A grafting seedling stock grafting multi-plant synchronous clamping and feeding mechanism

Abstract

The present application relates to a kind of agricultural grafting mechanism, especially grafting seedling multiple synchronous grafting seedling feeding mechanism.The purpose is to provide a kind of multiple synchronous grafting seedling feeding mechanism, which can effectively reduce the workload of operator, improve work efficiency.The technical scheme is a kind of multiple synchronous grafting seedling feeding mechanism, characterized in that: the structure includes the conveying mechanism for transporting grafting seedling by being arranged in the lower part of the frame, the bunching cutting mechanism for positioning grafting seedling and cutting grafting seedling matrix by being arranged above the conveying mechanism, the grafting clamping mechanism for grabbing and feeding seedling by being driven by two linear modules arranged on the top of the frame to grafting.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of agricultural grafting mechanism, especially grafting seedling grafting multiple plants synchronously grafting feeding mechanism. BACKGROUND

[0002] Grafting feeding is a link in automatic grafting, and the main process is to fix the grafting seedling first, then cut off the grafting seedling and only keep the grafting part, then the grafting part is grabbed by grafting clamping mechanism, and finally the grabbed grafting part is transferred to subsequent grafting structure.

[0003] However, in the existing automatic grafting operation, the grafting feeding work is usually completed by manual operation, and it is usually single grafting feeding, which cannot complete multiple grafting feeding at the same time, so that the efficiency of automatic grafting is low, which affects large-scale automatic grafting operation. For this purpose, a grafting seedling grafting multiple plants synchronously grafting feeding mechanism is provided. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings in the background art, and to provide a multiple plants synchronously grafting feeding mechanism, which can effectively reduce the workload of the operator and improve the work efficiency.

[0005] The technical scheme of the present application is as follows:

[0006] A multiple plants synchronously grafting feeding mechanism, characterized in that: the structure comprises a conveying mechanism arranged at the lower part of the rack for transporting grafting seedlings, a seedling gathering and cutting mechanism arranged above the conveying mechanism for positioning the grafting seedlings and cutting the grafting seedling substrate, and a grafting clamping mechanism driven by two linear modules arranged at the top of the rack for grabbing and feeding the grafting seedlings.

[0007] The seedling gathering and cutting mechanism comprises a seedling gathering assembly arranged above the conveying mechanism and a cutting assembly; the seedling gathering assembly comprises a plurality of seedling gathering pneumatic fingers for gathering seedlings; the cutting assembly comprises a plurality of blades matched with the plurality of seedling gathering pneumatic fingers and a cutting pen-shaped cylinder driving the plurality of blades.

[0008] The grafting clamping mechanism comprises a plurality of grafting clamping pneumatic fingers movably positioned above the seedling gathering pneumatic fingers for grabbing the grafting seedlings, and a grafting clamping pen-shaped cylinder driving the grafting clamping pneumatic fingers, and the grafting clamping connection plate is arranged at the bottom end of the second linear module.

[0009] The seedling gathering assembly comprises a seedling guide plate arranged horizontally and transversely above the conveying belt, and a plurality of V-shaped seedling guide grooves are arranged on the side of the seedling guide plate facing the conveying belt moving direction; the plurality of seedling gathering pneumatic fingers are located above the plurality of seedling guide grooves, and a plurality of grafting clamping clamps arranged on the plurality of seedling gathering pneumatic fingers are arranged corresponding to the plurality of seedling guide grooves.

[0010] The seedling guiding plate is arranged on the conveying belt support through a seedling guiding plate fixing member; the plurality of seedling gathering pneumatic fingers are arranged on the bottom end surface of the seedling gathering fixing plate and are driven by the sliding table cylinder to move along the direction parallel to the conveying belt movement direction.

[0011] The plurality of blades are arranged on the upper side of the seedling guiding plate and below the seedling gathering cylinder connecting plate through a blade fixing plate, and the cutter pen-shaped cylinder drives the blade fixing plate to make the plurality of blades cut the cutting seedling.

[0012] The plurality of cutting grafting pneumatic fingers are arranged on the cylinder mounting plate and are arranged on the bottom surface of the cutting grafting connecting plate through the cutting grafting linear guide arranged perpendicular to the conveying belt movement direction; the cylinder rod of the cutting grafting pen-shaped cylinder arranged on the cylinder mounting plate adjusts the distance between the cutting grafting pneumatic fingers and the cutting seedling.

[0013] One end of the plurality of limiting pieces is fixed on the cutting grafting pneumatic finger, and the other end extends to each pair of cutting grafting clamping jaws to form a space for positioning the cutting seedling.

[0014] The two linear modules include a first linear module and a second linear module; the movement direction of the first linear module is parallel to the conveying direction of the conveying mechanism; the movement directions of the first linear module and the second linear module are perpendicular to each other; and the arrangement direction of the pneumatic fingers of the cutting grafting mechanism is perpendicular to the movement direction of the first linear module.

[0015] The width of the limiting piece is greater than the outer diameter of the cutting seedling.

[0016] The conveying mechanism includes a conveying belt arranged on the rack.

[0017] The beneficial effects of the present application are:

[0018] The present application is used for the synchronous feeding of multiple cutting seedlings during the grafting of Solanaceae, and the useless root stem matrix part below the cutting seedling can be cut, which helps the multiple cutting seedlings to complete the subsequent grafting operation synchronously, speeds up the cutting seedling feeding rate, improves the grafting efficiency, and reduces the operation difficulty; the present application can process multiple cutting seedlings at a time, without manual single cutting seedling cutting and feeding, effectively improves the production efficiency, saves the labor cost, and provides convenience for the subsequent grafting work. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the front view structural schematic diagram of the embodiment of the present application.

[0020] Figure 2 is Figure 1 the left view direction schematic diagram of

[0021] Figure 3 is Figure 1is a schematic view of the right direction of

[0022] Figure 4 is a schematic view of the front direction of the bunching and cutting assembly in the embodiment of the application.

[0023] Figure 5 is a schematic view of the right direction of Figure 4

[0024] Figure 6 is a schematic view of the front direction of Figure 4

[0025] Figure 7 is a schematic view of the stereoscopic structure of the guide plate in the embodiment of the application.

[0026] Figure 8 is a schematic view of the stereoscopic structure of the cutting assembly in the embodiment of the application.

[0027] Figure 9 is a schematic view of the stereoscopic structure of the bunching assembly in the embodiment of the application.

[0028] Figure 10 is a schematic view of the stereoscopic structure of the scion clamping mechanism in the embodiment of the application.

[0029] Figure 11 is a schematic view of the stereoscopic structure of the limiting sheet in the embodiment of the application.

[0030] Reference signs:

[0031] Conveying mechanism 01, rack 0101, conveying belt 0102, first linear module 0103, second linear module 0104, seedling tray 0105, scion seedling 0106, bunching and cutting mechanism 02, guide plate fixing piece 0201, guide plate 0202, pen-shaped cylinder of cutting knife 0203, cylinder fixing seat 0204, blade connecting plate 0205, blade cover plate 0206, blade 0207, blade fixing plate 0208, bunching cylinder connecting plate 0209, bunching linear guide rail 0210, sliding table cylinder 0211, bunching clamping jaw 0212, bunching pneumatic finger 0213, bunching fixing plate 0214, guide groove 0215, scion clamping mechanism 03, scion clamping connecting plate 0301, cylinder support 0302, pen-shaped cylinder of scion clamping 0303, cylinder connecting piece 0304, scion clamping linear guide rail 0305, cylinder mounting plate 0306, pressing block 0307, scion clamping pneumatic finger 0308, scion clamping clamping jaw 0309, limiting sheet 0310, clamping opening 0311. DETAILED DESCRIPTION

[0032] ​​In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0033] Herein: Figure 3 The left side and the right side of the are respectively set as "left" and "right"; Figure 3 The lower side and the upper side of the are respectively set as "front" and "back"; Figure 2 The upper side and the lower side of the are respectively set as "up" and "down"; the positional relationship of the present application is described in this way.

[0034] As shown in the drawings, Figure 1 A kind of grafting seedling scion multi-planting synchronous scion feeding mechanism, including rack 0101, fixed on the rack conveying mechanism 01, seedling cutting mechanism 02 and scion clamping mechanism 03.

[0035] The conveying mechanism 01 is arranged in the lower part of the rack, the seedling cutting mechanism 02 is arranged above the conveying mechanism, and the scion clamping mechanism 03 is arranged above the seedling cutting mechanism. The conveying mechanism is used for horizontal conveying the seedling tray 0105 loaded with scion seedling 0106, the seedling cutting mechanism is used for positioning the scion seedling and cutting off the scion seedling substrate block, and the scion clamping mechanism is used for clamping the cut scion part and then moving to the subsequent grafting structure for feeding operation.

[0036] As shown in the drawings, Figure 1 , Figure 2 The scion seedling 0106 is planted on the seedling tray 0105, and each seedling tray is planted with 6 rows of scion seedlings ( Figure 2 The horizontal direction is a row), and each row has 12 scion seedlings.

[0037] As shown in the drawings, Figure 2 , Figure 3 The conveying mechanism includes a conveyor belt 0102 arranged on the rack, and the conveyor belt drive mechanism (prior art) includes conveying rollers installed at the front and rear ends of the conveyor belt support and tensioning the conveyor belt, and a motor installed on the conveyor belt support and driving the conveying rollers through a pulley structure; the conveying direction of the conveyor belt is Figure 3 The vertical direction. Figure 3 The lower side of the is the front end of the conveyor belt, Figure 3 The upper side of the is the rear end of the conveyor belt, and the seedling tray is placed on the conveyor belt and conveyed from the front end to the rear end of the rack by the conveyor belt.

[0038] The conveyor belt is provided with a mark position (omitted in the figure), and the operator accurately places the seedling tray loaded with scion seedlings at the front end of the conveyor belt Figure 3The guide plate 0202 is fixed on the guide plate fixing member 0201, and the cutting assembly is also fixed on the guide plate fixing member 0201. The guide plate 0202 is arranged above the conveying belt 0101, and the cutting assembly is arranged below the guide plate 0202. The guide plate 0202 is used to guide the scion seedlings on the seedling tray to the cutting assembly, and the cutting assembly is used to cut the scion seedlings.

[0039] As shown in Figures 4-8 , the cutting assembly 02 comprises a guide plate fixing member 0201, a guide plate 0202, a cutting assembly, a gathering assembly, and a gathering fixing plate 0214. The guide plate fixing member and the gathering fixing plate are fixed on the conveying belt support, the guide plate is fixed on the guide plate fixing member, the cutting assembly is also fixed on the guide plate fixing member, and the gathering assembly is fixed on the gathering fixing plate.

[0040] In the gathering assembly, the guide plate fixing member 0201 is a "H" shaped structure, and the vertical plates on both sides are fixed on the side walls of the conveying belt support through bolts after crossing the conveying belt horizontally. The guide plate 0202 is horizontally fixed on the upper side of the guide plate fixing member and also crosses above the conveying belt horizontally. A plurality of guide grooves 0215 arranged perpendicularly to the movement direction of the conveying belt are arranged on the side of the guide plate facing the movement direction of the conveying belt. The guide grooves are V-shaped, the axis direction of the guide grooves is parallel to the movement direction of the conveying belt, and the opening of the guide grooves faces the movement direction of the conveying belt. The arrangement direction of adjacent guide grooves is perpendicular to the movement direction of the conveying belt, and the spacing of adjacent guide grooves is suitable for the spacing of the scion seedlings, so as to facilitate the scion seedlings to enter the guide grooves. Generally, the maximum width of the V-shaped guide groove is 2-5 mm larger than the outer diameter of the scion seedling, so as to limit each row of scion seedlings in the guide groove and facilitate the gathering assembly to gather the scion seedlings.

[0041] As shown in Figure 5 , Figure 9As shown, the seedling-gathering fixing plate 0214 also has a U-shaped structure. After horizontally crossing the conveyor belt, the vertical plates on both sides are fixed to the side walls of the conveyor belt support by bolts, and are located behind the seedling guide plate fixing component. The seedling-gathering cylinder connecting plate 0209 is set on the upper surface of the seedling-gathering fixing plate through two seedling-gathering linear guides 0210. The movement direction of the seedling-gathering linear guides is parallel to the movement direction of the conveyor belt. The guide rails in the seedling-gathering linear guides are fixed to the seedling-gathering fixing plate, and the sliders that cooperate with the guide rails in the seedling-gathering linear guides are connected to the seedling-gathering cylinder connecting plate, so that the seedling-gathering cylinder connecting plate can move parallel to the length direction of the conveyor belt. Two sliding cylinders 0211 are installed on the bottom surface of the seedling-gathering fixing plate and are located between the two seedling-gathering linear guides. The cylinder body of the sliding cylinder is fixed to the seedling-gathering cylinder connecting plate, and the sliding table of the sliding cylinder is fixed to the seedling-gathering fixing plate, and the movement direction of the sliding table is parallel to the length direction of the conveyor belt. Six pneumatic fingers 0213 are arranged along the edge of the connecting plate of the seedling gathering cylinder facing the direction of the conveyor belt movement. Each seedling gathering pneumatic finger is equipped with a pair of seedling gathering claws 0212. The spacing between the six seedling gathering pneumatic fingers is suitable for the row spacing of the scion seedlings, and the opening of each pair of seedling gathering claws faces the direction of the conveyor belt movement.

[0042] Depend on Figure 4 , Figure 7 It can be seen that the cutting assembly includes a blade fixing plate 0208 slidably positioned on the upper side of the seedling guide plate and located below the seedling gathering cylinder connecting plate 0209, six blades 0207 fixed on the blade fixing plate, and a pen-shaped cutting cylinder 0203 that drives the blade fixing plate. The cylinder fixing seat 0204 is fixed on the upper side of the seedling guide plate and located on one side of the conveyor belt support. Figure 4 (On the right side of the image), the cutter pen-shaped cylinder 0203 is fixed on the cylinder mounting base and the cylinder axis is perpendicular to the length direction of the transmission belt. The outer part of its cylinder rod is fixed to the blade fixing plate. The spacing between the six blades is suitable for the spacing of the seedling guide groove, and the movement range of the blades extends across the width range of the seedling guide groove to ensure that the blades can effectively cut the scion seedlings.

[0043] like Figure 2 As shown, the first linear module 0103 is horizontally arranged on the top of the frame and its guide rail axis is parallel to the direction of movement of the transmission belt. The second linear module 0104 is vertically arranged and its slider is connected and fixed to the slider of the first linear module. The scion clamping mechanism 03 is set at the bottom of the second linear module. The scion clamping mechanism can carry the scion seedling under the drive of the two linear modules.

[0044] The scion clamping mechanism comprises a scion clamping connecting plate 0301, a cylinder support 0302, a scion clamping pen-shaped cylinder 0303, a cylinder connecting piece 0304, a scion clamping linear guide rail 0305, a cylinder mounting plate 0306, a pressing block 0307, a scion clamping pneumatic finger 0308, a scion clamping clamping jaw 0309, a limiting piece 0310, and a clamping opening 0311.

[0045] The scion clamping connecting plate 0301 is horizontally arranged and fixed at the bottom end of the second linear module; the cylinder support 0302 is fixed on the upper surface of the scion clamping connecting plate, the scion clamping pen-shaped cylinder 0303 is mounted on the cylinder support and parallel to the front side edge of the scion clamping connecting plate; the guide rail in the scion clamping linear guide rail 0305 is arranged on the bottom surface of the scion clamping connecting plate, the length direction of the guide rail is parallel to the axis of the scion clamping pen-shaped cylinder and perpendicular to the movement direction of the conveying belt, and six identical sliders are arranged on the guide rail; the cylinder mounting plate 0306 is mounted and positioned on the six sliders through the pressing block (the bolts pass through the pressing block and the cylinder mounting plate in sequence to fix the cylinder mounting plate on the sliders). Six scion clamping pneumatic fingers 0308 with the same structure are mounted and positioned on the cylinder mounting plate, and the arrangement direction of the six pneumatic fingers is the same as the length direction of the guide rail; one end of the cylinder connecting piece is fixed on the cylinder mounting plate, and the other end extends upward and is connected with the cylinder rod of the scion clamping pen-shaped cylinder. Each scion clamping pneumatic finger drives a pair of scion clamping clamping jaws (six pairs of scion clamping clamping jaws have the same structure); the six limiting pieces 0310 are T-shaped, one end of the T-shaped limiting piece is fixed on the lower end of the scion clamping clamping jaw through a screw, and the other end extends to between each pair of scion clamping clamping jaws, so as to form a space for positioning the scion seedlings between the clamping opening 0311 of each pair of scion clamping clamping jaws, thereby effectively clamping the clamped scion seedlings. The pen-shaped cylinder is used for driving the horizontal movement (perpendicular to the movement direction of the conveying belt) of the six scion clamping pneumatic fingers, so that the pneumatic fingers adapt to the column distance of the scion seedlings. In work, the scion clamping pneumatic finger (prior art) drives the scion clamping clamping jaw to clamp the scion seedlings, the first linear module is used for horizontally driving the scion clamping mechanism to reach a specified position, and the second linear module is used for vertically driving the scion clamping mechanism to reach a specified height to complete the clamping and feeding of the scion seedlings.

[0046] The movement direction of the first linear module is parallel to the conveying direction of the conveying belt, and the movement direction of the second linear module is perpendicular to the conveying direction of the conveying belt (vertical direction). Figure 2

[0047] In the present application, a gas source (preferably a gas pump) and related pneumatic components required for the work of the gathering seedling pneumatic finger, the scion clamping pneumatic finger, the cutter pen-shaped cylinder and the scion clamping pen-shaped cylinder are also provided. Since it is a conventional technology, it is omitted.

[0048] The working principle of the present application is as follows: ​

[0049] 1, initial state ( Figure 1 , Figure 2 and Figure 3 ), the operator will put a whole tray of grafted seedlings in the marked position of the conveying belt;

[0050] 2, the grafting clamping pen cylinder is started to drive the distance between the grafting clamping pneumatic fingers to be reduced and adapted to the distance between the grafting seedling rows, and the movement direction is perpendicular to the movement direction of the conveying belt;

[0051] 3, the first linear module drives the grafting clamping mechanism to move horizontally backward to the top of the seedling cutting mechanism, and each row of grafting seedlings is respectively guided into the seedling guide groove and limited by the seedling guide groove as the conveying belt moves;

[0052] 4, the slide table cylinder is started to drive the seedling gathering assembly to reach the grafting seedling limiting position;

[0053] 5, the seedling gathering pneumatic fingers are driven to complete the seedling gathering of the grafting seedlings;

[0054] 6, the second linear module drives the grafting clamping mechanism to move vertically downward to the grafting seedling gathering position;

[0055] 7, the grafting clamping pneumatic fingers are started to complete the clamping of the grafting seedlings;

[0056] 8, the cutter pen cylinder is started to drive the cutting assembly to complete the cutting of the grafting seedlings;

[0057] 9, the second linear module drives the grafting clamping mechanism to reset to the original height;

[0058] 10, the grafting clamping pen cylinder is started to drive the distance between the grafting clamping pneumatic fingers to return to the original distance;

[0059] 11, the first linear module drives the grafting clamping mechanism to move horizontally forward to the designated seedling feeding position;

[0060] 12, the conveying belt is started to move the seedling tray backward by a distance of one hole position;

[0061] 13, the next operation is performed.

[0062] The grafting seedlings are cut to remove the useless substrate of the lower half part before being obliquely cut, which not only provides convenience for subsequent seedling guiding, clamping, oblique cutting and grafting of the grafting seedlings, but also greatly improves the efficiency of the subsequent grafting process, is beneficial to the popularization of grafting technology, improves the mechanization degree of grafting technology, and facilitates large-scale production.

[0063] Finally, it should be noted that the above enumeration is only specific embodiments of the present application. Obviously, the present application is not limited to the above embodiments, and there are many variations. All variations that can be directly derived or inferred from the disclosure of the present application by those of ordinary skill in the art should be considered within the scope of the present application.

Claims

1. A grafting seedling grafting stock multi-plant synchronous clamping and feeding mechanism, characterized in that: The grafting device comprises a conveying mechanism arranged at the lower part of the frame for conveying the scion seedlings, a seedling gathering and cutting mechanism arranged above the conveying mechanism for positioning the scion seedlings and cutting the substrate of the scion seedlings, and a scion clamping mechanism driven by two linear modules arranged at the top of the frame for grabbing and feeding the scions; The seedling gathering and cutting mechanism comprises a seedling gathering assembly and a cutting assembly arranged above the conveying mechanism; the seedling gathering assembly comprises a plurality of seedling gathering pneumatic fingers for gathering the seedlings; the cutting assembly comprises a plurality of blades matched with the plurality of seedling gathering pneumatic fingers and a cutting pen-shaped cylinder driving the plurality of blades; The scion clamping mechanism comprises a plurality of scion clamping pneumatic fingers movably positioned above the seedling gathering pneumatic fingers for grabbing the scion seedlings and a plurality of scion clamping pen-shaped cylinders driving the scion clamping pneumatic fingers, and is arranged at the bottom end of the second linear module through a scion clamping connecting plate; The seedling gathering assembly comprises a seedling guide plate horizontally arranged and transversely arranged above the conveying belt, and a plurality of V-shaped seedling guide grooves are arranged on the side of the seedling guide plate facing the conveying belt movement direction; the plurality of seedling gathering pneumatic fingers are arranged above the plurality of seedling guide grooves, and a plurality of pairs of scion clamping clamps arranged on the plurality of seedling gathering pneumatic fingers are arranged corresponding to the plurality of seedling guide grooves; The seedling guide plate is arranged on the conveying belt support through a seedling guide plate fixing piece; the plurality of seedling gathering pneumatic fingers are arranged on the bottom end surface of a seedling gathering fixing plate and are driven by a sliding table cylinder to move along the direction parallel to the conveying belt movement direction; The plurality of blades are arranged on the upper side of the seedling guide plate and below the seedling gathering cylinder connecting plate through a blade fixing plate, and the cutting pen-shaped cylinder drives the blade fixing plate to cut the scion seedlings; The cylinder mounting plate is arranged with the plurality of scion clamping pneumatic fingers and is arranged on the bottom surface of the scion clamping connecting plate through a scion clamping linear guide arranged perpendicular to the conveying belt movement direction; the cylinder rod of the scion clamping pen-shaped cylinder arranged on the cylinder mounting plate adjusts the distance between the scion clamping pneumatic fingers and the scion seedlings through driving the cylinder mounting plate; One end of the plurality of limiting pieces is fixed on the scion clamping pneumatic fingers, and the other end extends between each pair of scion clamping clamps to control the distance between the scion clamping pneumatic fingers to adapt to the distance between the scion seedlings.

2. The grafting seedling multiple synchronous clamping and feeding mechanism according to claim 1, characterized in that: The movement direction of the first linear module is parallel to the conveying direction of the conveying mechanism; the movement directions of the first linear module and the second linear module are perpendicular to each other; the arrangement direction of the pneumatic fingers of the scion clamping mechanism is perpendicular to the movement direction of the first linear module.

3. The multi-plant simultaneous clamping and feeding mechanism for grafted seedling stock according to claim 2, characterized in that: The width of the limiting piece is greater than the outer diameter of the scion seedling.

4. The grafting seedling multiple synchronous clamping and feeding mechanism according to claim 3, characterized in that: The conveying mechanism comprises a conveying belt arranged on the frame.

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