating disc support, and the remaining components are installed on the clamping support.

[0027] As a preferred embodiment of the first aspect, the material storage bin comprises a material clamp rotating shaft, a material clamp rotating shaft sleeve, deep groove ball bearings and rotating discs, the material clamp rotating shaft is installed in the material clamp rotating shaft sleeve, the deep groove ball bearings are installed on both sides of the material clamp rotating shaft sleeve, two rotating discs are installed in parallel and at intervals on the deep groove ball bearings on both sides of the material clamp rotating shaft sleeve, and the space between the two rotating discs serves as a space for spirally winding the material clamp; the entire material storage bin is rotatably installed on the rotating disc support through the material clamp rotating shaft.

[0028] As a preferred embodiment of the first aspect, the cutting blade is pressed and installed on the blade fixing seat through a detachable cutting blade pressing plate, and the cutting blade is installed obliquely so that the cutting edge cuts the material clamp at the cutting opening in an oblique manner.

[0029] In the second aspect, the present application provides a grafting automatic clamping method of the automatic clamping device of the grafting machine according to the first aspect, and the steps are as follows:

[0030] In the first feeding preparation stage, the material clamp in the form of a long strip and in a free closed state is stored in the material storage bin in a spiral winding manner, one end of the material clamp is sequentially inserted into the second clamping channel after passing through the first clamping channel, the material clamp anti-back clamping block and the material clamp clamping block; in the initial state, the clamping cylinder controls the material clamp clamping block to be located at the upper limit position, the material clamp clamping block and the material clamp anti-back clamping block are in the released state, the ejector pin positioning cylinder controls the ejector pin to be located at the lower limit position, and the pinch fingers are initially in the open state.

[0031] The second step is a clamping positioning stage: the feeding clamp clamping cylinder is started, first, the material clamp clamping block is clamped; then, the feeding clamp cylinder is started, under the driving of the feeding clamp cylinder, the feeding clamp clamping cylinder, the material clamp clamping block and the clamped material clamp move downward synchronously by a preset fixed length, the material clamp passes through the outlet of the second feeding clamp channel and enters below the cutting material port; then, the anti-retreating clamping cylinder is started, the material clamp anti-retreating clamping block is driven to clamp the material clamp to prevent the material clamp from retreating, then the feeding clamp clamping cylinder controls the material clamp clamping block to release the material clamp, and the feeding clamp cylinder controls the feeding clamp clamping cylinder and the material clamp clamping block to retreat to the initial position; after the feeding clamp is driven by the feeding clamp cylinder to enter the second feeding clamp channel, the ejector pin positioning cylinder is started, the positioning pin is driven to move upward to below the material clamp length limiting block, and the material clamp output from the outlet of the second feeding clamp channel is waited to slide in;

[0032] The third step is a cutting material stage: the cutting cylinder is started, the cutting blade on the blade fixing seat is driven to push forward, the cutting of the material clamp is completed at the cutting material port above the material clamp length limiting block, then the cutting cylinder controls the cutting blade to retreat, and the cut material clamp is temporarily stored in the material clamp length limiting block;

[0033] The fourth step is a pinching clamp stage: the second step clamping positioning stage and the third step cutting material stage are repeatedly performed, so that the material clamp obtained by subsequent cutting pushes the material clamp obtained by previous cutting to separate from the material clamp length limiting block, and the sleeve ring of the material clamp is sleeved on the positioning pin to realize temporary fixing; the pinching finger cylinder controls the pinching finger to clamp the double-side wing end of the material clamp and keep the originally closed material clamp open, and then the positioning pin positioning cylinder controls the positioning pin to move downward to the initial position of the material clamp;

[0034] The fifth step is a feeding clamp clamping stage: after the external mechanism moves the grafting seedling needing to be provided with the material clamp to the target position, the pushing cylinder is started, the pinching finger is driven along the line rail slide to move the open material clamp to the feeding clamp limiting block, the grafting position of the grafting seedling is just in the opening of the material clamp, the pinching finger cylinder is controlled to release the pinching finger, the sleeve ring opening of the material clamp is reduced and restored to the closed state, the upper clamping fixing of the plant bodies on both sides of the grafting position is completed, the pushing cylinder drives the pinching finger cylinder and the pinching finger to retreat to the initial position, and the next material clamp is continuously clamped and fixed.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] This invention utilizes a feeding unit, a positioning and clamping unit, a cutting unit, and a delivery and clamping unit mounted on a frame. First, the feeding unit stores and feeds long strips of wire-shaped clamps downstream in a spiral winding manner. Then, the positioning and clamping unit unwinds the clamps of a fixed length from the feeding unit and feeds them into the cutting unit, simultaneously positioning the clamps downstream of the cutting opening. Next, the cutting unit cuts the positioned clamps at the cutting opening, forming individual clamp units for clamping the grafted object. Finally, the delivery and clamping unit applies pressure to the two wing ends of the cut clamp units, opening the previously closed clamp units and delivering them to the grafting seedling. After securing the grafted object, the clamps return to their initial state. This invention can fully automate the feeding, cutting, opening, and delivery of clamps, enabling precise clamping in vegetable grafting applications and stably grafting seedlings of one vegetable onto the rhizomes of another. This invention can significantly improve the accuracy and stability of grafting machines during the clamping process, reduce labor costs, and increase work efficiency. Attached Figure Description

[0037] Figure 1 A front axonometric schematic diagram of an automatic clamping device for a grafting machine;

[0038] Figure 2 A schematic diagram of the overall rear side of an automatic clamping device for a grafting machine;

[0039] Figure 3 for Figure 1 Front view of the automatic clamping device of the grafting machine;

[0040] Figure 4 for Figure 3 Sectional view of AA in the middle;

[0041] Figure 5 for Figure 3 Cross-sectional view of the middle section (BB);

[0042] Figure 6 for Figure 1 Side view of the automatic clamping device of the grafting machine;

[0043] Figure 7 for Figure 6 Cross-sectional view of DD in the middle;

[0044] Figure 8 This is a cross-sectional schematic diagram of the material clamp in an embodiment of the present invention;

[0045] Figure 9 for Figure 1 A magnified view of a portion of the image;

[0046] Figure 10 for Figure 2 A magnified view of a portion of the image;

[0047] Figure 11 It is a schematic view of the cutting unit in the embodiment of the present application;

[0048] Figure 12 It is a schematic view of the delivery upper clamp unit in the embodiment of the present application;

[0049] Figure 13 It is a schematic view of the pinch principle of the pinch fingers.

[0050] Among them, the rotating disc support 1, the clamp support 2, the clamp support support block 3, the first adjusting block 4, the stock bin 5, the stock clamp rotating shaft 5-1, the stock clamp rotating shaft sleeve 5-2, the deep groove ball bearing 5-3, the rotating disc 5-4, the stock clamp 6, the stock clamp wing 6-1, the stock clamp sleeve ring 6-2, the first clamp conveying channel 7, the second clamp conveying channel 8, the clamp conveying cylinder 9, the clamp conveying cylinder connecting plate 10, the clamp clamping cylinder 11, the stock clamp clamping block 12, the cylinder adjusting block 13, the anti-retreating clamp clamping cylinder 14, the stock clamp anti-retreating clamp clamping block 15, the clamp conveying limiting block 16, the wire rail slide 17, the thimble positioning cylinder 18, the second adjusting block 19, the first thimble adjusting block 20, the second thimble adjusting block 21, the thimble adjusting block baffle 22, the thimble 23, the cutting cylinder support 24, the cutting cylinder 25, the blade fixing seat 26, the cutting blade 27, the cutting blade pressing plate 28, the stock clamp length limiting block 29, the pushing cylinder support 30, the pinch claw hand cylinder 31, the pinch finger 32, the clamping groove 32-1, the pushing cylinder 33. DETAILED DESCRIPTION

[0051] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. In the following description, a large number of specific details are set forth in order to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the concept of the present application, so the present application is not limited to the specific embodiments disclosed below. The technical features in each embodiment of the present application can be combined accordingly without conflict.

[0052] In the description of the present application, it should be understood that when an element is considered to be "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element with an intermediate element. In contrast, when an element is referred to as being "directly" connected to another element, there is no intermediate element.

[0053] In the description of the present application, it should be understood that the terms "first", "second" are only used for distinguishing purposes of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features.

[0054] As Figures 1-7 shown in the preferred embodiment of the present application, an automatic clamping device of a grafting machine is provided, which includes a frame and a feeding unit, a positioning and clamping unit, a cutting unit and a delivery and clamping unit installed on the frame. The automatic clamping function of the grafting machine is realized by the cooperation of the units. The cooperation process of the units is described as follows.

[0055] The feeding unit is used to store and deliver the material clamps in the form of long strips in a spiral winding manner;

[0056] The positioning and clamping unit is installed downstream of the feeding unit, used to uncoil the material clamps of a fixed length from the feeding unit and send them into the cutting unit, and position the material clamps downstream of the cutting port;

[0057] The cutting unit is used to cut the material clamps in the positioning state at the cutting port to form a single material clamp for clamping the grafting object;

[0058] The delivery and clamping unit is used to apply pressure to the both sides of the wing end of the single material clamp to open the originally closed single material clamp, and then deliver the opened single material clamp to the grafting seedling, and return to the initial state after fixing the grafting object.

[0059] It should be noted that the clamping in the present application refers to fixing the material clamp to the grafting position of the grafting plant. The original material clamp is a wire in an elongated shape, generally made of flexible plastic material that can be bent. The wire is cut along the cross section to form a single material clamp. As Figure 3 shown, each single material clamp includes a material clamp sleeve 6-2 and material clamp wings 6-1 on both sides of the material clamp sleeve 6-2. The material clamp sleeve 6-2 is pre-marked with a linear opening, but the opening of the material clamp sleeve 6-2 remains closed in the initial state. Since the material clamp is made of flexible plastic material that can be bent, the opening will be enlarged after applying pressure to the material clamp wings 6-1 on both sides, and the opening will be placed on the grafting position of the grafting plant. After releasing the material clamp wings 6-1, the opening will return to the closed state, and the fixation of the plant body on both sides of the grafting position will be completed. The automatic clamping device of the grafting machine of the present application is used to realize the automation of the clamping process.

[0060] In theory, the structure of the feeding unit, the positioning and clamping unit, the cutting unit and the delivery and clamping unit is not limited, as long as the functions described above can be realized. The preferred implementation forms of the units are described in detail in the embodiments. Figures 1-7

[0061] ​The specific form of the frame described above in this invention can be adjusted according to actual needs, and its main function is to provide installation positions for each functional unit. In an embodiment of this invention, the frame includes a turntable support 1 and a clamping support 2. The turntable support 1 is installed above the clamping support 2 and is used to install the storage bin 5. All other components are installed on the clamping support 2. Meanwhile, since the entire grafting machine's automatic clamping device also needs to be installed on other frames, a triangular clamping support block 3 can be safely and vertically installed at the bottom of the panel of the clamping support 2. A first adjusting block 4 is provided between the two clamping support blocks 3. The first adjusting block 4 has mounting holes for installing the entire frame on other external frames, allowing for appropriate adjustment of the overall installation position.

[0062] Therefore, based on the separate form of the turntable bracket 1 and the supply clamp bracket 2, the installation positions of the above-mentioned feeding unit, positioning clamping unit, cutting unit and delivery clamping unit are as follows: the feeding unit is installed on the turntable bracket 1, the turntable bracket 1 is fixedly connected to the supply clamp bracket 2, the supply clamp bracket 2 is installed in a vertical manner with the panel, the positioning clamping unit is connected to the feeding unit and installed in the upper half of the supply clamp bracket support block 3, the cutting unit is installed in the middle part of the supply clamp bracket 2, the delivery clamping unit is installed in the lower half of the supply clamp bracket 2, and the bottom first adjustment block 4 is vertically fixedly installed with both the supply clamp bracket 2 and the supply clamp bracket support block 3.

[0063] like Figure 9 As shown, in an embodiment of the present invention, the feeding unit includes a storage bin 5, a first clamping channel 7, and a second clamping channel 8 mounted on a frame. The storage bin 5 is mounted on the top of the frame and is used to store the clamps 6 required for grafting in a spiral winding manner. The first clamping channel 7 and the second clamping channel 8 are sequentially mounted on the clamping support 2, and the clamps 6 pass through the first clamping channel 7 and the second clamping channel 8 sequentially after being unwound from the storage bin 5. Both the first clamping channel 7 and the second clamping channel 8 are located on the straight line where the clamps 6 are after being unwound from the storage bin 5. The first clamping channel 7 is mounted at the uppermost part of the clamping support 2, while the second clamping channel 8 is mounted in the middle of the clamping support 2, allowing the clamps 6 to smoothly enter the first clamping channel 7 and the second clamping channel 8 in a straight line after being unwound from the storage bin 5. A gap is maintained between the outlet of the first clamping channel 7 and the inlet of the second clamping channel 8, and the mounting height of the positioning clamping unit on the clamping support 2 is within the height range of this gap.

[0064] The specific form of the aforementioned storage bin 5 is not limited, but in the embodiments of the present invention, it is preferably implemented in the form of a rotary table. For example... Figure 4As shown, the storage bin 5 includes a clamp rotating shaft 5-1, a clamp rotating shaft sleeve 5-2, a deep groove ball bearing 5-3, and a rotating disc 5-4. The clamp rotating shaft 5-1 is installed in the clamp rotating shaft sleeve 5-2, the deep groove ball bearing 5-3 is installed on both sides of the clamp rotating shaft sleeve 5-2, and two rotating discs 5-4 are installed in parallel and at intervals on the deep groove ball bearings 5-3 on both sides of the clamp rotating shaft sleeve 5-2. The space between the two rotating discs 5-4 serves as a space for spirally winding the storage clamp 6. The entire storage bin 5 is rotatably installed on the rotating disc support 1 through the clamp rotating shaft 5-1. When the free end of the clamp 6 is pulled, it will drive the entire rotating disc 5-4 to rotate around the clamp rotating shaft 5-1, thereby achieving passive unwinding of the clamp 6.

[0065] As shown in the drawings, Figure 9 The positioning and clamping unit includes a clamp feeding cylinder 9, a clamp feeding and clamping cylinder 11, a clamp clamping block 12, a cylinder adjusting block 13, a anti-back-off clamping cylinder 14, a clamp anti-back-off clamping block 15, a thimble positioning cylinder 18, a thimble positioning platform, and a positioning thimble 23. The positioning and clamping unit can pull down the clamp 6 in the interval between the outlet of the first clamp feeding channel 7 and the inlet of the second clamp feeding channel 8, so that the clamp 6 is unwound from the storage bin 5 by a certain length, and then further clamped, prevented from back-off, and positioned. The above-mentioned pull-down unwinding and clamping anti-back-off positioning operations are achieved through the cooperation of the clamp feeding cylinder 9, the clamp feeding and clamping cylinder 11, the anti-back-off clamping cylinder 14, and the thimble positioning cylinder 18.

[0066] The clamp feeding cylinder 9 is installed on the clamp support 2, and the driving direction of the cylinder is parallel to the extension direction of the clamp 6 in the above-mentioned interval. The clamp feeding and clamping cylinder 11 is installed on the driving end of the clamp feeding cylinder 9 and synchronously extends and retracts with the driving end of the clamp feeding cylinder 9. It should be noted that the driving end of the clamp feeding cylinder 9 in the present application refers to the displacement output end of the cylinder, and other cylinders are similar. In specific implementation, in order to facilitate installation, the clamp feeding cylinder 9 is installed on the right side of the clamp support 2, and the output end of the clamp feeding cylinder 9 is indirectly connected with the clamp feeding and clamping cylinder 11 through a clamp feeding cylinder connecting plate 10.

[0067] In addition, the clamp clamping block 12 is a group of controllable clamping mechanisms for clamping and releasing the clamp 6 in the interval under the control of the clamp feeding and clamping cylinder 11. One implementation of the clamp clamping block 12 is two sliding blocks whose spacing can be adjusted by the clamp feeding and clamping cylinder 11. When the clamp feeding and clamping cylinder 11 is started, the two sliding blocks are close to each other, and the clamp 6 can be clamped. When the clamp feeding and clamping cylinder 11 stops working, the two sliding blocks return to the initial state, and the clamp 6 is released.

[0068] The anti-back-off clamping cylinder 14 is installed on the clamping support 2, and the material clamp anti-back-off clamping block 15 is a group of controllable clamping mechanisms for clamping and releasing the material clamp 6 in the interval under the control of the anti-back-off clamping cylinder 14. In order to facilitate the adjustment of the position of the anti-back-off clamping cylinder 14, the anti-back-off clamping cylinder 14 is indirectly installed on the clamping support 2 through the cylinder adjusting block 13. The cylinder adjusting block 13 has a long strip-shaped waist hole required for installation, which can fine-tune the installation position of the cylinder adjusting block 13 on the clamping support 2, thereby changing the clamping position of the material clamp anti-back-off clamping block 15.

[0069] Similarly, one implementation of the material clamp anti-back-off clamping block 15 is two sliding blocks whose spacing can be adjusted by the anti-back-off clamping cylinder 14. When the anti-back-off clamping cylinder 14 is started, the two sliding blocks approach to clamp the material clamp 6, and when the anti-back-off clamping cylinder 14 stops working, the two sliding blocks return to the initial state to release the material clamp 6. Moreover, the clamping position of the material clamp anti-back-off clamping block 15 needs to be located upstream of the clamping position of the material clamp clamping block 12, so that when the material clamp clamping block 12 pulls down the material clamp 6 by a certain distance, the material clamp 6 can be clamped and fixed by the material clamp anti-back-off clamping block 15 to avoid back-off under the pulling force.

[0070] In order to ensure that the overall pull-down and anti-back-off functions can be realized, the sending clamp cylinder 9, the sending clamp clamping cylinder 11 and the anti-back-off clamping cylinder 14 need to be kept in linkage control. The specific linkage control process is as follows: when the anti-back-off clamping cylinder 14 controls the material clamp anti-back-off clamping block 15 to be in the initial released state, the sending clamp clamping cylinder 11 controls the material clamp clamping block 12 to be in the clamped state, the sending clamp cylinder 9 drives the sending clamp clamping cylinder 11 and the material clamp 6 clamped by the material clamp clamping block 12 to move downstream through the quantitative elongation of the driving end, and when moving a specified length, the material clamp anti-back-off clamping block 15 is controlled to be in the clamped state and the material clamp clamping block 12 returns to the released state, and the sending clamp cylinder 9 also returns to the initial position.

[0071] It should be noted that the sending clamp clamping cylinder 11 is not fixed on the rack, but is fixed on the driving end of the sending clamp cylinder 9, so as to drive the material clamp clamping block 12 to pull down the material clamp 6 in the state of clamping the material clamp 6, and realize the passive unwinding of the material clamp 6.

[0072] In addition, the wire form material clamp 6 is unwound and then needs to be cut to form the individual clamp units required for grafting. Since the material clamp 6 is flexible, it needs to be temporarily fixed to ensure smooth cutting and maintain its posture for subsequent pinch and push operations. Therefore, the positioning and clamping unit further includes a thimble positioning mechanism composed of a thimble positioning cylinder 18 and a positioning needle 23. The thimble positioning cylinder 18 is installed at the lower part of the clamp supply support 2, and the driving direction of its cylinder is parallel to the extension direction of the material clamp 6 in the aforementioned interval. Since the height and horizontal position of the positioning needle 23 need to be adjusted, the thimble positioning cylinder 18 is indirectly fixed to the clamp supply support 2 through a second adjusting block 19, which can be fine-tuned in its installation position on the clamp supply support 2 through a waist hole. In addition, the positioning needle adjusting platform is installed in a horizontal posture on the driving end of the thimble positioning cylinder 18, and the positioning needle 23 is vertically installed on the positioning needle adjusting platform, which has a fine-tuning function for the spatial position of the positioning needle 23, allowing the positioning needle 23 to be inserted into the loop hole of the material clamp 6 output from the second clamp conveying channel 8. The form of the positioning needle adjusting platform can be diverse, as long as it can adjust the position of the positioning needle 23 in the plane. In the embodiment of the present application, the positioning needle adjusting platform includes a first positioning needle adjusting block 20 and a second positioning needle adjusting block 21 connected and assembled through a positioning needle adjusting block baffle 22. The first positioning needle adjusting block 20 and the second positioning needle adjusting block 21 provide two vertical adjustment degrees in the horizontal plane, respectively. The first positioning needle adjusting block 20 has two blocks, which are arranged in intervals and connected through the positioning needle adjusting block baffle 22 on both sides. The second positioning needle adjusting block 21 is located between the two first positioning needle adjusting blocks 20 and is installed on the positioning needle adjusting block baffle 22. The first positioning needle adjusting block 20 and the second positioning needle adjusting block 21 are adjusted by means of a waist hole, a bolt, etc., to provide adjustment space in the X and Y axes in the horizontal plane, respectively, thereby realizing the fine-tuning function of the plane position of the positioning needle 23.

[0073] In addition, in order to avoid interference between the blade and the positioning needle 23 during cutting, the top height of the positioning needle 23 should be slightly lower than the subsequent cutting port position.

[0074] As Figure 9 and Figure 10As shown, the cutting unit includes a cutting cylinder 25, a blade fixing seat 26, a cutting blade 27, a cutting blade pressing plate 28 and a clamp length limiting block 29. The clamp length limiting block 29 is installed on the clamp support 2 and located between the positioning needle adjusting platform and the outlet end surface of the second clamp conveying channel 8. A gap is kept between the top surface of the clamp length limiting block 29 and the outlet end surface of the second clamp conveying channel 8, which is the cutting opening for cutting the clamp 6. The clamp length limiting block 29 has a passage for the clamp 6 to pass through, and the length of the passage matches the length of the clamp 6 cut at one time. The clamp monomer cut at one time is temporarily stored in the clamp length limiting block 29, and the clamp monomer formed in the next cutting process pushes the clamp monomer obtained in the last cutting process out of the clamp length limiting block 29, and then is positioned by the positioning needle 23 below. The cutting cylinder 25 is installed on the clamp support 2. In order to facilitate installation, the cutting cylinder 25 is indirectly installed on the clamp support 2 through a cutting cylinder support 24. The cutting blade 27 is installed on the driving end of the cutting cylinder 25 through the blade fixing seat 26. The blade side of the cutting blade 27 faces the clamp 6 in the cutting opening and can enter the cutting opening under the driving of the cutting cylinder 25, and then retreats to the initial position after cutting the clamp 6 to form the clamp monomer.

[0075] The form of the blade fixing seat 26 is not limited as long as it can install the cutting blade 27. However, since the cutting blade 27 needs to be replaced regularly, in the embodiment of the present application, as shown in Figure 11 , the cutting blade 27 is installed on the blade fixing seat 26 by the detachable cutting blade pressing plate 28. One end of the cutting blade 27 is fixedly connected with the blade fixing seat 26, and the cutting blade pressing plate 28 presses one end of the cutting blade 27. The cutting blade 27 is installed obliquely so that the blade cuts the clamp 6 in the cutting opening in a beveling manner.

[0076] As shown in Figure 9 and Figure 10 , the delivery and clamping unit includes a clamp limiting block 16, a wire rail slide 17, a pinch claw hand cylinder 31, a pinch finger 32 and a pushing cylinder 33. The wire rail slide 17 and the pushing cylinder 33 are installed on the clamp support 2, and the clamp limiting block 16 is located at the end of the wire rail slide 17 away from the rack. In order to facilitate installation and position adjustment, the pushing cylinder 33 is indirectly installed on the clamp support 2 through a pushing cylinder support 30. As shown in Figure 12 , the pinch finger 32 is a group of pinch fingers for applying pressure to the both side wing ends of the clamp monomer under the control of the pinch claw hand cylinder 31, so that the originally closed clamp monomer is opened. The inside of the pinch finger 32 is provided with a clamping groove 32-1, which clamps the clamp wing 6-1 of the clamp 6 in the open state. One end of the clamp sleeve ring 6-2 is provided with an opening, and the opening and closing of the pinch finger can realize the closing and opening of the clamp. The closed and open states are as shown in Figure 13The pinch fingers 32 are integrally installed on the driving end of the pushing cylinder 33, and can be integrally pushed by the pushing cylinder 33 along the linear rail 17 to the limit position where the clamping limiting block 16 is located. The limit position where the clamping limiting block 16 is located needs to be reasonably matched with the mechanism for externally delivering the grafting object, so as to ensure that when the material clamp monomer in the open state on the pinch fingers 32 is moved to the limit position where the clamping limiting block 16 is located, the grafting position of the grafting object also just enters the opening inside the material clamp sleeve ring 6-2.

[0077] In addition, in order to ensure that the above-mentioned pinch opening and pushing functions can be smoothly realized, the pushing cylinder 33, the pinch claw hand cylinder 31 and the pin positioning cylinder 18 also need to be linked and controlled. The specific linkage control process is as follows: after the pinch claw hand cylinder 31 controls the pinch fingers 32 to clamp and open the material clamp monomer, and before the pushing cylinder 33 integrally pushes the pinch claw hand cylinder 31 and the pinch fingers 32, the pin positioning cylinder 18 needs to return to the initial position where the positioning pin 23 is separated from the material clamp monomer. After the pushing cylinder 33 synchronously delivers the material clamp monomer in the open state with the pinch fingers 32 to the limit position where the clamping limiting block 16 is located through pushing, the pinch claw hand cylinder 31 needs to control the pinch fingers 32 to release the material clamp monomer to complete the fixation of the grafting object, and finally the pushing cylinder 33 controls the pinch claw hand cylinder 31 and the pinch fingers 32 to retreat to the initial position.

[0078] The installation positions of the above-mentioned cylinders and plate bodies and block bodies on the clamp support 2 can be reasonably arranged so as not to interfere with each other. Continue to refer to Figure 1 and Figure 2As shown, in the embodiment of the present application, the overall layout is as follows: the feeding clamp clamping cylinder 11 is installed on the lower side of the feeding clamp cylinder connecting plate 10 at the lower end of the feeding clamp cylinder 9, the material clamp clamping block 12 is installed on the left side of the feeding clamp clamping cylinder 11, the material clamp anti-back-off clamping block 15 is installed above the material clamp clamping block 12, the anti-back-off clamping cylinder 14 is installed on the left side of the material clamp anti-back-off clamping block 15, the cylinder adjusting block 13 is installed on the upper side of the material clamp anti-back-off clamping block 15. The wire rail slide 17 is installed on the right side of the second feeding clamp passage 8 and vertically on the clamp support 2, the feeding clamp limiting block 16 is installed at the end of the wire rail slide 17 towards the grafting object side; the needle positioning cylinder 18 is installed at the lowest end of the clamp support 2 through the second adjusting block 19, and the second adjusting block 19 can slide up and down. The cutting cylinder support 24 and the main body of the cutting cylinder 25 are both installed at the rear of the clamp support 2 to avoid interference with other mechanisms. Similarly, the pushing cylinder 33 and the main body of the pushing cylinder support 30 are both installed at the rear of the clamp support 2 to avoid interference with other mechanisms. The material clamp anti-back-off clamping block 15 is between the first feeding clamp passage 7 and the material clamp clamping block 12, and the material clamp 6 can pass through the first feeding clamp passage 7, the material clamp anti-back-off clamping block 15 and the material clamp clamping block 12 in sequence in the vertical direction. The feeding clamp cylinder 9 is installed in the vertical direction of the feeding clamp rail, and the relative positions of the feeding clamp cylinder connecting plate 10, the feeding clamp clamping cylinder 11 and the material clamp clamping block 12 are fixed, and the material clamp clamping block 12 can move vertically and reciprocally. The material clamp clamping block 12 is driven to move vertically under the driving of the feeding clamp cylinder 9, and the moving distance is consistent with the length of the stem to be protected by the grafting seedling, that is, the length of the material clamp protection sleeve. Generally, the vertical moving distance of a single time can be set to 17 mm. The left end of the material clamp length limiting block 29 is directly below the second feeding clamp passage 8, the cutting port is located between the material clamp length limiting block 29 and the second feeding clamp passage 8, the positioning needle 23 is directly below the needle positioning cylinder 18, which can move reciprocally in the vertical direction, and the positioning needle 23 is opposite to the outlet of the material clamp 6 of the second feeding clamp passage 8. The wire rail slide 17 is placed along the front-rear direction, that is, vertically on the clamp support panel, and the pinch clamp fingers 32 can move reciprocally on the feeding clamp wire rail slide 17.

[0079] In another embodiment of the present application, based on the automatic feeding clamp device of the grafting machine described above, an automatic feeding clamp method for grafting is also provided, and the steps are as follows:

[0080] The first step is the feeding preparation stage: the material clamp 6 in the form of a long strip and in a free closed state is stored in the storage bin 5 in a spiral winding manner, one end of the material clamp 6 is sequentially inserted into the second feeding clamp passage 8 after passing through the first feeding clamp passage 7, the material clamp anti-back-off clamping block 15 and the material clamp clamping block 12; in the initial state, the feeding clamp cylinder 9 controls the material clamp clamping block 12 to be located at the upper limit position, the material clamp clamping block 12 and the material clamp anti-back-off clamping block 15 are both in the released state, the needle positioning cylinder 18 controls the positioning needle 23 to be located at the lower limit position, and the pinch clamp fingers 32 are initially in the open state;

[0081] The second step is the clamping positioning stage: the feeding clamp clamping cylinder 11 is started, first controlling the material clamp clamping block 12 to clamp the material clamp 6; then, the feeding clamp cylinder 9 is started, and under the driving of the feeding clamp cylinder 9, the feeding clamp clamping cylinder 11, the material clamp clamping block 12 and the clamped material clamp 6 are synchronously moved downward by a preset fixed length, the material clamp 6 passes out of the outlet of the second feeding clamp channel 8 and enters below the cutting port; then the anti-retreating clamping cylinder 14 is started, driving the material clamp anti-retreating clamping block 15 to clamp the material clamp 6, preventing the material clamp 6 from retreating, then the feeding clamp clamping cylinder 11 controls the material clamp clamping block 12 to release the material clamp 6, and the feeding clamp cylinder 9 controls the feeding clamp clamping cylinder 11 and the material clamp clamping block 12 to retreat to the initial position; after the feeding clamp cylinder 9 drives the material clamp 6 to enter the second feeding clamp channel 8, the ejector pin positioning cylinder 18 is started, driving the positioning pin 23 to move upward to below the material clamp length limiting block 29, waiting for the material clamp 6 output from the outlet of the second feeding clamp channel 8 to slide in;

[0082] The third step is the cutting stage: the cutting cylinder 25 is started, driving the cutting blade 27 on the blade fixed seat 26 to push forward, and cutting the material clamp 6 at the cutting port above the material clamp length limiting block 29 (in this embodiment, the length of the material clamp monomer cut at this time is 17 mm), then the cutting cylinder 25 controls the cutting blade 27 to retreat, and the cut material clamp monomer is temporarily stored in the material clamp length limiting block 29;

[0083] The fourth step is the pinch clamp stage: the second step clamping positioning stage and the third step cutting stage are repeatedly repeated, so that the material clamp monomer obtained by the next cutting pushes the material clamp monomer obtained by the previous cutting away from the material clamp length limiting block 29, and the sleeve ring of the material clamp monomer is sleeved on the positioning pin 23 to realize temporary fixing; the pinch claw hand cylinder 31 controls the pinch finger 32 to clamp the double-side wing end of the material clamp monomer and keeps the originally closed material clamp monomer in an open state, and then the ejector pin positioning cylinder 18 controls the positioning pin 23 to move downward to the initial position of the material clamp;

[0084] The fifth step is the feeding clamp clamping stage: after the external mechanism moves the grafting seedling which needs to be provided with the material clamp to the target position, the pushing cylinder 33 is started, drives the pinch finger 32 along the linear rail slide 17 to move the material clamp monomer in the open state to the feeding clamp limiting block 16, the grafting position of the grafting seedling is just in the opening of the material clamp monomer, the pinch claw hand cylinder 31 is controlled to release the pinch finger 32, the material clamp sleeve ring 6-2 opening is reduced to recover to the closed state, the upper clamping fixing of the plant bodies on both sides of the grafting position is completed, the pushing cylinder 33 drives the pinch claw hand cylinder 31 and the pinch finger 32 to retreat to the initial position, and the next material clamp monomer is continuously clamped and fixed.

[0085] It should be noted that the second step clamping positioning stage and the third step cutting stage need to be repeatedly repeated, so that the material clamp 6 is cut into a plurality of material clamp monomers, and then each material clamp monomer is delivered to the target value through the fifth step feeding clamp clamping stage in the next cycle.

[0086] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any slight modification, equivalent replacement and improvement made according to the technical essence of the present application to the above embodiment shall be included in the protection scope of the technical scheme of the present application.

Claims

1. An automatic clamping device for a grafting machine, characterized in that, The machine frame and the feeding unit, the positioning and clamping unit, the cutting unit and the delivery and clamping unit installed on the machine frame; The feeding unit is used for storing and conveying the material clamps in the form of long strip wire in spiral winding manner; each material clamp body comprises a material clamp sleeve and material clamp wings on both sides of the material clamp sleeve; The positioning and clamping unit is installed downstream of the feeding unit, used for unwinding the material clamps of fixed length from the feeding unit and sending them into the cutting unit, and positioning the material clamps downstream of the cutting port; The cutting unit is used for cutting the material clamps in the positioning state at the cutting port position, forming the material clamp body used for clamping the grafting object; The delivery and clamping unit is used for exerting pressure on the double-side material clamp wings of the cut material clamp body to open the originally closed material clamp body, and then delivering the material clamp body in the open state to the grafting seedling, and returning to the initial state after fixing the grafting object; The feeding unit comprises a material storage bin, a first feeding channel and a second feeding channel installed on the machine frame; The material storage bin is installed on the top of the machine frame, used for storing the material clamps required for grafting in spiral winding form; The first feeding channel and the second feeding channel are installed on the machine frame in sequence, and the material clamps are unwound from the material storage bin and pass through the first feeding channel and the second feeding channel in sequence; An interval is kept between the outlet of the first feeding channel and the inlet of the second feeding channel, and the installation height of the positioning and clamping unit on the machine frame is within the height range of the interval; The positioning and clamping unit comprises a feeding cylinder, a feeding and clamping cylinder, a material clamp clamping block, a cylinder adjusting block, a back-off prevention clamping cylinder, a material clamp back-off prevention clamping block, a ejector pin positioning cylinder, a positioning pin adjusting platform and a positioning pin; The feeding cylinder is installed on the machine frame, and the driving direction of the cylinder is parallel to the extension direction of the material clamps in the interval; the feeding and clamping cylinder is installed on the driving end of the feeding cylinder and synchronously extends and retracts with the driving end of the feeding cylinder; the material clamp clamping block is a group of controllable clamping mechanisms, used for clamping and releasing the material clamps in the interval under the control of the feeding and clamping cylinder; The back-off prevention clamping cylinder is installed on the machine frame, and the material clamp back-off prevention clamping block is a group of controllable clamping mechanisms, used for clamping and releasing the material clamps in the interval under the control of the back-off prevention clamping cylinder, and the clamping position of the material clamp back-off prevention clamping block is upstream of the clamping position of the material clamp clamping block; The ejector pin positioning cylinder is installed on the lower part of the machine frame, and the driving direction of the cylinder is parallel to the extension direction of the material clamps in the interval; the positioning pin adjusting platform is installed on the driving end of the ejector pin positioning cylinder in a horizontal posture, and the positioning pin is installed vertically on the positioning pin adjusting platform; the positioning pin adjusting platform has a fine adjustment function for the spatial position of the positioning pin, so that the positioning pin can be inserted into the material clamp sleeve of the material clamp output from the outlet of the second feeding channel, and the top height of the positioning pin is lower than the cutting port.

2. The automatic grafting machine clip feeding device according to claim 1, wherein The positioning needle adjustment platform comprises a first positioning needle adjustment block and a second positioning needle adjustment block connected by a positioning needle adjustment block baffle, and the first positioning needle adjustment block and the second positioning needle adjustment block provide two vertical adjustment degrees in the horizontal plane, respectively.

3. The automatic grafting machine clip feeding device of claim 1, wherein The cutting unit comprises a cutting cylinder, a blade fixing seat, a cutting blade, a cutting blade pressing plate and a material clamp limiting block. The material clamp limiting block is installed on the rack and located between the positioning needle adjustment platform and the outlet end surface of the second clamp conveying channel, and a gap between the top surface of the material clamp limiting block and the outlet end surface of the second clamp conveying channel serves as a cutting port. The cutting cylinder is installed on the rack, and the cutting blade is installed on the driving end of the cutting cylinder through the blade fixing seat; the blade edge side of the cutting blade faces the material clamp in the cutting port and can enter the cutting port to cut the material clamp to form a material clamp monomer under the driving of the cutting cylinder and then retreat to the initial position.

4. The automatic grafting machine clip feeding device according to claim 3, wherein The delivery clamp unit comprises a clamp limiting block, a wire rail slide, a pinch clamp jaw hand cylinder, pinch clamp fingers and a push cylinder. The wire rail slide and the push cylinder are installed on the rack, and the clamp limiting block is located at the end of the wire rail slide away from the rack; the pinch clamp fingers are a group of fingers used to apply pressure to the double-side material clamp wings of the material clamp monomer under the control of the pinch clamp jaw hand cylinder to open the originally closed material clamp monomer; the pinch clamp jaw hand cylinder and the pinch clamp fingers are integrally installed on the driving end of the push cylinder and can be pushed by the push cylinder to the limit position of the clamp limiting block along the wire rail slide; The push cylinder, the pinch clamp jaw hand cylinder and the top needle positioning cylinder are linked and controlled; after the pinch clamp jaw hand cylinder controls the pinch clamp fingers to clamp and open the material clamp monomer, and before the push cylinder pushes the pinch clamp jaw hand cylinder and the pinch clamp fingers as a whole, the top needle positioning cylinder needs to return to the initial position in which the positioning needle is separated from the material clamp monomer; after the push cylinder pushes the material clamp monomer in the open state to the limit position of the clamp limiting block along with the pinch clamp fingers, the pinch clamp jaw hand cylinder needs to control the pinch clamp fingers to release the material clamp monomer to complete the fixation of the grafting object, and then the push cylinder controls the pinch clamp jaw hand cylinder and the pinch clamp fingers to retreat to the initial position.

5. The automatic grafting machine clip feeding device of claim 1, wherein, The rack comprises a rotating disc support and a clamp support, the rotating disc support is installed above the clamp support, the material storage bin is installed on the rotating disc support, and the remaining components are installed on the clamp support.

6. The automatic grafting machine clip feeding device of claim 5, wherein, The material storage bin comprises a material clamp rotating shaft, a material clamp rotating shaft sleeve, deep groove ball bearings and rotating discs, the material clamp rotating shaft is installed in the material clamp rotating shaft sleeve, the deep groove ball bearings are installed on both sides of the material clamp rotating shaft sleeve, two rotating discs are installed in parallel and at intervals on the deep groove ball bearings on both sides of the material clamp rotating shaft sleeve, and the space between the two rotating discs serves as a space for spirally winding and storing material clamps; the entire material storage bin is rotatably installed on the rotating disc support through the material clamp rotating shaft.

7. The automatic grafting machine clip feeding device of claim 3, wherein, The cutting blade is installed on the blade fixing seat by the detachable cutting blade pressing plate and is installed obliquely so that the blade edge cuts the material clamp at the cutting port in an oblique manner.

8. The automatic grafting machine clip feeding device of claim 1, wherein, The feeding clamp cylinder, the feeding clamp clamping cylinder and the anti-back clamp clamping cylinder are linked and controlled, when the anti-back clamp clamping cylinder controls the anti-back clamp clamping block to be in the initial loose state, the feeding clamp clamping cylinder controls the clamp clamping block to be in the clamping state, the feeding clamp cylinder drives the feeding clamp clamping cylinder and the clamp clamped by the clamp clamping block to move downstream, and then the anti-back clamp clamping block is controlled to be in the clamping state and the clamp clamping block returns to the loose state.

9. A method of automatically clamping a scion to a rootstock by the automatic clamping device of the grafting machine according to claim 4, characterized in that, The steps are as follows: The first step is a feeding preparation stage: the clamp in the form of a long strip and in a free closed state is stored in the storage bin in a spiral winding manner, one end of the clamp is sequentially inserted into the second feeding channel through the first feeding channel, the anti-back clamp clamping block and the clamp clamping block; in the initial state, the feeding clamp cylinder controls the clamp clamping block to be located at the upper limit position, the clamp clamping block and the anti-back clamp clamping block are both in the loose state, the positioning needle positioning cylinder controls the positioning needle to be located at the lower limit position, and the pinch fingers are initially in the open state; The second step is a clamping and positioning stage: the feeding clamp clamping cylinder is started, and first controls the clamp clamping block to clamp the clamp; Subsequently, the feeding clamp cylinder is started, and under the driving of the feeding clamp cylinder, the feeding clamp clamping cylinder, the clamp clamping block and the clamped clamp are synchronously moved downward by a preset fixed length, the clamp is inserted into the cutting port below the outlet of the second feeding channel; then the anti-back clamp clamping cylinder is started, drives the anti-back clamp clamping block to clamp the clamp, prevents the clamp from retreating, and then the feeding clamp clamping cylinder controls the clamp clamping block to loosen the clamp, and the feeding clamp cylinder controls the feeding clamp clamping cylinder and the clamp clamping block to retreat to the initial position; after the clamp is driven into the second feeding channel by the feeding clamp cylinder, the positioning needle positioning cylinder is started, drives the positioning needle to move upward to below the clamp length limiting block, and waits for the clamp output from the outlet of the second feeding channel to slide in; The third step is a cutting stage: the cutting cylinder is started, drives the cutting blade on the cutting blade fixed seat to push forward, and completes the cutting of the clamp at the cutting port above the clamp length limiting block, and then the cutting cylinder controls the cutting blade to retreat, and the cut clamp monomer is temporarily stored in the clamp length limiting block; The fourth step is a pinch stage: the second clamping and positioning stage and the third cutting stage are repeatedly performed, so that the clamp monomer obtained by the subsequent cutting pushes the clamp monomer obtained by the previous cutting away from the clamp length limiting block, and the clamp sleeve of the clamp monomer is sleeved on the positioning needle to achieve temporary fixing; the pinch claw cylinder controls the pinch fingers to clamp the double clamp wings of the clamp monomer and keeps the originally closed clamp monomer in the open state, and then the positioning needle positioning cylinder controls the positioning needle to move downward to the initial position away from the clamp; The fifth step is the clamping stage: after the external mechanism moves the grafting seedling to the target position, the push cylinder is started, the pinch fingers drive the open material clamp to the limit block, the grafting position of the grafting seedling is just in the opening of the material clamp, the pinch claw cylinder is loosened, the opening of the clamp sleeve is reduced to the closed state, the upper clamping of the plant body on both sides of the grafting position is completed, and the push cylinder drives the pinch claw cylinder and the pinch fingers to retreat to the initial position.

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