Grafting apparatus

Abstract

Embodiments of the present application provide a grafting device. The grafting device comprises a stock slit device configured to slit a grafting end of a stock at a slit position to form a grafting slit, and a pushing device configured to push a scion to an insertion position within the grafting slit, and to push the scion inwardly to a designated position within the grafting slit after the stock slit device is disengaged from the grafting end, the slit position and the designated position at least partially overlapping. The stock slit device can slit the grafting end of the stock to form the grafting slit. The stock slit device and the pushing device can cooperate to allow the scion to be inserted into the grafting slit so as to form a grafted plant with the stock. In this way, the grafting device can complete the work of automated grafting, thus reducing the probability of safety accidents such as labor costs and scratches. Furthermore, due to the reduction of human participation, the consistency of grafting is high, thus improving the success rate and work efficiency of grafting.

Description

Technical Field

[0001] This invention relates to the field of grafting technology, and more specifically, to a grafting device. Background Technology

[0002] To preserve certain desirable traits in plants, it is essential to employ methods to inherit these traits. Currently, due to the increasingly prominent problem of continuous cropping obstacles in cucurbits, grafting techniques are receiving increasing attention. This has led to the emergence of specialized seedling growers and seedling companies.

[0003] Grafting is an artificial method of plant propagation, in which a branch or bud of one plant is grafted onto the stem or root of another plant, allowing the two parts to grow into a single, complete plant. The branch or bud that is grafted is called the scion, and the stem or root onto which it is grafted is called the rootstock. The scion is typically a seedling with 2-4 buds and becomes the upper or top part of the grafted plant. The rootstock becomes the root system of the grafted plant.

[0004] For professional seedling growers and seedling companies, grafting is mostly done manually. Grafting is greatly affected by human factors, resulting in low efficiency. Furthermore, due to the instability of manual labor, grafting is unstable, easily delaying the grafting time and leading to a low success rate. Therefore, there is an urgent need to provide a grafting device. Summary of the Invention

[0005] To at least partially address the problems existing in the prior art, embodiments of the present invention provide a grafting device. The grafting device includes: a rootstock splitting device for splitting into an insertion position within the grafting end of the rootstock to form a grafting seam; and a pushing device for pushing a scion into an insertion position within the grafting seam, and, after the rootstock splitting device disengages from the grafting end, pushing the scion inwardly into a designated position within the grafting seam to complete the grafting of the rootstock and scion, wherein the splitting position and the designated position at least partially overlap.

[0006] For example, the grafting device also includes a scion clamping device for holding the scion, the drive end of the pushing device is connected to the scion clamping device, and the scion clamping device is movable under the drive of the pushing device to push the scion it holds into the insertion position and the designated position.

[0007] For example, the scion clamping device includes a scion clamping assembly, which includes a first scion clamp and a second scion clamp arranged along the extension direction of the scion. The first scion clamp and the second scion clamp open and close independently of each other and are used to clamp different positions of the scion respectively.

[0008] For example, the scion clamping device further includes a cutter pushing assembly and a cutter assembly connected to the drive end of the cutter pushing assembly. A first scion clamp is located between the cutter assembly and the second scion clamp along the extension direction of the scion. The first scion clamp is used to clamp the portion of the plant near the cutter assembly, and the second scion clamp is used to clamp the portion of the plant away from the cutter assembly. The cutter assembly can cut the plant under the drive of the cutter pushing assembly so that the portion of the plant clamped by the scion clamping assembly forms a scion.

[0009] For example, the cutter assembly includes a V-shaped cutter, a first cutter fixing member, a second cutter fixing member, an elastic member, and a fastener. The V-shaped cutter tapers away from the first scion clamp along the extension direction of the scion. The first cutter fixing member is provided with a V-shaped groove, and the second cutter fixing member is provided with a V-shaped boss. The fastener is connected between the first cutter fixing member and the second cutter fixing member so that the V-shaped groove and the V-shaped boss clamp the V-shaped cutter, and the elastic member is pressed between the first cutter fixing member and the second cutter fixing member.

[0010] For example, the grafting device further includes a waste discharge device, which includes a waste clamp, a separation drive, and a discharge slide. The cutter assembly is located between the waste clamp and the first scion clamp along the extension direction of the plant. The waste clamp is used to clamp the non-scion part of the plant. The drive end of the separation drive is connected to the waste clamp. The waste clamp is movable under the drive of the separation drive to clamp the non-scion part and move it to one end of the discharge slide. The other end of the discharge slide is connected to the outside of the grafting device.

[0011] For example, the pushing device includes a first pushing driver and a second pushing driver. The driving end of the first pushing driver is connected to the body of the second pushing driver, and the driving end of the second pushing driver is connected to the scion. The first pushing driver is used to drive the second pushing driver and the scion to move synchronously. The second pushing driver is used to drive the scion to be inserted into a designated position after the first pushing driver drives the scion to be inserted into the insertion position.

[0012] For example, the pushing device further includes a pushing limit member and a pushing base. The main body of the first pushing drive member and the pushing limit member are disposed on the pushing base, and the main body of the second pushing drive member abuts against the pushing limit member when the scion is in the insertion position.

[0013] For example, the grafting device further includes a rootstock clamping device, which includes a first rootstock clamp and a second rootstock clamp. The first rootstock clamp is used to clamp the grafting end, and the second rootstock clamp is used to clamp the non-grafting end of the rootstock. The first rootstock clamp is in an open state when the scion is inserted into the grafting seam.

[0014] For example, the rootstock splitting device includes a splitting blade assembly and a clamp opening assembly. The splitting blade assembly is used to split into the splitting position within the grafting end held by the first rootstock clamp to form a grafting seam. Under the action of the clamp opening assembly, the first rootstock clamp can form a seam space that allows the scion to be inserted into the insertion position and the designated position.

[0015] For example, the gripper opening assembly includes an opening drive and a stop member connected to the drive end of the opening drive. The stop member can abut against the first rootstock gripper under the drive of the opening drive, so that the first rootstock gripper forms a joint space.

[0016] For example, the abutting member includes a fixing part and a rolling part rotatably fitted onto the fixing part. The driving end of the opening drive member is connected to the fixing part. The rolling surface of the rolling part can roll against the first anvil claw under the drive of the opening drive member, so that the first anvil claw forms a joint space.

[0017] For example, the chopping knife assembly includes a chopping knife driver and a chopping knife mechanism connected to the drive end of the chopping knife driver, the chopping knife mechanism being able to chop into the chopping position under the drive of the chopping knife driver.

[0018] For example, the cleaving mechanism includes a cleaving drive, a cleaving connector, a telescopic drive, a cleaving blade, and a cleaving mechanism connected to the drive end of the cleaving drive. The cleaving mechanism can cleave into the cleaving position under the drive of the cleaving drive. The cleaving connector is connected between the drive end of the cleaving drive and the main body of the telescopic drive. The cleaving blade is connected to the drive end of the telescopic drive and can move along the telescopic direction between an extended position outside the cleaving connector and a retracted position inside the cleaving connector under the drive of the telescopic drive. The cleaving blade in the extended position can cleave into the cleaving position under the drive of the cleaving drive. The telescopic drive is used to drive the cleaving blade to move to the retracted position after the scion is inserted into the insertion position, so as to detach it from the grafting end.

[0019] For example, the grafting device further includes a clip installation device, which includes a clip gripper assembly, a clip gripper drive assembly, and a pusher assembly. The clip gripper assembly is movable between a pickup position and an installation position under the drive of the clip gripper drive assembly. When the clip gripper assembly is in the pickup position, it is used to pick up the clip, and after the scion is inserted into the designated position, it moves to the installation position to clamp the clip to the grafting end. The pusher assembly is used to straighten the grafting end when the clip is clamped to the grafting end.

[0020] For example, the pushing assembly includes a pushing drive and a pushing member connected to the driving end of the pushing drive. The pushing member is movable along the pushing direction under the drive of the pushing drive to straighten the grafting end. The pushing direction is perpendicular to the extension direction of the rootstock.

[0021] For example, the grafting device further includes a scion clamping device, a rootstock clamping device, a clamp installation device, and a driving device. The driving device is used to drive the scion clamping device and the rootstock clamping device to move cyclically between a first position, a second position, a third position, and a fourth position. The scion clamping device and the rootstock clamping device located at the first position are used to clamp the scion and the rootstock, respectively. The rootstock splitting device is used to split into the splitting position within the grafting end of the rootstock clamped by the rootstock clamping device located at the second position to form a grafting seam. The pushing device is used to push the scion clamped by the scion clamping device located at the second position to insert it into the insertion position, and after the rootstock splitting device disengages from the grafting end, push the scion to insert it into a designated position. The clamp installation device is used to clamp the clamp to the grafting end of the rootstock clamped by the rootstock clamping device located at the third position. The rootstock clamping device located at the fourth position is used to release the rootstock.

[0022] For example, the drive device includes a motor and a four-position cam divider connected to the drive end of the motor. The scion clamping device and the rootstock clamping device are respectively connected to the four-position cam divider. The motor is used to drive the scion clamping device and the rootstock clamping device to rotate cyclically between the first position, the second position, the third position and the fourth position through the four-position cam divider.

[0023] The rootstock splitting device of the grafting equipment provided in this invention can split the grafting end of the rootstock to form a grafting seam. The rootstock splitting device and the pushing device can cooperate to allow the scion to be inserted into the grafting seam, thereby forming a grafted plant with the rootstock. In this way, the grafting equipment can complete the grafting process automatically, thus reducing labor costs and the probability of accidents such as scratches. Furthermore, due to the reduced human intervention, the consistency of grafting is higher, thereby improving the grafting success rate and work efficiency.

[0024] A series of simplified concepts are introduced in the description of the invention, which will be further explained in detail in the detailed description section. This description is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0025] The advantages and features of the present invention will be described in detail below with reference to the accompanying drawings. Attached Figure Description

[0026] The following figures are included as part of this invention for understanding its principles. The figures illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the figures,

[0027] Figure 1 A perspective view of a grafting device according to an exemplary embodiment of the present invention;

[0028] Figure 2 for Figure 1 A perspective view of the first part of the grafting device shown in the image;

[0029] Figure 3 for Figure 2 A perspective view of the cleaver assembly shown in the image;

[0030] Figure 4 for Figure 3 The main view of the cleaver component shown in the image;

[0031] Figure 5 for Figure 2 A perspective view of the gripper opening assembly shown in the image;

[0032] Figure 6 for Figure 1 A perspective view of the second part of the grafting device shown in the image;

[0033] Figure 7 for Figure 6 A perspective view of the pushing device from one angle, shown in the image;

[0034] Figure 8 for Figure 7 A perspective view of the pushing device from another angle, shown in the image;

[0035] Figure 9 for Figure 1 A perspective view of the scion clamping device at one angle, shown in the figure;

[0036] Figure 10 for Figure 9 Another perspective view of the scion clamping device shown in the image;

[0037] Figure 11 for Figure 9 A perspective view of the cutting blade assembly shown in the image;

[0038] Figure 12 for Figure 11 The cross-sectional view of the cutting blade assembly shown in the figure;

[0039] Figure 13 for Figure 1 A perspective view of the rootstock clamping device shown in the figure;

[0040] Figure 14 A perspective view of a clamp mounting device and a rootstock clamping device according to an exemplary embodiment of the present invention;

[0041] Figure 15 for Figure 14 A perspective view of the feeding assembly and the anvil clamping device shown in the figure;

[0042] Figure 16 for Figure 14 A perspective view of the first part of the clip mounting device shown in the figure;

[0043] Figure 17 for Figure 14 A perspective view of the second part of the clip mounting device shown in the figure;

[0044] Figure 18 for Figure 1 A perspective view of the substrate clamping device shown in the figure;

[0045] Figure 19 for Figure 1 A perspective view of the waste discharge device shown in the figure; and

[0046] Figure 20 for Figure 1 A perspective view of the drive unit is shown in the figure.

[0047] The above figures include the following reference numerals:

[0048] 1000, Rootstock splitting device; 1100, Splitting blade assembly; 1110, Splitting blade drive component; 1120, Splitting blade mechanism; 1121, Splitting blade connector; 1122, Telescopic drive component; 1123, Splitting blade; 1130, Splitting blade limiting component; 1140, Splitting blade base; 1150, Linear guide rail; 1200, Gripper opening assembly; 1210, Opening drive component; 1220, Support component; 1221, Fixing part; 1222, Rolling part; 1223, Rolling surface; 1230, Mounting plate; 1300, Rootstock splitting bracket; 2000, Pushing device; 2100, First pushing drive component; 2200, Second pushing drive component; 2300, Linear guide rail; 2400, Cable chain; 2410, Cable chain protective cover; 2500 Push limiter; 2510 Push limiter mounting block; 2600 Push base; 2710 Connecting plate; 2720 Fixing block; 2730 Floating joint; 2740 Connecting block; 2750 Guide rail slider; 3000 Scion clamping device; 3100 Scion clamping assembly; 3110 First scion clamp; 3120 Second scion clamp; 3130 Dustproof baffle; 3200 Cutter assembly; 3210 V-shaped cutter; 3220 First cutter fixing component; 3221 V-groove; 3222 Through hole; 3223 Threaded hole; 3230 Second cutter fixing component; 3231 V-shaped boss; 3240 Elastic component; 3250 Fastener; 3260 Cutter protective cover 3261, Opening; 3300, Cutter Push Assembly; 3310, Push Drive Component; 3320, Floating Joint; 3330, Linear Guide Rail; 3340, Slider; 3400, Adjusting Component; 4000, Waste Discharge Device; 4100, Waste Gripper; 4200, Separation Drive Component; 4300, Discharge Track; 4400, Matrix Baffle; 4500, Waste Discharge Support; 5000, Rootstock Clamping Device; 5110, First Rootstock Gripper; 5111, Protrusion; 5120, Second Rootstock Gripper; 5210, Base Plate; 5220, Push Drive Connector; 5230, Rootstock Gripper Connector; 6000, Clamp Mounting Device; 6100, Clamp Gripper Assembly; 6200, Clamp Gripper Drive Assembly; 6210, First clamping jaw drive; 6220, Second clamping jaw drive; 6230, Rotating clamping jaw drive; 6300, Pushing assembly; 6310, Pushing drive; 6330, Pushing component; 6410, Rotation limiting component; 6420, Second mounting bracket; 6430, First linear guide rail; 6440, First limiting component; 6450, Third mounting bracket; 6460, Second linear guide rail; 6470, Second limiting component; 6480, First mounting bracket; 6490, Adjustment mechanism; 7000, Matrix clamping device; 7100, First matrix jaw; 7110, Rotating shaft; 7120, Elastic layer; 7200, Second matrix jaw; 7300, Matrix jaw drive; 7400, Rotating shaft seat;7500, Floating joint; 7600, Matrix connector; 8000, Drive unit; 8001, First station; 8002, Second station; 8003, Third station; 8004, Fourth station; 8100, Motor; 8200, Four-station cam divider; 8300, Cam divider base; 8400, Rotating shaft; 8510, First mounting plate; 8511, First mounting part; 8520, Second mounting plate; 8521, Second mounting part; 8610, First support; 8620, Second support; 8630, Protective cover; 8640, Bearing with seat; 8710, Electric slip ring; 8720, Rotary joint; 9100, Rootstock; 9200, Matrix; 9300, Scion; 9400, Non-scion part; 9500, Plant; 9600, Clip. Detailed Implementation

[0049] In the following description, numerous details are provided to enable a thorough understanding of the invention. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the invention, and that the invention can be practiced without one or more of these details. Furthermore, to avoid obscuring the invention, some technical features well-known in the art have not been described in detail.

[0050] Embodiments of the present invention provide a grafting device. This grafting device can automate grafting, thereby reducing labor costs. The grafting device according to embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0051] like Figure 1 , 2 As shown in Figure 6, the grafting equipment may include a rootstock splitting device 1000 and a pushing device 2000.

[0052] The rootstock splitting device 1000 can split the rootstock 9100. Specifically, the rootstock splitting device 1000 can split into a splitting position within the grafting end of the rootstock 9100, thereby forming a grafting seam within the grafting end. The rootstock splitting device 1000 can temporarily remain in the splitting position to prevent the grafting seam from closing on its own. Figure 13 As shown, to ensure the survival of the rootstock 9100, the non-grafted end of the rootstock 9100 can be connected to the substrate 9200. The grafted end and the non-grafted end of the rootstock 9100 can be positioned opposite each other along the extension direction of the rootstock 9100.

[0053] The pushing device 2000 can be used to push the scion 9300 into the insertion position within the grafting seam. In this way, the scion 9300 can be pre-grafted onto the grafting seam of the rootstock 9100, thereby improving the grafting success rate. Furthermore, after the rootstock splitting device 1000 disengages from the grafting end of the rootstock 9100, the pushing device 2000 can push the scion 9300 inwardly into a designated position within the grafting seam. It is understood that the designated position can be determined based on the length of the grafting seam and the actual length to be inserted into the grafting seam. Therefore, compared to the insertion position, the designated position can be closer to the interior of the rootstock 9100. The splitting position and the designated position can at least partially overlap. When the scion 9300 is inserted into the designated position, the scion 9300 and the rootstock 9100 can be grafted, thereby forming a grafted plant. The pushing device 2000 can employ various types of pushing devices known in the art or likely to emerge in the future, including but not limited to cylinder pushing devices, motor pushing devices, or hydraulic cylinder pushing devices. The pushing device 2000 can push the scion 9300 in a straight line (e.g., along the extension direction of the rootstock 9100) or in any other suitable direction, as long as the above functions can be achieved.

[0054] In summary, the rootstock splitting device 1000 of the grafting equipment provided in this embodiment of the invention can split the grafting end of the rootstock 9100 to form a grafting seam. The rootstock splitting device 1000 and the pushing device 2000 can cooperate to allow the scion 9300 to be inserted into the grafting seam, thereby forming a grafted plant with the rootstock 9100. In this way, the grafting equipment can complete the grafting work automatically, thus reducing labor costs and the probability of safety accidents such as scratches. Furthermore, due to the reduced human intervention, the consistency of grafting is higher, thereby improving the grafting success rate and work efficiency.

[0055] For example, such as Figure 1 and 6 As shown, the grafting equipment may further include a scion clamping device 3000. The scion clamping device 3000 can be used to clamp the scion 9300. The drive end of the pushing device 2000 can be connected to the scion clamping device 3000. Under the drive of the pushing device 2000, the scion clamping device 3000 and the scion 9300 clamped thereon can move, thereby pushing the scion 9300 to the insertion position and the designated position. By setting the scion clamping device 3000, the deviation of the scion 9300 can be suppressed, thereby ensuring that the scion 9300 is accurately inserted into the insertion position and the designated position, thus improving the grafting success rate.

[0056] In one embodiment, the rootstock splitting device 1000 may be generally located above the pushing device 2000 and the scion clamping device 3000, and the rootstock splitting device 1000 may have a driving member. This driving member can drive the splitting blade of the rootstock splitting device 1000 to move along the extension direction of the rootstock 9100, thereby splitting into the grafting end of the rootstock 9100 to form a grafting seam. The rootstock splitting device 1000 will now be described in detail.

[0057] For example, such as Figure 1 and 6 As shown, the scion clamping device 3000 may include a scion clamping assembly 3100. The scion clamping assembly 3100 may include a first scion clamp 3110 and a second scion clamp 3120. The first scion clamp 3110 and the second scion clamp 3120 may be arranged along the extending direction of the scion 9300. The first scion clamp 3110 and the second scion clamp 3120 may open and close independently of each other. The first scion clamp 3110 and the second scion clamp 3120 may be used to clamp different positions of the scion 9300. Specifically, the first scion clamp 3110 and the second scion clamp 3120 may be opened, and the scion 9300 may be clamped onto the first scion clamp 3110 and the second scion clamp 3120 by manual labor or a robotic arm, etc., and then the first scion clamp 3110 and the second scion clamp 3120 may be closed, thereby clamping and fixing the scion 9300 respectively. The first scion clamp 3110 and the second scion clamp 3120, by clamping the scion 9300 at different positions, can improve the fixation effect of the scion 9300, thereby further suppressing the displacement of the scion 9300 and increasing the grafting success rate. Since the rigidity of the scion is usually not very high, clamping the scion 9300 at different positions is particularly important. Furthermore, due to the considerable uncertainty in growth, different scions 9300 may have different diameters, and even the diameter of the same scion 9300 may differ at different positions. By clamping the scion 9300 at different positions with the first scion clamp 3110 and the second scion clamp 3120, different scion 9300 can be better compatible, and the scion clamping assembly 3100 has high applicability. The first scion clamp 3110 may include a pneumatic clamp, an electric clamp, or a hydraulic clamp. In some embodiments, the first scion clamp 3110 may be a Y-shaped clamp. The Y-shaped clamp may include a 30-degree clamp or any other suitable angle clamp. The second scion clamp 3120 may include a pneumatic clamp, an electric clamp, or a hydraulic clamp. The structure of the second scion clamp 3120 and the first scion clamp 3110 may be the same or different. For example, the second scion clamp 3120 may be a parallel clamp. In this way, the second scion clamp 3120 and the first scion clamp 3110 can clamp the scion 9300 in different directions, thereby further improving the effect of fixing the scion 9300.

[0058] For example, such as Figure 6 , 9 As shown in Figure 10, the scion clamping device 3000 may further include a cutter pushing assembly 3300 and a cutter assembly 3200. The cutter assembly 3200 may be connected to the drive end of the cutter pushing assembly 3300. Along the extending direction of the scion 9300, a first scion clamp 3110 may be located between the cutter assembly 3200 and the second scion clamp 3120. The first scion clamp 3110 may be used to clamp the portion of the plant 9500 near the cutter assembly 3200. The second scion clamp 3120 may be used to clamp the portion of the plant 9500 away from the cutter assembly 3200. Driven by the cutter pushing assembly 3300, the cutter assembly 3200 may cut the plant 9500 so that the portion of the plant 9500 clamped by the scion clamping assembly 3100 can form the scion 9300.

[0059] Exemplarily, the cutter pushing assembly 3300 can drive the cutter assembly 3200 to cut the plant 9500 along a direction perpendicular to its extension, thereby forming a scion 9300. The extension of the plant 9500 can be the extension direction of the scion 9300. After the cutter assembly 3200 cuts the plant 9500, the first scion clamp 3110 can hold the portion of the scion 9300 closest to the cutter assembly 3200. The second scion clamp 3120 can hold the portion of the scion 9300 furthest from the cutter assembly 3200. After the cutter assembly 3200 cuts the plant 9500, the portion of the plant 9500 not held by the scion clamping assembly 3100 can be the non-scion portion 9400. That is, the cutter assembly 3200 can divide the plant 9500 into two parts to form the scion 9300 and the non-scion portion 9400 respectively. After the cutting assembly 3200 cuts, the scion 9300 can have a scion cross-section. When the scion 9300 is inserted into the designated position, it can grow into a complete grafted plant with the rootstock 9100 through the scion cross-section. The cutting assembly 3200 can include any suitable type of cutting assembly, such as a straight cutting assembly or a V-shaped cutting assembly, as long as it can be used to cut the plant 9500. The cutting push assembly 3300 includes, but is not limited to, a cylinder push assembly, a motor push assembly, or a hydraulic cylinder push assembly, as long as it can achieve the above functions.

[0060] During the cutting of plant 9500, the first scion gripper 3110 and the second scion gripper 3120 of the cutting assembly 3200 can suppress the deviation of scion 9300 and prevent swaying of scion 9300 during cutting, thereby improving the consistency of the scion cross-section and resulting in higher quality scion 9300. Since plants are generally not very rigid, the cutting assembly 3200 can be as close as possible to the first scion gripper 3110. This allows the first scion gripper 3110 to suppress positional deviation in its vicinity, facilitating cutting by the cutting assembly 3200 and resulting in higher quality scion 9300. Furthermore, the cutting assembly 3200 is less likely to damage plant 9500 during cutting, thus preventing the formation of scion 9300. After the scion 9300 is formed, the cutting push assembly 3300 can drive the cutting assembly 3200 back to its initial position, preparing it for the next cut. When the scion 9300 is inserted into the grafting seam, the first scion clamp 3110 can be in the open state, thus preventing interference with the grafting end of the rootstock 9100. In this way, the scion clamping device 3000 can also automatically cut the plant 9500 to form the scion 9300. The grafting equipment has a higher degree of automation.

[0061] For example, such as Figure 9-10 As shown, the scion clamping assembly 3100 may further include a dust baffle 3130. The outer sides of the first scion clamp 3110 and the second scion clamp 3120 can be used to clamp the plant 9500. That is, the plant 9500 can be clamped onto the first scion clamp 3110 and the second scion clamp 3120 from the outside, and the scion 9300 can also be removed from the outside after cutting. The dust baffle 3130 can be located on the inner side of the scion 9300. The outer and inner sides can be arranged opposite each other along a direction perpendicular to the extension direction of the scion 9300. The dust baffle 3130 can prevent soil on the plant 9500 and dust and other debris in the environment in which the scion clamping device 3000 is used from entering the interior of the scion clamping device 3000 (e.g., the driving parts of the first scion clamp 3110 and the second scion clamp 3120), thereby improving the service life of the scion clamping device 3000.

[0062] For example, such as Figure 9-10As shown, the cutter push assembly 3300 may include a push drive 3310, a floating joint 3320, a linear guide rail 3330, and a slider 3340. The slider 3340 may be mounted on the cutter assembly 3200. The slider 3340 is slidably connected to the linear guide rail 3330. The floating joint 3320 may be connected between the drive end of the push drive 3310 and the slider 3340. Driven by the push drive 3310, the slider 3340 can slide along the linear guide rail 3330. Specifically, the push drive 3310 can drive the slider 3340 to slide along the linear guide rail 3330 via the floating joint 3320. The slider 3340 can then move the cutter assembly 3200, thereby causing the cutter assembly 3200 to cut the plant 9500. The push drive 3310 includes, but is not limited to, a cylinder, a motor, or a hydraulic cylinder. During the process of cutting the plant 9500, the cutter assembly 3200 may experience some vibration and deformation. The floating joint 3320 can eliminate vibration and deformation, preventing damage to the drive component 3310. Furthermore, the linear guide 3330 can improve the torsional resistance of the cutter assembly 3200, thereby improving the stability and straightness of the cutter assembly 3200's movement, and ultimately improving the quality of the scion cross-section.

[0063] Exemplarily, the scion clamping device 3000 may further include an adjusting member 3400 for adjusting the position of the cutter assembly 3200. The adjusting member 3400 may be connected between the drive end of the cutter pushing assembly 3300 and the cutter assembly 3200. Specifically, the adjusting member 3400 may be connected between the slider 3340 and the cutter assembly 3200. The position of the cutter assembly 3200 relative to the adjusting member 3400 along the extension direction of the plant 9500 is adjustable. Thus, along the extension direction of the plant 9500, the position of the cutter assembly 3200 relative to the first scion clamp 3110 can be adjusted, thereby allowing selection of the scion cross-section position as needed and compensating for installation errors. The structure for the adjustable position of the cutter assembly 3200 relative to the adjusting member 3400 can be arbitrary. In some embodiments, the adjusting member 3400 may be provided with a waist hole. The cutter assembly 3200 can be connected to different positions of the waist hole via a connector, thereby allowing its position to be adjusted.

[0064] For example, such as Figure 9 , 11As shown in Figure 12, the cutting assembly 3200 may include a V-shaped cutter 3210, a first cutter fixing member 3220, a second cutter fixing member 3230, an elastic member 3240, and a fastener 3250. Along the extension direction of the scion 9300, the V-shaped cutter 3210 may taper away from the first scion clamp 3110. The V-shaped cutter 3210 can be used to cut the plant 9500 so that the portion of the plant 9500 held by the first scion clamp 3110 and the second scion clamp 3120 forms the scion 9300. Thus, the scion cross-section can be V-shaped. The tip of the V-shaped cross-section can face the grafting seam at the grafting end of the rootstock 9100. The larger area of ​​the V-shaped cross-section is beneficial for improving the grafting success rate. Furthermore, the tip of the V-shaped cross-section can be easily inserted into the grafting seam at the grafting end of the rootstock 9100. A V-groove 3221 may be provided on the first cutter fixing member 3220. A V-shaped boss 3231 may be provided on the second cutter fixing member 3230. A fastener 3250 can be connected between the first cutter fixing member 3220 and the second cutter fixing member 3230, so that the V-shaped groove 3221 and the V-shaped boss 3231 can clamp the V-shaped cutter 3210. Furthermore, an elastic member 3240 can be pressed between the first cutter fixing member 3220 and the second cutter fixing member 3230. The elastic member 3240 includes, but is not limited to, springs or elastic members made of elastic materials such as rubber. When the V-shaped cutter 3210 needs to be replaced due to wear, the fastener 3250 needs to be removed, and then the elastic member 3240 can release its elastic potential energy, thereby springing the first cutter fixing member 3220 and the second cutter fixing member 3230 apart, allowing for quick removal and replacement of the V-shaped cutter 3210. Therefore, the cutter assembly 3200 can improve the cutter replacement efficiency, thereby improving the working efficiency of the grafting equipment.

[0065] For example, such as Figure 9 , 11 As shown in Figure 12, the first cutter holder 3220 may be provided with a through hole 3222 and a threaded hole 3223. The through hole 3222 and the threaded hole 3223 may be coaxial and located on both sides of the V-shaped cutter 3210. The fastener 3250 may pass through the through hole 3222 and the second cutter holder 3230, and may be threaded to the threaded hole 3223. The fastener 3250 includes, but is not limited to, screws or bolts. In this way, the fastener 3250 can be easily installed and disassembled, and the structure of the cutter assembly 3200 is relatively simple.

[0066] For example, such as Figure 9 , 11As shown in Figure 12, the cutter assembly 3200 may further include a cutter guard 3260. The cutter guard 3260 may be connected to the first cutter fixing member 3220. The cutter guard 3260 may cover the V-shaped cutter 3210. Furthermore, the cutter guard 3260 may have an opening 3261 exposing the V-shaped cutter 3210. Thus, during the movement of the cutter assembly 3200 driven by the cutter pushing assembly 3300, the plant 9500 can pass through the opening 3261 to be cut by the V-shaped cutter 3210. The cutter guard 3260 can protect the V-shaped cutter 3210, thereby preventing personnel from accidentally touching the V-shaped cutter 3210 and being injured.

[0067] For example, such as Figure 1 , 9 As shown in Figure 19, the grafting equipment may also include a waste discharge device 4000. After the cutter assembly 3200 cuts the plant 9500, the waste discharge device 4000 can be used to discharge the non-scion portion 9400 of the plant 9500. In this way, the non-scion portion 9400 can be automatically discharged to prevent it from affecting the normal operation of the grafting equipment.

[0068] For example, such as Figure 9 and 19As shown, the waste discharge device 4000 may include a waste gripper 4100, a separation drive 4200, and a discharge slide 4300. Along the extension direction of the plant 9500, the cutter assembly 3200 may be located between the waste gripper 4100 and the first scion gripper 3110. The waste gripper 4100 can be used to grip the non-scion portion 9400. The waste gripper 4100 may include a pneumatic gripper, an electric gripper, or a hydraulic gripper, etc. The drive end of the separation drive 4200 may be connected to the waste gripper 4100. Driven by the separation drive 4200, the waste gripper 4100 can move to grip the non-scion portion 9400 and move it to one end of the discharge slide 4300. The other end of the discharge slide 4300 may connect to the outside of the grafting device. In practical applications, the first scion clamp 3110 and the waste clamp 4100 can clamp the plant 9500 on both sides of the cutter assembly 3200. After the cutter assembly 3200 cuts the plant 9500, the separation drive 4200 can drive the waste clamp 4100 to move, so that the waste clamp 4100 and the non-scion portion 9400 clamped thereon move to one end of the discharge slide 4300. Then, the waste clamp 4100 can be opened, and the non-scion portion 9400 can be discharged to the outside of the grafting equipment through the discharge slide 4300. The separation drive 4200 includes, but is not limited to, a cylinder, a motor, or a hydraulic cylinder. The discharge slide 4300 can extend downwards at one end to the other end, and the non-scion portion 9400 can move to the other end of the discharge slide 4300 under the action of gravity. The other end of the discharge slide 4300 can be connected to the outside of the grafting equipment. For example, the other end of the discharge chute 4300 can be connected to a device such as a conveyor belt. In this way, the non-scion portion 9400 passing through the discharge chute 4300 can be discharged to the outside of the grafting equipment via a device such as a conveyor belt.

[0069] For example, such as Figure 19 As shown, the waste discharge device 4000 may further include a substrate baffle 4400. To ensure the survival of the scion 9300, the end of the non-scion portion 9400 away from the scion 9300 may be connected to substrate. The drive end of the separation drive 4200 may also be connected to the substrate baffle 4400. Under the drive of the separation drive 4200, the waste gripper 4100 and the substrate baffle 4400 can move synchronously. The substrate baffle 4400 may be located on the side of the substrate on the non-scion portion 9400 closer to the interior of the grafting device. The substrate baffle 4400 can prevent soil and other debris from the substrate on the non-scion portion 9400 from entering the interior of the grafting device.

[0070] For example, such as Figure 19As shown, the waste discharge device 4000 may further include a waste discharge bracket 4500. The waste gripper 4100, separation drive 4200, discharge chute 4300, and substrate baffle 4400 can all be mounted on the waste discharge bracket 4500. The waste discharge bracket 4500 can be connected to the ground or other locations.

[0071] For example, such as Figure 6-8 As shown, the pushing device 2000 may include a first pushing driver 2100 and a second pushing driver 2200. The driving end of the first pushing driver 2100 can be connected to the body of the second pushing driver 2200. Exemplarily, the pushing device 2000 may also include a connecting plate 2710 and a fixing block 2720. The connecting plate 2710 can be connected to the driving end of the first pushing driver 2100. The fixing block 2720 can be connected to the connecting plate 2710. The body of the second pushing driver 2200 can be connected to the fixing block 2720. Thus, the driving end of the first pushing driver 2100 can be connected to the body of the second pushing driver 2200 through the connecting plate 2710 and the fixing block 2720. The driving end of the second pushing driver 2200 can be connected to the scion 9300. Exemplarily, the driving end of the second push drive 2200 can be connected to the scion clamping device 3000, thereby connecting to the scion 9300 via the first scion clamp 3110 and the second scion clamp 3120. Exemplarily, the push device 2000 may also include a floating joint 2730 and a connecting block 2740. The floating joint 2730 can be connected between the driving end of the second push drive 2200 and the connecting block 2740. The connecting block 2740 can be connected to the scion clamping device 3000. The first push drive 2100 can be used to drive the second push drive 2200 and the scion 9300 to move synchronously. After the first push drive 2100 drives the scion 9300 to the insertion position, the second push drive 2200 can drive the scion 9300 to be inserted to a designated position. The first push drive 2100 and the second push drive 2200 are respectively including, but not limited to, cylinders, motors, or hydraulic cylinders. Exemplarily, the first push drive 2100 may include a slide cylinder. The first push drive component 2100 and the second push drive component 2200 can form a two-stage cylinder structure, thereby enabling the scion 9300 to be accurately inserted into the insertion position and the designated position. Ideally, the extension direction of the rootstock 9100 is collinear with the extension direction of the scion 9300, so that the first push drive component 2100 and the second push drive component 2200 can respectively perform linear drive along the collinear direction.

[0072] For example, such as Figure 6-8As shown, the pushing device 2000 may further include a linear guide rail 2300, a cable chain 2400, and a pushing base 2600. The main body of the first pushing drive member 2100, the fixed ends of the linear guide rail 2300 and the cable chain 2400 may be respectively disposed on the pushing base 2600. Exemplarily, the linear guide rail 2300 may extend along the extending direction of the anvil 9100. The linear guide rail 2300 may be installed parallel to the first pushing drive member 2100, which is configured as a slide cylinder. The movable end of the cable chain 2400 may be connected to the driving end of the first pushing drive member 2100. Thus, the movable end of the cable chain 2400 may move with the driving end of the first pushing drive member 2100. Cables and air pipes, etc., connected to components such as the second pushing drive member 2200, may be disposed on the cable chain 2400. Thus, although the second push drive member 2200 can move, under the action of the cable chain 2400, cables and air pipes are less likely to become tangled and worn due to movement, thereby improving the stability of the push device 2000. The first push drive member 2100 is used to drive the second push drive member 2200 to slide along the linear guide rail 2300. Exemplarily, the push device 2000 may also include a guide rail slider 2750. The main body of the second push drive member 2200 can be disposed on the guide rail slider 2750, thereby being slidably connected to the linear guide rail 2300 through the guide rail slider 2750. The linear guide rail 2300 can improve the torsional resistance of the second push drive member 2200, thereby improving the stability and straightness of the movement of the second push drive member 2200, and thus enabling the scion 9300 to be accurately inserted into the insertion position and the designated position.

[0073] For example, such as Figure 6-8 As shown, the pushing device 2000 may further include a cable chain protective cover 2410. The cable chain protective cover 2410 may be disposed on the pushing base 2600. The cable chain 2400 may be located inside the cable chain protective cover 2410. The cable chain protective cover 2410 can protect the cable chain 2400 to prevent cables, air pipes, and other pipelines from being damaged by external forces.

[0074] For example, such as Figure 6-8As shown, the pushing device 2000 may further include a pushing limit member 2500. The pushing limit member 2500 may be disposed on the pushing base 2600. Specifically, the pushing limit member 2500 may be disposed on the pushing limit member mounting block 2510. The pushing limit member mounting block 2510 may be disposed on the pushing base 2600. When the scion 9300 is in the insertion position, the main body of the second pushing drive member 2200 may abut against the pushing limit member 2500. In practical applications, when the first pushing drive member 2100 drives the second pushing drive member 2200 to move so that the scion 9300 is inserted into the insertion position, the main body of the second pushing drive member 2200 may abut against the pushing limit member 2500. The pushing limit member 2500 can limit the second pushing drive member 2200 to ensure that the scion 9300 is in the insertion position. The push-limiting member 2500 can be any type of limiting member known in the art or that may emerge in the future, including but not limited to baffles or blocks. In some embodiments, the push-limiting member 2500 may include a combination of a hydraulic buffer stop and a hard limiting member. When the scion 9300 is close to the insertion position, the body of the second push-drive member 2200 may first contact the hydraulic buffer. The hydraulic oil damping in the hydraulic buffer can buffer and decelerate the body of the second push-drive member 2200. Furthermore, when the hydraulic buffer is compressed to a certain extent, the body of the second push-drive member 2200 can abut against the hard limiting member, thereby stopping the movement. The corresponding limiting members mentioned below can all be combinations of hydraulic buffer stops and hard limiting members, which will not be described in detail here for the sake of brevity.

[0075] For example, such as Figure 1 , 2As shown in Figure 6, the grafting device also includes a rootstock clamping device 5000. The rootstock clamping device 5000 may include a first rootstock clamp 5110 and a second rootstock clamp 5120. The first rootstock clamp 5110 and the second rootstock clamp 5120 may be arranged along the extension direction of the rootstock 9100. The first rootstock clamp 5110 and the second rootstock clamp 5120 may open and close independently of each other. The first rootstock clamp 5110 may be used to clamp the grafting end of the rootstock 9100. The second rootstock clamp 5120 may be used to clamp the non-grafting end of the rootstock 9100. Specifically, the first rootstock clamp 5110 and the second rootstock clamp 5120 can be opened, allowing the rootstock 9100 to be clamped onto them manually or using a robotic arm. Then, the first and second rootstock clamps can be closed, thus clamping and securing the rootstock 9100. In this way, during the grafting process, the first and second rootstock clamps 5110 and 5120 can hold the rootstock 9100 at different positions, preventing displacement and improving the consistency and quality of the grafting seam. Since the rigidity of the rootstock is generally not very high, clamping the rootstock 9100 at different positions is particularly important. Furthermore, due to the significant uncertainty in growth, the diameters of different rootstocks 9100 may vary, and even the diameter of the same rootstock 9100 may differ at different locations. By clamping the rootstock 9100 at different positions using the first rootstock clamp 5110 and the second rootstock clamp 5120, different rootstocks 9100 can be better accommodated, resulting in high applicability of the rootstock clamping device 5000. The first rootstock clamp 5110 may include a pneumatic clamp, an electric clamp, or a hydraulic clamp, etc. In some embodiments, the first rootstock clamp 5110 may be a Y-shaped clamp. The Y-shaped clamp may include a 30-degree clamp or any other suitable angle clamp. The second rootstock clamp 5120 may include a pneumatic clamp, an electric clamp, or a hydraulic clamp, etc. The structure of the second rootstock clamp 5120 may be the same as or different from that of the first rootstock clamp 5110. For example, the second rootstock clamp 5120 may be a parallel clamp. In this way, the second rootstock clamp 5120 and the first rootstock clamp 5110 can clamp the rootstock 9100 in different directions, thereby further improving the effect of fixing the rootstock 9100. When the scion 9300 is inserted into the grafting seam, the first rootstock clamp 5110 can be in the open state. Thus, when the clamping force of the first rootstock clamp 5110 is lost, the scion 9300 can slightly open the grafting seam, making it easier to insert into the insertion position and designated position of the grafting seam. When the first rootstock clamp 5110 is in the open state, the second rootstock clamp 5120 can also fix the rootstock 9100, thereby suppressing the deviation of the grafting seam and ensuring that the scion 9300 is smoothly inserted into the grafting seam, thus ensuring a high grafting success rate.

[0076] For example, such as Figure 2-5 As shown, the rootstock splitting device 1000 may include a splitting blade assembly 1100 and a clamp opening assembly 1200. The splitting blade assembly 1100 can be used to split into the splitting position within the grafting end held by the first rootstock clamp 5110 to form a grafting seam. Under the action of the clamp opening assembly 1200, the first rootstock clamp 5110 can form a seam space that allows the scion 9300 to be inserted into the insertion position and the designated position. Due to this seam space, the scion 9300 can slightly open the grafting seam, thereby allowing it to be inserted into the grafting seam more smoothly. Therefore, this seam space can usually be small, as long as it can accommodate the insertion of the scion 9300. Therefore, compared to the opening range of the first rootstock clamp 5110 when clamping the rootstock 9100, the opening range of the first rootstock clamp 5110 can be smaller at this time. In this way, during the insertion of the scion 9300 into the grafting seam, the first rootstock clamp 5110 can still effectively limit the grafting end, thus preventing it from shifting. During grafting, if the first rootstock clamp 5110 can open to a predetermined angle to form a grafting seam space, the scion 9300 will be easier to insert into the grafting seam. However, if the first rootstock clamp 5110 itself could simultaneously clamp the rootstock 9100 and open to a predetermined angle, the performance requirements for the first rootstock clamp 5110 would be very high. Therefore, in this solution, the grafting seam space is formed through the clamp opening component 1200, i.e., the grafting seam space is not formed by the first rootstock clamp 5110 itself. This reduces the cost of the first rootstock clamp 5110, thereby reducing the overall cost of the rootstock splitting device 1000. Therefore, using the clamp opening component 1200 is a simpler and more reliable solution for the rootstock splitting device 1000. After the gripper opening assembly 1200 cancels its action on the first rootstock gripper 5110, the first rootstock gripper 5110 can return to the closed state by relying on its driving part or its own spring-loaded performance. The gripper opening assembly 1200 can be any suitable component, such as a cylinder assembly or a motor assembly, as long as it can open the first rootstock gripper 5110. The method by which the gripper opening assembly 1200 acts on the first rootstock gripper 5110 can be arbitrary, including but not limited to pressing.

[0077] For example, such as Figure 5As shown, the gripper opening assembly 1200 may include an opening drive member 1210 and a stop member 1220. The stop member 1220 may be connected to the drive end of the opening drive member 1210. Driven by the opening drive member 1210, the stop member 1220 can move, thereby abutting against the first rootstock gripper 5110, which in turn opens the first rootstock gripper 5110 to form a joint space. The opening drive member 1210 includes, but is not limited to, a motor, a cylinder, or a hydraulic cylinder. With this configuration, the gripper opening assembly 1200 has a relatively simple structure and is easy to manufacture. Furthermore, the opening drive member 1210 can control the distance the stop member 1220 moves, thereby abutting the first rootstock gripper 5110 to open to different degrees, and thus controlling the size of the joint space. In this way, the rootstock splitting device 1000 can meet different grafting needs and has strong applicability. In an embodiment where the first rootstock gripper 5110 is a Y-shaped gripper, a protrusion 5111 may be provided on the first rootstock gripper 5110. The abutment 1220 can abut against the protrusion 5111 so that the first rootstock gripper 5110 can form a joint space.

[0078] For example, such as Figure 5 As shown, the abutment member 1220 may include a fixed part 1221 and a rolling part 1222. The rolling part 1222 is rotatably fitted onto the fixed part 1221. The driving end of the opening drive member 1210 may be connected to the fixed part 1221. In this way, the opening drive member 1210 can drive the rolling part 1222 to move through the fixed part 1221. Under the drive of the opening drive member 1210, the rolling surface 1223 of the rolling part 1222 can roll against the first anvil claw 5110, so that the first anvil claw 5110 can form a joint space. In this way, during the process of the rolling part 1222 against the first anvil claw 5110, the rolling surface 1223 can roll on the first anvil claw 5110 to form rolling friction, thereby reducing friction and reducing wear.

[0079] For example, the abutment 1220 may include a cam bearing follower. The inner ring of the cam bearing follower and the mounting shaft connected to the inner ring may be a fixed portion 1221. The drive end of the opening drive 1210 may be connected to the mounting shaft. The outer ring of the cam bearing follower may be a rolling portion 1222. The outer peripheral surface of the outer ring of the cam bearing follower may be a rolling surface 1223. With this configuration, the abutment 1220 can be a standard part, thus eliminating the need for separate design and reducing the design complexity of the anvil splitting device 1000.

[0080] Exemplarily, the opening drive 1210 may include a slide cylinder. The slide cylinder can drive the abutment 1220 to move linearly. In embodiments where the first anvil 5110 includes a Y-shaped claw, the direction of movement of the abutment 1220 is different from the opening direction of the Y-shaped claw, and the rolling surface 1223 of the rolling part 1222 can roll against the Y-shaped claw. The slide cylinder can ensure the smooth movement and torsional strength of the abutment 1220. Furthermore, the slide cylinder has a stop position limit, thereby ensuring the accurate positioning of the abutment 1220, and thus allowing precise control of the size of the joint space.

[0081] For example, such as Figure 3-4 As shown, the grafting blade assembly 1100 may include a grafting blade drive 1110 and a grafting blade mechanism 1120. The grafting blade mechanism 1120 may be connected to the drive end of the grafting blade drive 1110. Driven by the grafting blade drive 1110, the grafting blade mechanism 1120 may move along the extension direction of the rootstock 9100 to form a grafting seam within the grafting end. The grafting blade drive 1110 includes, but is not limited to, a motor, a cylinder, or a hydraulic cylinder. With this configuration, the structure of the grafting blade assembly 1100 is relatively simple and easy to manufacture.

[0082] For example, such as Figure 3-4 As shown, the cleaving blade assembly 1100 may further include a cleaving blade limiting member 1130 and a cleaving blade base 1140. Both the main body of the cleaving blade drive member 1110 and the cleaving blade limiting member 1130 can be mounted on the cleaving blade base 1140. When the cleaving blade mechanism 1120 is in the cleaving position, it can abut against the cleaving blade limiting member 1130. Through the limiting effect of the cleaving blade limiting member 1130 on the cleaving blade mechanism 1120, the cleaving blade mechanism 1120 can accurately cleave into the cleaving position within the grafting end, thereby forming the desired grafting seam. Thus, the consistency of the grafting seam is higher, and the grafting success rate is higher.

[0083] For example, such as Figure 3-4As shown, the chopping mechanism 1120 may include a chopping connector 1121, a telescopic drive 1122, and a chopping blade 1123. The chopping connector 1121 may be connected between the drive end of the chopping drive 1110 and the main body of the telescopic drive 1122. Thus, the chopping drive 1110 can drive the telescopic drive 1122 and the chopping mechanism 1120 to move synchronously along the extension direction of the rootstock 9100. The chopping drive 1110 includes, but is not limited to, a motor, a cylinder, or a hydraulic cylinder. The chopping blade 1123 may be connected to the drive end of the telescopic drive 1122. Under the drive of the telescopic drive 1122, the chopping blade 1123 can move between an extended position and a retracted position along the telescopic direction. When the chopping blade 1123 is in the extended position, it may be located outside the chopping connector 1121. When the chopping blade 1123 is in the retracted position, it may be located inside the chopping connector 1121. The grafting scion connector 1121 may include a frame, a baffle, or any other suitable structure. This configuration protects the grafting scion 1123 when it is in the retracted position, preventing accidental injury from accidental contact. Driven by the grafting drive 1110, the extended grafting scion 1123 can move along the extension direction of the rootstock 9100 to the insertion position, thus forming a grafting seam. The extension / retraction direction may be perpendicular to the extension direction of the rootstock 9100. The extension / retraction drive 1122 includes, but is not limited to, a motor, a cylinder, or a hydraulic cylinder. After the scion 9300 is inserted into the insertion position, the extension / retraction drive 1122 drives the grafting scion 1123 to the retracted position to disengage from the grafting end.

[0084] In practical applications, the cutting blade 1123 is typically in the retracted position. When a slit is needed, the telescopic drive 1122 can move the cutting blade 1123 to the extended position along the telescopic direction. Then, the cutting blade drive 1110 can drive the telescopic drive 1122 and the cutting blade 1123 to move towards the grafting end along the extension direction of the rootstock 9100, so that the cutting blade 1123 can be inserted into the insertion position, thereby forming a grafting slit. When the scion 9300 is inserted into the insertion position, the telescopic drive 1122 can drive the cutting blade 1123 to the retracted position along the telescopic direction, so that the cutting blade 1123 can leave the grafting end. Then, the cutting blade drive 1110 can drive the telescopic drive 1122 and the cutting blade 1123 to move away from the grafting end along the extension direction of the rootstock 9100 to return to the initial position, thereby preparing for the next slit.

[0085] For example, such as Figure 3-4As shown, in an embodiment where the gripper opening assembly 1200 includes an opening drive member 1210 and a stop member 1220, the gripper opening assembly 1200 may further include a mounting plate 1230. The mounting plate 1230 can be connected between the chopping blade base 1140 and the body of the opening drive member 1210. With this configuration, the gripper opening assembly 1200 and the chopping blade assembly 1100 can be connected together.

[0086] For example, such as Figure 3-4 As shown, a linear guide rail 1150 can also be provided on the grafting blade base 1140. The linear guide rail 1150 can extend along the extension direction of the rootstock 9100. Driven by the grafting blade drive member 1110, the grafting blade mechanism 1120 is slidably connected to the linear guide rail 1150. The linear guide rail 1150 can improve the torsional resistance of the grafting blade 1123, thereby improving the stability and straightness of the movement of the grafting blade 1123, and thus improving the quality of the graft joint.

[0087] For example, such as Figure 2 As shown, the rootstock splitting device 1000 may further include a rootstock splitting bracket 1300. The splitting blade assembly 1100 and the gripper opening assembly 1200 can both be mounted on the rootstock splitting bracket 1300. The rootstock splitting bracket 1300 can be connected to the ground or other locations.

[0088] For example, such as Figure 14-17 As shown, the grafting equipment may also include a clamp mounting device 6000. The clamp mounting device 6000 may include a clamp gripper assembly 6100, a clamp gripper drive assembly 6200, and a material pushing assembly 6300.

[0089] The clamping jaw assembly 6100 includes, but is not limited to, a cylinder clamping jaw assembly, a motor clamping jaw assembly, or a hydraulic cylinder clamping jaw assembly, as long as it can be used to pick up and release the clamp 9600. Specifically, when the clamping jaw assembly 6100 picks up the clamp 9600, it can open the clamp 9600. When the clamping jaw assembly 6100 releases the clamp 9600, the clamp 9600 can close, thereby clamping it to the grafting end of the rootstock 9100.

[0090] Driven by the clamp and claw drive assembly 6200, the clamp and claw assembly 6100 can move between a pickup position and an installation position. When in the pickup position, the clamp and claw assembly 6100 can be used to pick up the clamp 9600. Furthermore, after the scion 9300 is inserted into the designated position, the clamp and claw drive assembly 6200 can drive the clamp and claw assembly 6100 to the installation position to clamp the clamp 9600 onto the grafting end of the rootstock 9100. Through the clamping of the clamp 9600, the grafting end of the rootstock 9100 can be made into close contact with the scion 9300, thereby improving the grafting success rate. The clamp and claw drive assembly 6200 includes, but is not limited to, a cylinder drive assembly, a motor drive assembly, or a hydraulic cylinder drive assembly, as long as it can be used to drive the clamp and claw assembly 6100 to move between the pickup position and the installation position.

[0091] The pusher assembly 6300 can be used to straighten the grafting end when the clamp 9600 holds the grafting end of the rootstock 9100. The structure of the pusher assembly 6300 can be arbitrary, for example, it can be a structure that straightens the grafting end by means of a rope or by means of a clamp.

[0092] In practical applications, the clamp and gripper drive assembly 6200 can drive the clamp and gripper assembly 6100 to move to the picking position. Then, the clamp and gripper assembly 6100 can pick up the clamp 9600. The clamp 9600 can be fed manually, or the clamp mounting device 6000 can also include a feeding assembly. The feeding assembly includes, but is not limited to, a belt feed assembly or a robotic arm feed assembly, as long as it can be used to feed the clamp 9600. When the clamp and gripper assembly 6100 is in the picking position, it can pick up the clamp 9600 from the feeding assembly. Then, after the scion 9300 is inserted into the designated position, the clamp and gripper drive assembly 6200 can drive the clamp and gripper assembly 6100 to move to the mounting position. Then, the clamp and gripper assembly 6100 can clamp the clamp 9600 on it to the grafting end of the rootstock 9100. When the clamp 9600 holds the grafting end of the rootstock 9100, the pusher assembly 6300 can push the grafting end into the correct position. This suppresses any deviation of the grafting end, ensuring it is in the desired position and improving the success rate of the clamp 9600 gripping the grafting end of the rootstock 9100. Exemplarily, when the grafting end of the rootstock 9100 does not deviate, the pusher assembly 6300 does not need to contact the grafting end. Therefore, by providing the clamp installation device 6000, the installation of the clamp 9600 and the correction of the grafting end can be performed automatically, eliminating the need for manual operation. Thus, the clamp installation device 6000 achieves automated clamp installation, resulting in a higher degree of automation in the grafting equipment.

[0093] For example, such as Figure 14-15As shown, when the clamp 9600 is clamped to the grafting end of the rootstock 9100, the first rootstock clamp 5110 of the rootstock clamping device 5000 can be in the open state. In this way, the first rootstock clamp 5110 will not interfere with the clamp 9600, thereby ensuring that the clamp 9600 is successfully clamped to the grafting end of the rootstock 9100.

[0094] For example, such as Figure 14-17 As shown, the pushing assembly 6300 may include a pushing drive 6310 and a pushing member 6330. The pushing member 6330 can be connected to the driving end of the pushing drive 6310. Driven by the pushing drive 6310, the pushing member 6330 can move along the pushing direction, thereby straightening the grafting end of the rootstock 9100. The pushing direction can be perpendicular to the extension direction of the rootstock 9100. The pushing drive 6310 includes, but is not limited to, a cylinder, a motor, or a hydraulic cylinder. The structure of the pushing member 6330 can be arbitrary, including but not limited to a pushing plate, a pushing block, or a pushing rod. With this configuration, the pushing assembly 6300 has a simple structure and is easy to manufacture.

[0095] For example, such as Figure 13 and 15 As shown, the rootstock clamping device 5000 may further include a base plate 5210, a pusher drive connector 5220, and a rootstock gripper connector 5230. The main body of the pusher drive connector 6310 can be connected to the pusher drive connector 5220, and the pusher drive connector 5220 can be connected to the base plate 5210. The first rootstock gripper 5110 and the second rootstock gripper 5120 can be connected to the rootstock gripper connector 5230, and the rootstock gripper connector 5230 can be connected to the base plate 5210. In this way, the rootstock clamping device 5000 and the pusher assembly 6300 can be connected together, thereby enabling synchronous movement.

[0096] For example, such as Figure 14 , 16As shown in Figure 17, the clamping jaw drive assembly 6200 may include a first clamping jaw drive 6210 and a second clamping jaw drive 6220. The drive end of the first clamping jaw drive 6210 may be connected to the body of the second clamping jaw drive 6220. The drive end of the second clamping jaw drive 6220 may be connected to the clamping jaw assembly 6100. Under the drive of the first clamping jaw drive 6210, the second clamping jaw drive 6220 and the clamping jaw assembly 6100 may move synchronously along a first direction. Under the drive of the second clamping jaw drive 6220, the clamping jaw assembly 6100 may move along a second direction. The first direction may be perpendicular to the second direction. The first direction and the second direction may be the radial direction of the grafting end of the rootstock 9100. In some embodiments, the first direction may be a horizontal direction and the second direction may be a vertical direction. The first clamping jaw drive 6210 includes, but is not limited to, a cylinder, a motor, or a hydraulic cylinder. The second gripper drive component 6220 includes, but is not limited to, a cylinder, a motor, or a hydraulic cylinder. This configuration results in a simple structure for the gripper drive assembly 6200, making it easy to manufacture.

[0097] For example, such as Figure 14 , 16 As shown in Figure 17, the clamping jaw drive assembly 6200 may further include a rotating clamping jaw drive 6230. The drive end of the second clamping jaw drive 6220 may be connected to the body of the rotating clamping jaw drive 6230. The drive end of the rotating clamping jaw drive 6230 may be connected to the clamping jaw assembly 6100. Under the drive of the first clamping jaw drive 6210, the second clamping jaw drive 6220, the rotating clamping jaw drive 6230, and the clamping jaw assembly 6100 can move synchronously along a first direction. Under the drive of the second clamping jaw drive 6220, the rotating clamping jaw drive 6230 and the clamping jaw assembly 6100 can move synchronously along a second direction. Under the drive of the second clamping jaw drive 6220, the clamping jaw assembly 6100 can move along the second direction between a pickup position and a first intermediate position. Driven by the rotary clamping jaw drive 6230, the clamping jaw assembly 6100 can rotate between a first intermediate position and a second intermediate position. Driven by the first clamping jaw drive 6210, the clamping jaw assembly 6100 can move along a first direction between the second intermediate position and the mounting position. The rotary clamping jaw drive 6230 includes, but is not limited to, a rotary cylinder, a motor, or a rotary hydraulic cylinder.

[0098] In practical applications, after the clamping jaw assembly 6100 picks up the clamp 9600 at the pickup position, the second clamping jaw drive 6220 can drive the clamping jaw assembly 6100 to move to the first intermediate position. Then, the rotating clamping jaw drive 6230 can drive the clamping jaw assembly 6100 to rotate to the second intermediate position. Then, the first clamping jaw drive 6210 can drive the clamping jaw assembly 6100 to move to the installation position. Then, the clamping jaw assembly 6100 can clamp the clamp 9600 onto the grafting end of the rootstock 9100. With this configuration, the movement trajectory of the clamp 9600 is relatively short, thereby improving the installation efficiency of the clamp 9600 and thus improving the grafting efficiency.

[0099] For example, such as Figure 14 , 16 As shown in Figure 17, the clamp mounting device 6000 may further include a rotation limiting member 6410. When the clamp claw assembly 6100 is in the first intermediate position and / or the second intermediate position, it may directly or indirectly abut against the rotation limiting member 6410 through other components. The rotation limiting member 6410 can limit the clamp claw assembly 6100 to ensure that the clamp claw assembly 6100 is in the expected position.

[0100] For example, such as Figure 14 , 16As shown in Figure 17, the clamp mounting device 6000 may further include a first mounting bracket 6480, a second mounting bracket 6420, a first limiting member 6440, a third mounting bracket 6450, and a second limiting member 6470. The main body of the first clamping jaw drive member 6210 and the first limiting member 6440 can both be mounted on the first mounting bracket 6480. The first mounting bracket 6480 can be connected to the ground or other locations. The second mounting bracket 6420 can be connected between the drive end of the first clamping jaw drive member 6210 and the main body of the second clamping jaw drive member 6220. The third mounting bracket 6450 can be connected between the drive end of the second clamping jaw drive member 6220 and the main body of the rotating clamping jaw drive member 6230. The second limiting member 6470 can be mounted on the third mounting bracket 6450. Driven by the first clamping jaw drive 6210, the second mounting bracket 6420, the second clamping jaw drive 6220, the rotating clamping jaw drive 6230, and the clamping jaw assembly 6100 can move synchronously along a first direction. Driven by the second clamping jaw drive 6220, the third mounting bracket 6450, the rotating clamping jaw drive 6230, and the clamping jaw assembly 6100 can move synchronously along a second direction. When the clamping jaw assembly 6100 is in a first intermediate position and a second intermediate position, the second mounting bracket 6420 can abut against the first limiting member 6440 along the first direction and against the second limiting member 6470 along the second direction. The first limiting member 6440 and the second limiting member 6470 can limit the clamping jaw assembly 6100 through the second mounting bracket 6420, thereby ensuring that the clamping jaw assembly 6100 is in the expected position. In an embodiment where the clamp mounting device 6000 includes a rotation limiter 6410, the rotation limiter 6410 may be disposed on the third mounting bracket 6450.

[0101] For example, such as Figure 14 , 16 As shown in Figure 17, a first linear guide rail 6430 may also be provided on the first mounting bracket 6480. The first linear guide rail 6430 can extend along a first direction. A second mounting bracket 6420 is slidably disposed on the first linear guide rail 6430. A second linear guide rail 6460 may also be provided on the second mounting bracket 6420. The second linear guide rail 6460 can extend along a second direction. A third mounting bracket 6450 is slidably disposed on the second linear guide rail 6460. The first linear guide rail 6430 and the second linear guide rail 6460 can respectively improve the stability and straightness of the movement of the second mounting bracket 6420 and the third mounting bracket 6450.

[0102] For example, such as Figure 14 and 16As shown, the clip mounting device 6000 may further include an adjustment mechanism 6490. The adjustment mechanism 6490 can be connected to the first mounting bracket 6480, thereby allowing the position of the first mounting bracket 6480 to be adjusted along the extension direction of the rootstock 9100. In this way, the position of the clip 9600 clamped to the grafting end of the rootstock 9100 can be adjusted to meet various needs. In some embodiments, the adjustment mechanism 6490 may include a fixing block and a screw threaded onto the fixing block. The screw can be connected to the first mounting bracket 6480. By rotating the screw, the position of the first mounting bracket 6480 can be adjusted along the extension direction of the rootstock 9100.

[0103] For example, such as Figure 14 As shown, the pusher assembly 6300 can be located on one side of the grafting end of the rootstock 9100. The clamp claw assembly 6100 and the clamp claw drive assembly 6200 can be located on the other side of the grafting end of the rootstock 9100. With this arrangement, the pusher assembly 6300, the clamp claw assembly 6100, and the clamp claw drive assembly 6200 can avoid mutual interference, thereby reducing the failure rate of the clamp installation device 6000.

[0104] For example, such as Figure 1 , 6 As shown in Figure 18, the grafting device may further include a substrate clamping device 7000. The substrate clamping device 7000 can be used to clamp the substrate 9200 connected to the non-grafted end of the rootstock 9100, thereby fixing the substrate 9200 and preventing it from falling off. The substrate clamping device 7000 can move synchronously with the rootstock clamping device 5000. Thus, the rootstock 9100 and the substrate 9200 can be clamped respectively. Exemplarily, both the substrate clamping device 7000 and the rootstock clamping device 5000 can be mounted on the pushing base 2600 of the pushing device 2000. Thus, the pushing device 2000, the scion clamping device 3000, the substrate clamping device 7000, and the rootstock clamping device 5000 can move synchronously.

[0105] For example, such as Figure 6 and 18As shown, the matrix clamping device 7000 may include a first matrix gripper 7100, a second matrix gripper 7200, and a matrix gripper drive 7300. The second matrix gripper 7200 may be fixed in place. The drive end of the matrix gripper drive 7300 may be connected to the first matrix gripper 7100. The matrix gripper drive 7300 includes, but is not limited to, a cylinder, a motor, or a hydraulic cylinder. The main body of the matrix gripper drive 7300 may be connected to the push base 2600 via a matrix connector 7600. Under the drive of the matrix gripper drive 7300, the first matrix gripper 7100 is movable relative to the second matrix gripper 7200, thereby clamping the matrix 9200. Specifically, the matrix gripper drive 7300 may drive the first matrix gripper 7100 to move, so that the first matrix gripper 7100 and the second matrix gripper 7200 can be opened and closed. When the first substrate gripper 7100 and the second substrate gripper 7200 are open, the substrate 9200 can be placed between or removed from the first substrate gripper 7100 and the second substrate gripper 7200. When the first substrate gripper 7100 and the second substrate gripper 7200 are closed, the first substrate gripper 7100 and the second substrate gripper 7200 can hold the substrate 9200. This configuration results in a simpler structure and lower manufacturing cost for the substrate clamping device 7000. Furthermore, by moving the first substrate gripper 7100 relative to the second substrate gripper 7200, the substrate clamping device 7000 can hold substrates 9200 of different sizes, thus enhancing its applicability.

[0106] For example, such as Figure 18 As shown, a rotating shaft 7110 may be provided on the first substrate gripper 7100. The substrate clamping device 7000 may further include a rotating shaft seat 7400 and a floating joint 7500. The rotating shaft seat 7400 may be sleeved on the rotating shaft 7110. The substrate gripper drive 7300 may include a linear drive. The floating joint 7500 may be connected between the drive end of the linear drive and the first substrate gripper 7100. Under the drive of the linear drive, the rotating shaft 7110 may rotate within the rotating shaft seat 7400, so that the first substrate gripper 7100 is rotatable relative to the second substrate gripper 7200. During the process of gripping the substrate 9200, the first substrate gripper 7100 and the second substrate gripper 7200 may generate certain vibrations and deformations. The floating joint 7500 can eliminate these vibrations and deformations and prevent damage to the linear drive.

[0107] For example, such as Figure 6 and 18As shown, an elastic layer 7120 can be provided on the side of the first substrate gripper 7100 near the substrate 9200. The elastic layer 7120 can be made of any suitable elastic material such as foam, cotton, or rubber. Since the substrate 9200 is usually composed of soil, its structure is relatively loose. Therefore, by providing the elastic layer 7120, the substrate 9200 can be prevented from scattering due to excessive clamping force, and the integrity of the substrate 9200 is better. In particular, for the elastic layer 7120 made of foam, because foam has a large deformation range, the elastic layer 7120 can be used for substrates 9200 of more sizes.

[0108] For example, such as Figure 1 and 20As shown, the grafting equipment may further include a drive device 8000. The drive device 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to move cyclically between the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004. The drive device 8000 includes, but is not limited to, a cylinder drive device, a motor drive device, or a hydraulic cylinder drive device. The positional relationship between the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004 can be arbitrary. The first station 8001 can be used for feeding. Specifically, the drive device 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to move to the first station 8001. The scion clamping device 3000 can be used to clamp the scion 9300, and the rootstock clamping device 5000 can be used to clamp the rootstock 9100. The scion clamping device 3000 and the rootstock clamping device 5000 can be arranged horizontally at intervals. This allows for simultaneous feeding of the rootstock 9100 and scion 9300, thereby improving feeding efficiency. The second station 8002 is used for inserting the scion 9300 into the grafting end of the rootstock 9100. Specifically, the driving device 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to the second station 8002, and the rootstock splitting device 1000 can be used to split into the splitting position within the grafting end of the rootstock 9100 held by the rootstock clamping device 5000 to form a grafting seam. Then, the pushing device 2000 can be used to push the scion 9300 held by the scion clamping device 3000 into the insertion position. After the rootstock splitting device 1000 disengages from the grafting end, the pushing device 2000 can push the scion 9300 into the designated position. The third station 8003 can be used to install the clamp 9600. Specifically, the drive device 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to move to the third station 8003. The clamp installation device 6000 can be used to clamp the clamp 9600 to the grafting end of the rootstock 9100 held by the rootstock clamping device 5000, so that the grafting end of the rootstock 9100 is in close contact with the scion 9300. The fourth station 8004 can be used for unloading. Specifically, the drive device 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to move to the fourth station 8004. The rootstock clamping device 5000 can be used to release the rootstock 9100. Relevant personnel can remove the rootstock 9100 and the scion 9300 manually or with a robotic arm, completing the unloading process. Then, the drive unit 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to move to the first station 8001, thereby continuing the feeding process. The grafting equipment can repeat this cycle repeatedly, thus enabling continuous grafting.

[0109] For example, such as Figure 20As shown, the drive device 8000 may include a motor 8100 and a four-station cam divider 8200. The four-station cam divider 8200 can be connected to the drive end of the motor 8100. The scion clamping device 3000 and the rootstock clamping device 5000 can be connected to the four-station cam divider 8200 respectively. The motor 8100 can be used to drive the scion clamping device 3000 and the rootstock clamping device 5000 to rotate cyclically around a rotation axis between the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004 via the four-station cam divider 8200. The included angle between the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004 can be 90 degrees. The four-station cam divider 8200 features high indexing accuracy, enabling precise stopping and allowing the scion clamping device 3000 and the rootstock clamping device 5000 to rotate precisely to the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004. Furthermore, the four-station cam divider 8200 also boasts significant advantages such as smooth operation, compact structure, small size, low noise, high-speed performance, long service life, and no cumulative error, thus ensuring superior performance of the drive device 8000.

[0110] With this configuration, the scion clamping device 3000 and the rootstock clamping device 5000 have shorter movement paths between the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004, allowing for a more compact structure of the grafting equipment, thus achieving miniaturization and reducing floor space. Furthermore, the grafting equipment has higher operating efficiency. For example, the first station 8001 and the third station 8003 can be located on opposite sides of the horizontal axis of rotation, the second station 8002 can be located above the axis of rotation, and the fourth station 8004 can be located below the axis of rotation.

[0111] For example, such as Figure 20 As shown, the drive unit 8000 may also include a cam divider base 8300. The cam divider base 8300 may be connected to the ground or other locations. A four-station cam divider 8200 may be mounted on the cam divider base 8300.

[0112] For example, such as Figure 20As shown, the drive unit 8000 may further include a rotating shaft 8400. The rotating shaft 8400 can be connected to a four-station cam divider 8200. Thus, the motor 8100 can drive the rotating shaft 8400 to rotate via the four-station cam divider 8200. The scion clamping device 3000 and the rootstock clamping device 5000 can be directly or indirectly connected to the rotating shaft 8400. Thus, the rotating shaft 8400 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to rotate between the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004.

[0113] For example, such as Figure 20 As shown, one end of the rotating shaft 8400 can be connected to the four-position cam divider 8200. The drive device 8000 may further include a first support 8610, a second support 8620, a protective cover 8630, and a mounted bearing 8640. The second support 8620 can be connected to the ground or other locations. The mounted bearing 8640 can be mounted on the second support 8620. The other end of the rotating shaft 8400 can pass through the mounted bearing 8640, thereby allowing it to rotate relative to the mounted bearing 8640. In this way, both ends of the rotating shaft 8400 can be supported by the four-position cam divider 8200 and the mounted bearing 8640, respectively, ensuring smooth rotation. The first support 8610 can be connected to the ground or other locations. The protective cover 8630 can be connected to the first support 8610. The rotating shaft 8400 can pass through the protective cover 8630. The protective cover 8630 can be located on the side of the rotating shaft 8400 closer to the four-position cam divider 8200. Along the rotation axis, the motor 8100 and the four-position cam divider 8200 can be located on one side of the protective cover 8630. The rootstock splitting device 1000, pushing device 2000, scion clamping device 3000, waste discharge device 4000, rootstock clamping device 5000, clamp mounting device 6000, and substrate clamping device 7000 can be located on the other side of the protective cover 8630. With this arrangement, the protective cover 8630 can function as a protective barrier, preventing dust and other debris from entering the motor 8100 and the four-position cam divider 8200 during the grafting process.

[0114] For example, such as Figure 20As shown, a first mounting plate 8510 and a second mounting plate 8520 can be fitted onto the rotating shaft 8400. The first mounting plate 8510 and the second mounting plate 8520 can be spaced apart along the rotation axis. The scion clamping device 3000 can be connected to the first mounting plate 8510. The rootstock clamping device 5000 can be connected to the second mounting plate 8520. Thus, the rotating shaft 8400 can drive the first mounting plate 8510 and the second mounting plate 8520 to rotate, thereby driving the scion clamping device 3000 and the rootstock clamping device 5000 to rotate through the first mounting plate 8510 and the second mounting plate 8520. In some embodiments, a protective cover 8630 can be fitted onto the first mounting plate 8510.

[0115] For example, such as Figure 20 As shown, the other end of the rotating shaft 8400 can be equipped with an electric slip ring 8710 and a rotary joint 8720. Along the rotation axis, the electric slip ring 8710 and the rotary joint 8720 can be located on the side of the second mounting plate 8520 facing away from the first mounting plate 8510. The second mounting plate 8520 can be equipped with electrical components and pneumatic components for the grafting device. The electrical components can be connected to the outside of the grafting device via the electric slip ring 8710. The pneumatic components can be connected to the outside of the grafting device via the rotary joint 8720. Thus, during the rotation of the second mounting plate 8520, related cables and air pipes will not become entangled, ensuring that the grafting device can rotate indefinitely, significantly improving its flexibility and reliability. Based on this, stable signal and data transmission can be guaranteed, improving the performance and efficiency of the grafting device and avoiding failures and maintenance costs caused by cable entanglement or breakage. Furthermore, the electric slip ring 8710 and the rotary joint 8720 can simplify the structure of the circuit and pneumatic circuits, making the overall structure of the grafting device more compact.

[0116] For example, such as Figure 1 and 20 As shown, the grafting equipment may include four pairs. Each pair may include a scion clamping device 3000 and a rootstock clamping device 5000. The driving device 8000 can be used to drive each pair of scion clamping devices 3000 and rootstock clamping devices 5000 to move one-to-one to the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004. That is, the driving device 8000 can drive the four pairs of scion clamping devices 3000 and rootstock clamping devices 5000 to move simultaneously, so that the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004 may each have a pair of scion clamping devices 3000 and rootstock clamping devices 5000. With this setup, each of the four stations—the first station 8001, the second station 8002, the third station 8003, and the fourth station 8004—can perform the corresponding grafting work, resulting in high efficiency for the grafting equipment.

[0117] For example, such as Figure 20 As shown, the first mounting plate 8510 may be provided with four first mounting portions 8511. Each first mounting portion 8511 may be connected to a scion clamping device 3000. The first mounting portion 8511 includes, but is not limited to, mounting holes or mounting bosses. The second mounting plate 8520 may be provided with four second mounting portions 8521. Each second mounting portion 8521 may be connected to a rootstock clamping device 5000. The second mounting portion 8521 includes, but is not limited to, mounting holes or mounting bosses.

[0118] The following describes the workflow of a grafting device. A drive unit 8000 moves the scion clamping device 3000 and the rootstock clamping device 5000 to the first station 8001, where the plant 9500 is clamped to the first scion clamp 3110, the second scion clamp 3120, and the waste clamp 4100. A cutter pushing assembly 3300 drives a cutter assembly 3200 to cut the plant 9500, so that the portions held by the first scion clamp 3110 and the second scion clamp 3120 form the scion 9300, and the portion held by the waste clamp 4100 forms the non-scion portion 9400. Then, a separation drive unit 4200 moves the waste clamp 4100 and the non-scion portion 9400 it holds to one end of the discharge chute 4300. Then, the waste clamp 4100 can be opened, and the non-scion portion 9400 can be discharged to the outside of the grafting device through the discharge chute 4300. Another plant containing the rootstock 9100 can be clamped into the first rootstock clamp 5110 and the second rootstock clamp 5120. The substrate clamping device 7000 can hold the substrate 9200 on the other plant. The rootstock cutting device of the grafting device can cut the other plant to form the rootstock 9100. Then, the drive device 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to move to the second station 8002. Then, the rootstock splitting device 1000 can split the grafting end of the rootstock 9100 to form a grafting seam. Then, the pushing device 2000 can drive the scion 9300 towards the grafting seam. The clamp opening assembly 1200 can act on the first rootstock clamp 5110 to create a seam space. The first scion clamp 3110 can be opened. Then, the scion 9300 can be inserted into the insertion position. Then, the rootstock splitting device 1000 can disengage from the rootstock 9100, and the scion 9300 can be inserted into the designated position to form a grafted plant. Then, the drive device 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to move to the third position 8003. Then, the clamping claw drive assembly 6200 can drive the clamping claw assembly 6100 to the installation position to clamp the clamp 9600 onto the grafting end of the rootstock 9100. And, the pusher assembly 6300 can straighten the grafting end. Then, the drive device 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to move to the fourth position 8004. Then, the grafted plant clamped on the rootstock clamping device 5000 can be removed. In this way, the grafting equipment can complete one grafting operation. Then, the drive device 8000 can drive the scion clamping device 3000 and the rootstock clamping device 5000 to move to the first station 8001 to perform grafting work in a cycle.

[0119] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front", "rear", "up", "down", "left", "right", "horizontal", "vertical", "horizontal", "top", and "bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0120] For ease of description, relative terms such as "above," "over," "on the upper surface of," and "above" are used here to describe the regional positional relationship of one or more components or features shown in the figures to other components or features. It should be understood that relative terms include not only the orientation of the component as depicted in the figure but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0121] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0122] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0123] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A grafting device, characterized in that, include: A rootstock splitting device, which is used to split into the grafting end of the rootstock to form a grafting seam. as well as A pushing device is used to push the scion into the insertion position within the grafting seam, and after the rootstock splitting device disengages from the grafting end, pushes the scion inward to a designated position within the grafting seam to complete the grafting of the rootstock and the scion. The splitting position and the designated position at least partially overlap. The pushing device includes a first pushing driver and a second pushing driver. The driving end of the first pushing driver is connected to the body of the second pushing driver, and the driving end of the second pushing driver is connected to the scion. The first pushing driver is used to drive the second pushing driver and the scion to move synchronously. The second pushing driver is used to drive the scion to insert into the designated position after the first pushing driver has driven the scion to the insertion position. The grafting equipment further includes a rootstock clamping device, which comprises a first rootstock clamp and a second rootstock clamp. The first rootstock clamp is used to clamp the grafting end, and the second rootstock clamp is used to clamp the non-grafted end of the rootstock. The first rootstock clamp is in an open state when the scion is inserted into the grafting seam. The rootstock splitting device includes a splitting blade assembly and a clamp opening assembly. The splitting blade assembly is used to split into the splitting position within the grafting end held by the first rootstock clamp to form the grafting seam. Under the action of the clamp opening assembly, the first rootstock clamp can form a seam space that allows the scion to be inserted into the insertion position and the designated position.

2. The grafting device as described in claim 1, characterized in that, The grafting device further includes a scion clamping device for holding the scion. The drive end of the pushing device is connected to the scion clamping device. The scion clamping device is movable under the drive of the pushing device to push the scion it holds into the insertion position and the designated position.

3. The grafting device as described in claim 2, characterized in that, The scion clamping device includes a scion clamping assembly, which includes a first scion clamp and a second scion clamp arranged along the extension direction of the scion. The first scion clamp and the second scion clamp open and close independently and are used to clamp different positions of the scion respectively.

4. The grafting device as described in claim 3, characterized in that, The scion clamping device further includes a cutter pushing assembly and a cutter assembly connected to the drive end of the cutter pushing assembly. The first scion clamp is located between the cutter assembly and the second scion clamp along the extension direction of the scion. The first scion clamp is used to clamp the part of the plant close to the cutter assembly, and the second scion clamp is used to clamp the part of the plant away from the cutter assembly. The cutter assembly can cut the plant under the drive of the cutter pushing assembly so that the part of the plant clamped by the scion clamping assembly forms the scion.

5. The grafting device as described in claim 4, characterized in that, The cutting assembly includes a V-shaped cutter, a first cutter fixing member, a second cutter fixing member, an elastic member, and a fastener. The V-shaped cutter tapers away from the first scion gripper along the extension direction of the scion. The first cutter fixing member is provided with a V-shaped groove, and the second cutter fixing member is provided with a V-shaped boss. The fastener is connected between the first cutter fixing member and the second cutter fixing member so that the V-shaped groove and the V-shaped boss clamp the V-shaped cutter, and the elastic member is pressed between the first cutter fixing member and the second cutter fixing member.

6. The grafting device as described in claim 4, characterized in that, The grafting equipment also includes a waste discharge device, which includes a waste clamp, a separation drive, and a discharge slide. The cutter assembly is located between the waste clamp and the first scion clamp along the extension direction of the plant. The waste clamp is used to clamp the non-scion portion of the plant. The drive end of the separation drive is connected to the waste clamp. The waste clamp is movable under the drive of the separation drive to clamp the non-scion portion and move it to one end of the discharge slide after the cutter assembly cuts the plant. The other end of the discharge slide is connected to the outside of the grafting equipment.

7. The grafting device as described in claim 1, characterized in that, The pushing device further includes a pushing limit member and a pushing base. The main body of the first pushing drive member and the pushing limit member are disposed on the pushing base. The main body of the second pushing drive member abuts against the pushing limit member when the scion is in the insertion position.

8. The grafting device as described in claim 1, characterized in that, The gripper opening assembly includes an opening drive and a stopper connected to the drive end of the opening drive. The stopper can abut against the first rootstock gripper under the drive of the opening drive, so that the first rootstock gripper forms the joint space.

9. The grafting device as described in claim 8, characterized in that, The abutting member includes a fixing part and a rolling part rotatably fitted onto the fixing part. The driving end of the opening drive member is connected to the fixing part. The rolling surface of the rolling part can roll against the first rootstock claw under the drive of the opening drive member, so that the first rootstock claw forms the joint space.

10. The grafting device as described in claim 1, characterized in that, The chopping blade assembly includes a chopping blade drive, a chopping blade limiting member, a chopping blade base, and a chopping blade mechanism connected to the drive end of the chopping blade drive. The chopping blade mechanism can chop into the chopping position under the drive of the chopping blade drive. The main body of the chopping blade drive and the chopping blade limiting member are disposed on the chopping blade base. When the chopping blade mechanism is in the chopping position, it abuts against the chopping blade limiting member.

11. The grafting device as described in claim 10, characterized in that, The cleaving mechanism includes a cleaving connector, a telescopic drive, and a cleaving blade. The cleaving connector is connected between the drive end of the cleaving drive and the main body of the telescopic drive. The cleaving blade is connected to the drive end of the telescopic drive and is movable along the telescopic direction between an extended position outside the cleaving connector and a retracted position inside the cleaving connector under the drive of the telescopic drive. The cleaving blade in the extended position can be cleaved into the cleaving position under the drive of the cleaving drive. The telescopic direction is perpendicular to the cleaving direction of the cleaving blade. The telescopic drive is used to drive the cleaving blade to move to the retracted position after the scion is inserted into the insertion position, so as to detach it from the grafting end.

12. The grafting device as described in claim 1, characterized in that, The grafting equipment further includes a clamp installation device, which includes a clamp claw assembly, a clamp claw drive assembly, and a pusher assembly. The clamp claw assembly is movable between a pickup position and an installation position under the drive of the clamp claw drive assembly. When the clamp claw assembly is in the pickup position, it is used to pick up the clamp, and after the scion is inserted into the designated position, it moves to the installation position to clamp the clamp to the grafting end. The pusher assembly is used to straighten the grafting end when the clamp is clamped to the grafting end.

13. The grafting device as described in claim 12, characterized in that, The pushing assembly includes a pushing drive and a pushing component connected to the driving end of the pushing drive. The pushing component is movable along the pushing direction under the drive of the pushing drive to straighten the grafting end. The pushing direction is perpendicular to the extension direction of the rootstock.

14. The grafting device as described in claim 1, characterized in that, The grafting equipment further includes a scion clamping device, a rootstock clamping device, a clamp installation device, and a driving device. The driving device is used to drive the scion clamping device and the rootstock clamping device to move cyclically between a first position, a second position, a third position, and a fourth position. The scion clamping device and the rootstock clamping device located at the first position are used to clamp the scion and the rootstock, respectively. The rootstock splitting device is used to split into the splitting position within the grafting end of the rootstock clamped by the rootstock clamping device located at the second position to form the grafting seam. The pushing device is used to push the scion clamped by the scion clamping device located at the second position to insert it into the insertion position, and after the rootstock splitting device disengages from the grafting end, push the scion to insert it into the designated position. The clamp installation device is used to clamp the clamp to the grafting end of the rootstock clamped by the rootstock clamping device located at the third position. The rootstock clamping device located at the fourth position is used to release the rootstock.

15. The grafting device as described in claim 14, characterized in that, The driving device includes a motor and a four-position cam divider connected to the drive end of the motor. The scion clamping device and the rootstock clamping device are respectively connected to the four-position cam divider. The motor is used to drive the scion clamping device and the rootstock clamping device to rotate cyclically between the first position, the second position, the third position and the fourth position through the four-position cam divider.

Images