Light and simple semi-automatic solanaceous vegetable grafting machine

Abstract

The invention relates to grafting machinery, in particular to a light and simple semi-automatic solanaceous vegetable grafting machine. According to the light and simple semi-automatic solanaceous vegetable grafting machine, rootstock seedlings and scion seedlings can be subjected to multi-angle cutting, the cutting angle can be adjusted according to actual requirements, different contact areas can be obtained, and the survival rate of grafted seedlings is increased. According to the technical scheme, the light and simple semi-automatic solanaceous vegetable grafting machine comprises a storage chuck fixed to a rack; the automatic grafting machine is characterized in that a cutting and butting mechanism for cutting and butting stock seedlings and scion seedlings, a seedling gathering mechanism for gathering the stock seedlings and the scion seedlings and an automatic clamping mechanism for clamping grafting clamps on the grafted seedlings are mounted on the rack.

Description

Technical Field

[0001] The invention relates to a grafting machine, in particular to a light and simple semi-automatic grafting machine for eggplant and fruit vegetables. Background Art

[0002] In recent years, as the cultivation area of ​​vegetables and other crops continues to increase, problems such as continuous cropping obstacles have gradually increased. The application of grafting technology is a key means to solve the problems of continuous cropping obstacles and pest and disease control.

[0003] At present, the main grafting methods of Solanaceae grafting on the market are divided into flat grafting, stick grafting, and plug grafting. In the relevant research on Solanaceae grafting, it is shown that the contact area between the rootstock and the scion has a great influence on the survival rate of the grafted seedlings. The contact area of ​​the grafting machine using the flat grafting method is very fixed; the grafting machine using the plug grafting method will give the grafted seedlings a larger contact area, but the grafting is difficult; the grafting machine using the stick grafting method has a fixed cutting angle, which makes it difficult for the grafted seedlings to adjust the required contact area according to demand. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology and to provide a lightweight semi-automatic grafting machine for eggplant and solanaceous vegetables. The device can cut stock seedlings and scion seedlings at multiple angles, and can adjust the cutting angle according to actual needs to obtain different contact areas, thereby improving the survival rate of grafted seedlings.

[0005] The technical solution of the present invention is:

[0006] A light and simple semi-automatic grafting machine for eggplant and fruit vegetables, comprising a clip storage plate fixed on a frame; characterized in that: the frame is equipped with a cutting and docking mechanism for cutting and docking rootstock seedlings and scion seedlings, a seedling gathering mechanism for gathering the rootstock and scion seedlings, and an automatic clamping mechanism for the grafting clamps on the grafted seedlings;

[0007] The automatic clamping mechanism includes a push-clamp pneumatic finger for clamping the grafting strip of the clamping tray, a push-clamp cylinder for pulling the grafting strip in the clamping tray out of a fixed length through the push-clamp pneumatic finger, a push-knife three-axis cylinder for driving a utility knife blade to cut the pulled-out grafting strip, an opening pneumatic finger for opening the clamping mouth of the grafting clamp obtained by cutting, and a lifting clamp cylinder for lifting the grafting clamp upward to clamp the grafted seedling; the cutting and docking mechanism includes two cutting knife assemblies for driving the cutting knife to cut the rootstock seedling and the scion seedling, two cutting knife transverse motion assemblies for driving the two cutting knives to move horizontally, and two docking pneumatic fingers driven by the docking transverse motion assembly to clamp and dock the rootstock and the scion respectively; the seedling gathering mechanism includes a seedling gathering linear guide rail vertically arranged on the desktop, a seedling gathering pneumatic finger slidably positioned on the seedling gathering linear guide rail to gather the scion and the rootstock part, and a seedling gathering cylinder for driving the pneumatic finger to move vertically.

[0008] The automatic clamping mechanism is provided with an upper clamping base plate, which is horizontally mounted on the frame and located below the table top; the upper clamping base plate is provided with a clamping groove for guiding the movement of the grafting clamping strip, and two limit blocks installed at the notches at both ends of the clamping groove for limiting the length of the grafting clamping strip.

[0009] The utility blade is fixed between the cutter cover plate and the blade holder, and the blade holder is driven by a blade-pushing three-axis cylinder.

[0010] The clamp lifting cylinder is vertically fixed on the clamp lifting connecting piece support of the frame; the clamp opening pneumatic finger is connected to the vertically upward clamp lifting cylinder rod, and the clamp opening pneumatic finger drives the clamp opening block to retract and then reduces the clamp opening limit opening, thereby pressing the two pressing handles of the grafting clamp to open the clamping mouth of the grafting clamp.

[0011] The two cutter assemblies include two cutter propulsion brackets which can slide horizontally and are respectively connected to the multi-angle cutter cylinders, and knife clamps which are respectively driven by the multi-angle cutter cylinders to move vertically and are provided with cutters.

[0012] The two cutter propulsion brackets are both fixed with a multi-angle cylinder and a multi-angle cutter linear guide rail. The cutter seat with a knife clamp can be vertically slidably positioned on the multi-angle cutter linear guide rail and the top end is connected to the cylinder rod extending downward from the multi-angle cutter cylinder. The cutter at the bottom of the knife clamp extends from the multi-angle notch at the bottom end of the knife clamp slideway to cut grafted seedlings or rootstock seedlings.

[0013] The docking lateral motion assembly is installed on the cutting docking base plate, and includes a horizontally arranged docking linear guide rail, two docking connecting blocks slidably positioned on the docking linear guide rail, two seedling receiving seats respectively connected to a docking connecting block and carrying a scion seedling and a rootstock seedling respectively, and two docking cylinders that drive the two seedling receiving seats to move toward each other to achieve docking.

[0014] The cutter lateral motion assembly is mounted on the cutting docking base plate, and includes two push-knife linear guides that are horizontally arranged and parallel to the docking linear guides, and a cutter propulsion cylinder that is arranged parallel to the push-knife linear guides and drives the cutter propulsion bracket to move on the push-knife linear guides.

[0015] The bottom end of the tool holder slideway is provided with a plurality of multi-angle slots with different angles, so that the cutters extending from different slots can obtain different cutting angles.

[0016] The beneficial effects of the present invention are:

[0017] The present invention is used for semi-automatic grafting of Solanaceae, and the cutting angles of rootstock seedlings and scion seedlings can be adjusted according to actual needs. The selectable cutting angles are 30°, 45°, 60° and 75°, thereby effectively completing the grafting operation and significantly improving the survival rate of the grafted seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the main structure of an embodiment of the present invention.

[0019] Figure 2 2 is a schematic diagram of a top view of the structure of an embodiment of the present invention.

[0020] Figure 3 It is a left-view structural schematic diagram of an embodiment of the present invention.

[0021] Figure 4 yes Figure 1 The enlarged structural diagram after the rack is hidden in the figure.

[0022] Figure 5 yes Figure 4 Schematic diagram of the structure when viewed from above (the table top is hidden in the figure).

[0023] Figure 6 It is a three-dimensional structural schematic diagram of the automatic clamping mechanism in an embodiment of the present invention.

[0024] Figure 7 yes Figure 6 Schematic diagram of the enlarged structure of part A in FIG.

[0025] Figure 8 It is a schematic diagram of the three-dimensional structure of the upper clamping bottom plate in the present invention.

[0026] Fig. 9 It is a schematic diagram of the main structure of the table top in the present invention.

[0027] Fig.10 It is a schematic diagram of the main structure of the frame in the present invention.

[0028] Fig.11 It is a left-side structural schematic diagram of the frame in the present invention.

[0029] Fig.12 It is a three-dimensional structural schematic diagram of the storage chuck in the present invention.

[0030] Fig.13 It is a schematic diagram of the main structure of the upper clamping component and the cutting component in the automatic upper clamping mechanism of the present invention.

[0031] Fig.14 yes Fig.13 Schematic diagram of the structure from a top-down perspective.

[0032] Fig.15It is a three-dimensional schematic diagram of the installation structure of the utility knife blade in an embodiment of the present invention.

[0033] Fig.16 It is a schematic diagram of the matching relationship between the clamping block and the clamping groove in an embodiment of the present invention.

[0034] Fig.17 A schematic diagram of the three-dimensional structure of the seedling-raising state in the present invention.

[0035] Fig.18 It is a three-dimensional structural schematic diagram of the cutting and docking mechanism of the present invention.

[0036] Fig.19 It is a three-dimensional structural schematic diagram of the cutting and docking base plate of the present invention.

[0037] Fig. 20 It is a schematic diagram of the connection relationship between the scion butt connection block and the scion seedling holder.

[0038] Fig.21 It is a schematic diagram of the connection relationship between the rootstock butt connection block and the rootstock seedling seat.

[0039] Fig. 22 It is a three-dimensional structural schematic diagram of the multi-angle cutter of the present invention.

[0040] Fig.23 It is a three-dimensional structural schematic diagram of the cutter seat of the present invention.

[0041] Fig.24 It is a three-dimensional structural schematic diagram of the tool holder of the present invention.

[0042] Fig.25 It is a three-dimensional structural schematic diagram of the seedling support seat of the present invention.

[0043] Fig.26 It is a three-dimensional structural schematic diagram of the seedling cutting limiting block of the present invention.

[0044] Fig. 27 It is a three-dimensional structural schematic diagram of the advancement docking state in the present invention.

[0045] Fig.28 It is a schematic diagram of the top view of the structure of the push-to-connect state in the present invention.

[0046] Fig.29 It is a three-dimensional structural schematic diagram of the seedling gathering structure of the present invention.

[0047] Fig.30 It is a schematic diagram of the three-dimensional structure of the grafting clip.

[0048] Fig.31 It is a schematic diagram of the three-dimensional structure of the grafting clip.

[0049] Fig.32 It is a schematic diagram of the grafting process.

[0050] Reference numerals:

[0051] Automatic clamping mechanism 01, frame 0101, clamping base plate 0102, cotyledon slide 0103, push knife three-axis cylinder 0104, push knife three-axis cylinder connector 0105, push clamp connector 0106, push clamp cylinder 0107, clamping groove base plate 0108, clamping groove cover 0109, storage clamp limit plate adjustment groove 0110, inner disc 0111, disc connector 0112, storage clamp limit plate 0113, Outer disc 0114, connecting bearing 0115, stepped shaft 0116, rear limit block 0117, cutter cover 0118, utility blade 0119, front limit block 0120, clamping cylinder 0121, clamping connecting piece 0122, clamping connecting piece 0123, clamping block 0124, clamping pneumatic finger 0125, clamping finger block 0126, knife holder 0127, clamping pneumatic finger 0128, cotyledon Dropping hole 0129, upper clamp bottom plate connection hole 0130, clamping groove adjustment groove 0131, table top 0132, scion seedling seat groove 0133, scion clamping finger groove 0134, left multi-angle cutter groove 0135, right multi-angle cutter groove 0140, seedling cutting limit left adjustment groove 0136, desktop matrix dropping hole 0137, opening finger groove 0138, rootstock pushing groove 0139, seedling cutting limit right Adjustment slot 0141, seedling gathering adjustment slot 0142, desktop cotyledon drop mouth 0143, lifting clamp connection piece pillar 0144, upper clamp bottom plate pillar 0145, ladder shaft interface 0146, storage clamp plate support pillar 0147, opening clamp limit mouth 0148, clamping slot 0149, cutting docking bottom plate pillar 0150, tool holder connecting plate 0151, grafting clamp 0152, grafting clamp strip 0153, storage clamp plate 0154;

[0052] Cutting docking mechanism 02, cutting docking base plate 0201, docking cylinder connector 0202, matrix slide 0203, scion docking connection block 0204, stock docking connection block 0205, docking linear guide 0206, cutter push connector notch 0207, cutter push cylinder 0208, cutter push cylinder connector 0209, cutter push bracket connector 0210, push knife linear guide 0211, cutter push bracket 0212, push knife base plate connector 0213, docking pneumatic finger 0214, scion seedling seat 0215, scion seedling seat connector 0216, docking pneumatic finger lower clamping block 0217, docking pneumatic finger clamping block connector 0218, scion clamping block 0219, stock clamping block 0220, scion 0221, stock seedling seat 0222, stock Wood 0223, cutter 0224, cutter seat 0225, knife clamp 0226, multi-angle cutter linear guide 0227, multi-angle cutter cylinder 0228, cutter cylinder connector 0229, cutter bracket connecting block 0230, docking cylinder 0231, cutter guide rail adjustment slot 0232, cylinder connector adjustment slot 0233, push knife bottom plate slot 0234, bottom plate connector slot 0235 , cutter propulsion cylinder connecting part notch 0236, matrix drop mouth 0237, multi-angle notch 0238, knife clamp slide 0239, cutter interface 0240, seedling support seat 0241, left seedling cutting limit block 0242, right seedling cutting limit block 0243, seedling supporting V-shaped groove 0244, adjustment groove 0245, seedling limit mouth 0246, knife edge 0247, L-shaped block 0248; upper clamp opening 0249.

[0053] Seedling gathering mechanism 03, seedling gathering bracket 0301, seedling gathering linear guide 0302, seedling gathering cylinder adjustment slot 0303, seedling gathering cylinder connecting piece 0304, seedling gathering cylinder 0305, seedling gathering pneumatic finger connecting piece 0306, seedling gathering pneumatic finger 0307, ​​seedling gathering finger clamp 0308, seedling gathering limit mouth 0309; scion seedling 05; rootstock seedling 06. DETAILED DESCRIPTION

[0054] The present invention will be further described in detail below in conjunction with the embodiments shown in the accompanying drawings.

[0055] The position relationship in this article is determined as follows: Figure 1 The left side and right side of are set to "left" and "right" respectively; Figure 1 The lower and upper sides of the Figure 1 Set the paper direction to "front", vertically away Figure 1 The paper orientation is set to "Back".

[0056] The grafting process of grafted seedlings is as follows Fig.32As shown: Step S1: Cut off the stems of the rootstock seedling and the scion seedling respectively, discard the upper part of the rootstock seedling and the lower part of the scion seedling (including the matrix; the shape of the matrix taken out from the plug tray still maintains the outline of the plug tray) to obtain the rootstock 0223 and the scion 0221; Step S2: Align the incisions of the rootstock and the scion to form a grafted seedling; Step S3: Open the clamping mouth of the grafting clamp to wrap the incision fitting part of the grafted seedling; that is, the clamping is completed and the grafting is completed.

[0057] like Figure 1 The light and simple semi-automatic eggplant and fruit vegetable grafting machine shown comprises an automatic clamping mechanism 01, a cutting and docking mechanism 02, and a seedling gathering mechanism 03 installed on a frame 0101.

[0058] The automatic clamping mechanism 01 and the cutting and docking mechanism 02 are arranged in the frame 0101, and the seedling mechanism 03 is arranged on the upper side of the table top 0132, and the table top is horizontally arranged on the top of the frame; the cutting and docking mechanism cuts the grafted seedlings into rootstocks and scions and docks them; the seedling gathering mechanism aligns the cut parts of the rootstock and scion after docking by gathering the seedlings; the automatic clamping mechanism cuts a grafting clamp of a certain size from the grafting clamp strip, and then opens the clamping mouth of the grafting clamp and finally clamps (clamps the docking part of the grafted seedling).

[0059] See also Figure 3 , Fig.12 , Fig.11 , Fig.17 ; The storage plate 0154 (existing technology) is positioned on the storage plate support column 0147 of the frame through the stepped shaft 0116 installed at its axis position (the storage plate support column and the upper clamping bottom plate support column 0145 are both vertically fixed on the bottom frame of the frame); one end of the stepped shaft is from left to right ( Figure 3 It is vertically pointing to the paper direction) and passes through the stepped shaft interface 0146 and is then fastened with bolts to be installed on the clamp disk support column; the inner disk 0111 and the outer disk 0114 are fixed as a whole by a number of threaded disk connectors 0112, and are rotatably positioned on the stepped shaft through bearings; the clamp limit plate 0113 is positioned on the outer disk by screw connection; the clamp limit plate has a clamp limit plate adjustment groove 0110, which can be used to adjust the position of the clamp limit plate on the outer disk to facilitate the storage of the grafting clip. The long grafting clip 0153 is wound in the space between the inner disk and the outer disk of the clamp disk. When the grafting clip is pulled by the automatic clamping machine, it drives the stepped shaft and the clamp disk to rotate, so that the grafting clip wrapped on the storage disk clamp is unwound, and the rotation direction is Figure 3 clockwise direction.

[0060] The automatic clamping mechanism 01 is installed on the upper clamping base plate 0102, and includes a push-clamp pneumatic finger 0128 for clamping the grafting strips of the clamping tray, a push-clamp cylinder 0107 for pulling the grafting strips in the clamping tray out to a fixed length through the push-clamp pneumatic finger, a push-knife three-axis cylinder 0104 for driving a utility knife blade 0119 to cut the pulled-out grafting strips, an opening pneumatic finger 0125 for opening the grafting clip obtained by cutting, and a lifting clamp cylinder 0121 for lifting the grafting clip upward to clamp the rootstock and scion.

[0061] The upper clamping bottom plate 0102 is connected to the frame by bolts inserted into the upper clamping bottom plate connection holes 0130. The upper clamping bottom plate is provided with a clamping groove 0149 for guiding the movement of the grafting clamping strip 0153. The clamping groove 0149 is formed by bolting the clamping groove bottom plate 0108 and the clamping groove cover plate 0109, and is used to guide the movement of the grafting clamping strip. The extension direction of the clamping groove is the front-to-back direction ( Fig.13 The clamping groove bottom plate is connected and positioned on the clamping groove adjustment groove 0131 of the upper clamping bottom plate by bolts, and the extending direction of the clamping groove adjustment groove is from left to right, and the left and right positions of the clamping groove bottom plate can be adjusted through the clamping groove adjustment groove; Fig.13 In the embodiment, the movement direction of the grafting clamping strip in the clamping groove is from front to back.

[0062] Both the rear limit block 0117 and the front limit block 0120 are provided with through holes for the grafting clamp to pass through, and are positioned on the upper clamp base plate by screw connection; the shape of the through hole is the same as the clamp groove 0149, and can limit the length of the grafting clamp strip that needs to be cut (the width of the grafting clamp after cutting); the grafting clamp strip is pulled by the push-clamp pneumatic fingers and enters the rear limit block 0117, the clamp groove and the front limit block 0120 from back to front.

[0063] The push clamp connector 0106 is connected to the push clamp cylinder 0107 by screws, and the push clamp cylinder is fixed to the upper clamp base plate by screws; the push clamp finger 0128 is positioned on the push clamp connector by screw connection, and the push clamp pneumatic finger drives the push clamp finger block 0126 to clamp the grafting clip passing through the clip groove, and drives the push clamp cylinder to move the grafting clip from back to front ( Fig.14 The grafting clip 0152 is pushed from bottom to top to the required distance (when pushing, the grafting clip that has been cut off and stuck in the front limit block 0120 is pushed into the clamping opening of the clamping block 0124), and then a section is cut from the grafting clip strip by the art blade 0119 to obtain the required grafting clip 0152.

[0064] like Fig.13As shown: the push knife three-axis cylinder 0104 is fixed on the push knife three-axis cylinder connecting piece 0105, and the push knife three-axis cylinder connecting piece is fixed on the upper clamp bottom plate by bolts. The push knife three-axis cylinder drives the art blade 0119 to complete the cutting of the grafting clip; the grafting clip cut from the grafting clip is used to fix the grafted seedlings connected by the rootstock and the scion; the cutting direction is from back to front ( Fig.14 The cutter cover 0118 is fixed on the cutter holder 0127 by screw connection (see Fig.15 ), the utility blade is clamped and fixed between the cutter cover plate and the tool holder, and the tool holder is connected to the cylinder rod of the push-knife three-axis cylinder.

[0065] The lifting and clamping cylinder 0121 is vertically fixed on the lifting and clamping connecting piece 0122 of the frame through screws; the opening and clamping pneumatic fingers 0125 are connected to the vertically upward lifting and clamping cylinder rod through the opening and clamping connecting piece 0123 connected by bolts, and the opening and clamping pneumatic fingers drive the opening and clamping block 0124 to retract and then shrink the opening and clamping limit opening 0148, thereby pressing the two pressing handles of the grafting clamp to open the clamping mouth of the grafting clamp; then the lifting and clamping cylinder drives the opening and clamping pneumatic fingers from under the upper clamping bottom plate through the upper clamping opening 0249 and the opening and clamping finger slots 0138 on the cutting and docking bottom plate to the upper side of the table board, and aligns with the grafted seedlings to complete the upper clamping; these are all existing technologies.

[0066] The cutting and docking mechanism is installed on the cutting and docking base plate, and includes two cutting knife components that drive the cutting knife to cut the rootstock seedlings and the scion seedlings, two cutting knife transverse motion components that drive the two cutting knives to move horizontally, and two docking pneumatic fingers driven by the docking transverse motion components to clamp and dock the rootstock and scion parts respectively.

[0067] Depend on Fig.18 It can be seen that the cutting and docking base plate 0201 is horizontally fixed on the cutting and docking base plate support 0150, and an upper clamping opening 0249 is opened on the cutting and docking base plate. The pneumatic finger for opening clamps can extend upward from the upper clamping opening through the opening finger slot 0138 to the top of the table for operation.

[0068] Depend on Fig.17It can be seen that: a seedling holder 0241 and a left seedling cutting limit block 0242 are fixed between the scion clamping finger slot 0134 of the table board and the desktop matrix opening 0137, and the center of the V-shaped groove of the seedling holder is aligned with the axis of the seedling cutting limit opening 0246 of the left seedling cutting limit block and is perpendicular to the push knife linear guide 0211; the rootstock seedling is placed horizontally in the V-shaped groove and the seedling cutting limit opening after it is planted, and the matrix block of the rootstock seedling is suspended on the table board; a right seedling cutting limit block 0243 is fixed between the desktop cotyledon opening 0143 and the rootstock pushing slot 0139 of the table board, and the axis of the right seedling cutting limit block is perpendicular to the push knife linear guide, and the scion seedling is also placed horizontally in the seedling cutting limit opening of the right seedling cutting limit block after it is planted, and the matrix block of the scion seedling is also suspended on the table board.

[0069] Before seedlings are placed, the rootstock seedling holder is transported by a pair of docking cylinders to between the V-shaped groove of the seedling holder and the seedling limit opening of the left seedling cutting limit block, and the scion seedling holder is transported by another docking cylinder to the edge of the seedling limit opening of the right seedling cutting limit block, and then the seedlings are placed manually; then, two docking pneumatic fingers extend the scion clamping finger notch 0134 and the rootstock pushing notch 0139 from bottom to top, respectively, and clamp the stems of the rootstock seedling and the scion seedling, respectively, and then the cutter 0224 cuts the stems of the rootstock seedling and the scion seedling, respectively, to obtain the rootstock (the stem with the planting matrix connected after the upper half is removed after the cutting of the rootstock seedling) and the scion (the stem with the cotyledon left after the lower half is removed after the cutting of the scion seedling). The cut rootstock and scion are horizontally placed on the rootstock seedling holder and the scion seedling holder, respectively, with the axis of the rootstock and the scion horizontal to the desktop, and the extension direction of the axis is from front to back.

[0070] The matrix chute 0203 is connected and positioned on the table board and the cutting docking bottom plate by screws at the same time. After the matrix block cut from the scion seedling falls into the matrix chute, it can fall from the table to the collection frame at the lower side of the machine through the corresponding table matrix drop-outs 0137 and matrix drop-outs 0237. The cotyledon chute 0103 is connected and positioned between the table cotyledon drop-out 0143 of the table board and the cotyledon drop-out 0129 of the upper clamp bottom plate by screws. The cotyledon part cut from the rootstock seedling falls from the table to the collection frame at the lower side of the machine through the corresponding table cotyledon drop-outs 0143 and cotyledon drop-outs 0129.

[0071] The docking lateral motion assembly includes two docking connection blocks slidably positioned on the docking linear guide rail, two seedling holders respectively connected to one docking connection block and carrying the scion seedling and the rootstock seedling respectively, and two docking cylinders driving the two seedling holders to move toward each other to achieve docking.

[0072] The bottom ends of the scion docking connection block 0204 and the stock docking connection block 0205 are connected to two sliders matched with the same docking linear guide 0206 by screws one by one; and the scion docking connection block and the stock docking connection block are respectively connected to the cylinder rod of a docking cylinder 0231; the docking linear guide is positioned on the cutting docking base plate by screw connection and is parallel to the axis of the docking cylinder. When the two docking cylinders are started, the scion docking connection block 0204 or the stock docking connection block 0205 can be driven to move on the docking linear guide respectively. The two docking cylinder connectors 0202 are respectively connected to the cutting docking base plate by bolts and each supports a horizontally arranged docking cylinder 0231. The two docking cylinders are arranged facing each other and separated by a distance from each other (it is recommended that the two docking cylinders be coaxially arranged); the bolts are connected in cooperation with the notch 0236 of the cutter propulsion cylinder connector to adjust the relative positions of the two docking cylinders.

[0073] like Fig.18 , 20 As shown in 21: two docking pneumatic fingers 0214 (existing technology) are respectively positioned on the scion docking connection block 0204 and the stock docking connection block 0205 by screw connection, driving the lower clamping block 0217 of the docking pneumatic fingers, the docking pneumatic finger clamping block connector 0218, the scion clamping block 0219, and the stock clamping block 0220 to complete the clamping of the scion and the stock; the lower clamping block of the docking pneumatic fingers, the scion clamping block, the stock clamping block and the docking pneumatic finger clamping block connector are connected to the docking pneumatic fingers by screws, so that there is a certain gap between the upper clamping block and the lower clamping block, which can adapt to grafted seedlings of different diameters. After the two docking cylinders 0231 are started, they can drive the docking pneumatic fingers to move from the left and right sides to the middle on the docking linear guide rail to complete the docking of the rootstock and the scion; during docking, the two docking pneumatic fingers move left and right in the scion clamping finger slot 0134 and the rootstock pushing slot 0139 in the table board respectively.

[0074] Among them, the scion docking connection block 0204 is fixed on a sliding block that cooperates with the docking linear guide 0206, and is connected to a horizontally arranged L-shaped block 0248 on one side; one end of the L-shaped block cantilevers outward from the cutting docking base plate 0201 in a direction perpendicular to the docking linear guide, and a scion seedling seat 0215 is fixed on the overhanging end of the L-shaped block, and the docking pneumatic finger 0214 is fixed on one side of the scion seedling seat through the scion seedling seat connector 0216; two scion clamping blocks 0219 are connected above the docking pneumatic fingers through the docking pneumatic finger lower clamping block 0217 and the docking pneumatic finger clamping block connector 0218. There is a support plate fixed to the cutting and docking bottom plate 0201 between the stock docking connection block 0205 and the scion docking connection block 0204, the stock seedling support seat 0222 is vertically fixed on the support plate, and another docking pneumatic finger 0214 is fixed to one side of the stock seedling support seat through the stock seedling support seat connector; the top of the scion seedling support seat and the top of the stock seedling support seat are each made with a V-shaped groove, and the two V-shaped grooves are in corresponding positions, and the stock and the scion can be supported respectively. The scion seedling support seat is separated from the stock seedling support seat by a distance, and the docking pneumatic finger connected to the scion seedling support seat is located on one side of the stock seedling support seat, and the docking pneumatic finger connected to the stock seedling support seat is located on one side of the scion seedling support seat, and there is also a spacing between the two docking pneumatic fingers to facilitate the placement of the stock and the scion.

[0075] The two cutter assemblies include two cutter push brackets 0212 which can slide on a horizontally arranged push-knife linear guide rail and are respectively connected to a multi-angle cutter cylinder 0228, and a knife clamp 0226 which is driven by the multi-angle cutter cylinder for vertical movement and has a cutter 0224.

[0076] The cutter transverse motion assembly comprises a push-knife linear guide rail arranged parallel to the docking linear guide rail, and a cutter propulsion cylinder arranged parallel to the push-knife linear guide rail and driving the cutter propulsion bracket to move on the push-knife linear guide rail.

[0077] The cutter propulsion cylinder 0208 is horizontally arranged on the cutting docking base plate through the cutter propulsion cylinder connector 0209, and is parallel to the axis of the docking cylinder; two cutter propulsion cylinders are arranged on the cutting docking base plate, arranged opposite to each other and separated by a distance; the cutter propulsion cylinder can drive the cutter to reciprocate left and right between the cutting position and the initial position; the cutter propulsion cylinder connector is positioned on the cutting docking base plate through a bolt connection, and the front and rear positions of the cutter propulsion cylinder connector can be adjusted through the cylinder connector adjustment groove 0233, and the left and right positions of the cutter propulsion cylinder connector can be adjusted through the cutter propulsion connector notch 0207. The two cutter propulsion bracket connectors 0210 are connected to a vertically arranged cutter propulsion bracket 0212 by screws, and the two cutter propulsion brackets are slidably positioned on a pusher linear guide rail 0211; the two pusher linear guide rails are coaxially arranged and separated by a distance (this end distance corresponds to the distance separated by the two docking cylinders, which serves as the space required for cutting the rootstock seedling and the scion seedling), and are also parallel to the docking linear guide rail. The pusher linear guide rail is connected to the pusher base plate connector 0213 by screws; the pusher base plate connector is connected to the pusher base plate notch 0234 on the cutting docking base plate by screws; the front and rear position of the pusher base plate connector can be adjusted through the cutter guide rail adjustment slot 0232 and the base plate connector notch 0235. The two cutter propulsion brackets 0212 also extend upward from the table top from the left multi-angle cutter slot 0135 and the right multi-angle cutter slot 0140 respectively, and each moves toward or away from the cutter slot to operate.

[0078] Two multi-angle cutter cylinders 0228 are respectively fixed vertically on two cutter propulsion brackets 0212 through multi-angle cutter cylinder connectors 0229, and two multi-angle cutter linear guide rails 0227 are vertically arranged on the two cutter propulsion brackets and are located below the multi-angle cutter cylinders (wherein Fig.16A cutter support connection block 0230 is also added between the multi-angle cutter cylinder and the multi-angle cutter cylinder connector on the left side, and the multi-angle cutter linear guide is fixed to the cutter support connection block, which is required for position adjustment); the cutter seat 0225 is fixedly connected to the slider matched with the multi-angle cutter linear guide, and the top end is connected to the cylinder rod extending downward from the multi-angle cutter cylinder; the knife clamp 0226 can be vertically slidably inserted into the cylindrical knife clamp slide 0239 of the cutter seat and then fixed by screws, and the cutter 0224 at the bottom of the knife clamp extends from the multi-angle notch 0238 at the bottom of the knife clamp slide to cut the grafted seedlings or rootstock seedlings. The bottom end of the knife clamp slide is provided with a plurality of multi-angle notches 0238 at different angles, and the cutter can obtain different cutting angles by extending from different notches. The two seedling cutting limit blocks 0242 are located below the two cutters one by one; when the multi-angle cutter cylinder is started, the cutters can be driven from top to bottom through the blade 0247 on the seedling cutting limit block 0242 to complete the cutting of the rootstock seedling and the scion seedling.

[0079] The seedling cutting limit block 0242 is fixed on the table top by bolt connection, and the left and right positions of the two seedling cutting limit blocks can be adjusted respectively by the left and right adjustment grooves 0136 and 0141 of the seedling cutting limit block, and the front and rear positions of the seedling cutting limit blocks can be adjusted by adjusting the fixed position of the screws in the adjustment grooves 0245 of the seedling cutting limit blocks.

[0080] During docking, the scion receiving seat and the scion part clamped by the docking pneumatic fingers move from left to middle, and the stock receiving seat and the stock part clamped by the docking pneumatic fingers move from right to middle, and the docking is completed. At this time, the sides of the stock receiving seat and the scion receiving seat are in the same plane.

[0081] During the grafting process, due to various reasons such as the bending of the seedlings, the incisions of the rootstock and the scion may not fit together, and a seedling gathering mechanism is needed to ensure that the incisions of the rootstock and the scion fit together. The seedling gathering structure process of the seedling gathering mechanism is as follows: the seedling gathering cylinder pushes the seedling gathering pneumatic fingers to reach the top of the incision, and the seedling gathering limit openings of the two seedling gathering finger clamps on the seedling gathering pneumatic fingers open, so that the incisions of the two seedlings are within the seedling gathering limit openings; then the seedling gathering pneumatic fingers work, and the two seedling gathering finger clamps move from both sides to the middle to reduce the seedling gathering limit opening, thereby clamping the incisions of the rootstock and the scion to make the incisions fit together to complete the seedling gathering, which is convenient for the subsequent operation of wrapping the incision in the grafting clamp.

[0082] The seedling gathering mechanism 03 includes a seedling gathering bracket fixed on a desktop, a seedling gathering linear guide rail and a seedling gathering cylinder vertically arranged on the seedling gathering bracket, and a seedling gathering pneumatic finger driven by the seedling gathering cylinder and provided with a seedling gathering finger clamp; this is prior art.

[0083] The seedling gathering mechanism includes a seedling gathering bracket 0301, a seedling gathering linear guide rail 0302, a seedling gathering cylinder connecting piece 0304, a seedling gathering cylinder 0305, a seedling gathering pneumatic finger connecting piece 0306, a seedling gathering pneumatic finger 0307, ​​and a seedling gathering finger clamping block 0308.

[0084] The seedling gathering bracket 0301 is positioned on the desktop by bolt connection, and the position of the seedling gathering bracket can be adjusted through the seedling gathering adjustment groove 0142, thereby adjusting the position of the seedling gathering mechanism.

[0085] The seedling gathering linear guide 0302 is vertically connected to the seedling gathering bracket by bolts; the seedling gathering cylinder connecting piece 0304 is positioned on the seedling gathering bracket by bolt connection, and the position of the seedling gathering cylinder connecting piece can be adjusted by the seedling gathering cylinder adjusting groove 0303; the seedling gathering cylinder 0305 is vertically fixed to the seedling gathering bracket by the seedling gathering cylinder connecting piece; the seedling gathering pneumatic finger connecting piece 0306 is fixed on a slider that cooperates with the seedling gathering linear guide; the seedling gathering pneumatic finger 0307 is positioned on the seedling gathering pneumatic finger connecting piece by screw connection; the seedling gathering cylinder drives the seedling gathering pneumatic finger to reach the seedling gathering position, and the seedling gathering pneumatic finger then drives the seedling gathering finger clamp 0308 to complete the seedling gathering through the seedling gathering limit opening 0309.

[0086] The cylinder, the power source (preferably an air pump) and the pneumatic control components required for the pneumatic fingers in the above-mentioned power components are all existing technologies and are omitted.

[0087] The sensors, controllers, etc. for controlling the operating sequence of the above-mentioned power components are also existing technologies and will not be described in detail.

[0088] All components of the present invention are prior art.

[0089] The working principle of the present invention is:

[0090] 1. Initial state ( Figure 1 , Figure 4 , Fig.17 ), the two cutters are driven by their respective cutter propulsion cylinders to move backwards to the farthest distance to free up operating space, and the operator places the two grafted seedlings on the seedling support seat and the seedling cutting limit block respectively;

[0091] 2. After the two pneumatic fingers are driven by their respective cylinders to reach the operating position, they rise up to clamp the grafted seedlings ( Fig.17 --);

[0092] 3. Two cutter propulsion cylinders drive the cutter to the working position ( Figure 1 );

[0093] 4. The multi-angle cutting cylinder drives the cutting knife to complete the cutting of the grafted seedlings and obtain the rootstock and scion ( Figure 4 );

[0094] 5. Multi-angle cutter cylinder reset; cutter push cylinder reset;

[0095] 6. The push-clamp finger clamps the grafting clip and pushes the grafting clip into the pneumatic finger for opening the clip. The push-knife three-axis cylinder cuts the grafting clip to obtain the grafting clip ( Fig.30 );

[0096] 7. Push-clamp cylinder resets; push-clamp finger resets;

[0097] 8. The pneumatic fingers open the grafting clamps and two pneumatic fingers are driven by their respective cylinders to drive the rootstock and scion to move towards each other and then dock to form a grafted seedling ( Fig.17 );

[0098] 9. The seedling gathering cylinder works to send the seedling gathering pneumatic fingers to the seedling gathering position, and then the seedling gathering pneumatic fingers work to complete the seedling gathering;

[0099] 10. The clamp lifting cylinder works to move the grafting clamp to the upper clamping position, and the clamping mouth of the grafting clamp is aligned with the incision of the grafted seedling;

[0100] 11. The pneumatic finger of the clamp is reset to complete the clamping ( Fig.31 );

[0101] 12. Reset the lifting and clamping cylinder, reset the seedling-collecting pneumatic fingers, reset the seedling-collecting cylinder, and reset the docking pneumatic fingers;

[0102] 13. The operator manually places the grafted seedlings into the plug tray;

[0103] 14. The docking cylinder is reset; one working cycle is completed;

[0104] The above cycle is repeated and the grafting operation is carried out continuously.

[0105] Finally, it should be noted that the above examples are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and many variations are possible. All variations that can be directly derived or associated with the content disclosed by a person skilled in the art should be considered as the protection scope of the present invention.

Claims

1. A light-weight semi-automatic grafting machine for eggplant and fruit vegetables, comprising a storage tray (0154) fixed on a frame (0101); characterized in that: The frame is equipped with a cutting and docking mechanism (02) for cutting and docking the rootstock seedlings and the scion seedlings, a seedling gathering mechanism (03) for gathering the rootstock and the scion seedlings, and an automatic clamping mechanism (01) for clamping the grafting clamps on the grafted seedlings; The automatic clamping mechanism comprises a push-clamp pneumatic finger (0128) for clamping the grafting clip (0153) in the clamping tray, a push-clamp cylinder (0107) for pulling the grafting clip in the clamping tray out of a certain length by the push-clamp pneumatic finger, a push-knife three-axis cylinder (0104) for driving a utility knife blade (0119) to cut the pulled-out grafting clip, an opening pneumatic finger (0125) for opening the clamping mouth of the grafting clip obtained by cutting, and a lifting cylinder (0121) for lifting the grafting clip upwards to clamp the grafted seedling; the cutting and docking mechanism comprises a push-clamp pneumatic finger (0128) for driving a cutting knife blade (0119) to drive ... The knife (0224) comprises two cutting knife assemblies for cutting the rootstock seedlings and the scion seedlings, two cutting knife transverse motion assemblies for driving the two cutting knife assemblies to move horizontally, and two docking pneumatic fingers (0214) driven by the docking transverse motion assemblies to clamp and dock the rootstock and the scion respectively; the seedling gathering mechanism comprises a seedling gathering linear guide rail (0302) vertically arranged on the table, a seedling gathering pneumatic finger (0307) slidably positioned on the seedling gathering linear guide rail for gathering the scion and the rootstock part, and a seedling gathering cylinder (0305) for driving the pneumatic finger to move vertically.

2. The light-weight semi-automatic eggplant and fruit vegetable grafting machine according to claim 1 is characterized by: The automatic clamping mechanism is installed on an upper clamping base plate (0102), which is horizontally installed on the frame and located below the table top; the upper clamping base plate is provided with a clamping groove (0149) for guiding the movement of the grafting clamping strip, and two limit blocks installed at the notches at both ends of the clamping groove for limiting the length of the grafting clamping strip.

3. The light-weight semi-automatic eggplant and fruit vegetable grafting machine according to claim 2 is characterized by: The utility blade is fixed between the cutter cover plate (0118) and the blade holder (0127), and the blade holder is driven by a blade-pushing three-axis cylinder.

4. The light-weight semi-automatic eggplant and fruit vegetable grafting machine according to claim 3 is characterized by: The clamp lifting cylinder is vertically fixed on the clamp lifting connecting piece support (0144) of the frame; the clamp opening pneumatic finger is connected to the clamp lifting cylinder rod vertically upward, and the clamp opening pneumatic finger drives the clamp opening block (0124) to retract and then shrink the clamp opening limit opening (0148), thereby pressing the two pressing handles of the grafting clamp to open the clamping mouth of the grafting clamp.

5. The light-weight semi-automatic eggplant and fruit vegetable grafting machine according to claim 4 is characterized by: The two cutter assemblies include two cutter propulsion brackets (0212) which can slide horizontally and are respectively connected to a multi-angle cutter cylinder (0228), and a knife clamp (0226) which is driven by the multi-angle cutter cylinder to move vertically and is provided with a cutter (0224).

6. The light-weight semi-automatic eggplant and fruit vegetable grafting machine according to claim 5 is characterized by: The two cutter propulsion brackets are both fixed with a multi-angle cutter cylinder and a multi-angle cutter linear guide rail (0227); a cutter seat (0225) with a knife clamp can be vertically slidably positioned on the multi-angle cutter linear guide rail and the top end is connected to a cylinder rod extending downward from the multi-angle cutter cylinder; a cutter (0224) at the bottom of the knife clamp extends from a multi-angle notch (0238) at the bottom end of the knife clamp slideway so as to cut grafted seedlings or rootstock seedlings.

7. The light-weight semi-automatic eggplant and fruit vegetable grafting machine according to claim 6 is characterized by: The docking lateral motion assembly is installed on the cutting docking base plate, and includes a horizontally arranged docking linear guide rail (0206), two docking connecting blocks slidably positioned on the docking linear guide rail, two seedling receiving seats respectively connected to a docking connecting block and respectively carrying a scion seedling and a rootstock seedling, and two docking cylinders (0231) that drive the two seedling receiving seats to move toward each other to achieve docking.

8. The light-weight semi-automatic eggplant and fruit vegetable grafting machine according to claim 7 is characterized by: The cutter transverse motion assembly comprises two push-knife linear guide rails (0211) arranged parallel to the docking linear guide rails, and a cutter propulsion cylinder (0208) arranged parallel to the push-knife linear guide rails and driving the cutter propulsion bracket to move on the push-knife linear guide rails.

9. The light-weight semi-automatic eggplant and fruit vegetable grafting machine according to claim 8 is characterized by: The bottom end of the tool holder slideway is provided with a plurality of multi-angle notches 0238 with different angles, so that the cutters extending from different notches can obtain different cutting angles.

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