Full-automatic tomato grafting machine and control system thereof

Abstract

The invention belongs to the technical field of tomato grafting machines, particularly relates to a full-automatic tomato grafting machine and a control system thereof, and aims to solve the problems of low operation efficiency, high labor intensity, low grafting survival rate and non-uniform seedling emergence due to the fact that grafting in the current market is mainly completed by a manual or semi-automatic grafting machine. The conveying device is installed on the left side of the machine tool, the machine tool is arranged in a concave shape, a shearing air cylinder is installed on the inner side of the top of the machine tool, a first mechanical arm is installed on a piston of the shearing air cylinder, a grafting air cylinder is installed on the inner side of the top of the machine tool, and a second mechanical arm is installed on a piston of the grafting air cylinder. A feeding device is installed on the front side of the machine tool. The tomato seedling cutting device is simple in structure and convenient to use, a plurality of tomato seedlings can be conveniently, rapidly and automatically cut and automatically moved and grafted, meanwhile, the grafted tomato seedlings can be detected, and people can conveniently use the tomato seedling cutting device.

Description

Technical Field

[0001] The invention relates to the technical field of tomato grafting machines, and in particular to a full-automatic tomato grafting machine and a control system thereof. Background Art

[0002] In recent years, as the cultivation area of ​​crops such as tomatoes 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, grafting on the market is mainly completed manually or by semi-automatic grafting machines, which have problems such as low operating efficiency, high labor intensity, low grafting survival rate, and uneven seedling emergence. Summary of the invention

[0004] The purpose of the invention is to solve the problem that grafting on the market currently mainly relies on manual or semi-automatic grafting machines, which has the disadvantages of low operating efficiency, high labor intensity, low grafting survival rate and uneven seedling emergence, and to propose a fully automatic tomato grafting machine and its control system.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A fully automatic tomato grafting machine, comprising:

[0007] machine tool;

[0008] A conveying device is installed on the left side of the machine tool. The machine tool is concavely arranged. A shearing cylinder is installed on the inner side of the top of the machine tool. A first mechanical arm is installed on the piston of the shearing cylinder. A grafting cylinder is installed on the inner side of the top of the machine tool. A second mechanical arm is installed on the piston of the grafting cylinder. A feeding device is installed on the front side of the machine tool. The feeding device cooperates with the shearing cylinder. An infrared probe is installed on the inner wall of one side of the machine tool. A display screen is installed on one side of the top of the machine tool. The display screen is connected to the infrared probe.

[0009] A shearing mechanism is installed on the first mechanical arm and cooperates with the feeding device;

[0010] A conversion mechanism is installed on an inner wall of one side of the machine tool and cooperates with the shearing mechanism;

[0011] The grafting mechanism is installed on the second mechanical arm and cooperates with the conversion mechanism. The grafting mechanism cooperates with the infrared probe.

[0012] Furthermore, the shearing mechanism includes a shearing plate, which is installed on the first mechanical arm, and a plurality of fixed blocks are fixedly installed on the shearing plate. A plurality of shearing knives are slidably connected to the shearing plate, and the shearing knives cooperate with the fixed blocks.

[0013] Furthermore, a sliding cavity is provided on the shear plate, a moving rod is slidably connected to the inner wall of the sliding cavity, a plurality of connecting blocks are fixedly installed on one side of the moving rod, a movable hole is provided on the inner wall of one side of the sliding cavity, the movable hole is slidably connected to the connecting block, and the connecting block is fixedly connected to the corresponding shear knife.

[0014] Furthermore, a cutting edge is provided on one side of the fixed block, and the shearing knife cooperates with the corresponding cutting edge. A positioning block is fixedly installed on the top of the shearing knife, and a push rod is slidably connected to the positioning block, and a pressure block is fixedly installed on one end of the push rod, and the pressure block cooperates with the fixed block. A top spring is fixedly installed on one side of the positioning block, and one end of the top spring is fixedly connected to the pressure block, and a baffle is fixedly installed on the other end of the push rod, and the baffle cooperates with the positioning block. A first cylinder is fixedly installed on one side of the shearing plate, and a piston of the first cylinder is fixedly connected to the moving rod.

[0015] Furthermore, the conversion mechanism includes a positioning plate, which is fixedly mounted on an inner wall of one side of the machine tool, and a plurality of clamping blocks are slidably connected to the positioning plate. A plurality of positioning grooves are opened on one side of the positioning plate, and a sliding rod is fixedly mounted on the inner wall of the positioning groove, and a sliding block is slidably connected to the sliding rod, and the clamping block is fixedly connected to the corresponding sliding block.

[0016] Furthermore, a mounting plate is fixedly installed on the top of the positioning plate, a push rod motor is fixedly installed on one end of the mounting plate, a push plate is fixedly installed on the piston of the push rod motor, a plurality of inclined grooves symmetrically arranged in pairs are opened on the push plate, a movable shaft is fixedly installed on one side of the slider, and the movable shaft is slidably connected to the inclined groove.

[0017] Furthermore, the grafting mechanism includes a functional plate, which is installed on the second robotic arm, and a plurality of pressure plates are slidably connected to the functional plate. A plurality of fixed plates are fixedly installed on one side of the functional plate, and the pressure plate cooperates with the corresponding fixed plates, and a sleeve is clamped between the fixed plate and the pressure plate.

[0018] Furthermore, a movable rod is slidably connected to the functional plate, a plurality of connecting strips are fixedly installed on one side of the movable rod, the connecting strips are fixedly connected to the corresponding pressure plates, a second cylinder is fixedly installed on one side of the functional plate, and a piston of the second cylinder is fixedly connected to the movable rod.

[0019] Furthermore, the conveying device is provided with a plurality of planting pots, and the planting pots cooperate with the clamping blocks.

[0020] A control system for a fully automatic tomato grafting machine, comprising:

[0021] A controller is disposed in the machine tool and controls the grafting operation process;

[0022] A feeding module is arranged in the controller and connected with the conveying device and the feeding device, and is used to control the conveying of the rootstock and feed the tomato seedlings, so as to graft the tomato seedlings onto the corresponding rootstock;

[0023] A shearing module is disposed in the controller and connected to the first mechanical arm and the first cylinder, and is used to shear the tomato seedlings and move and transport the sheared tomato seedlings;

[0024] A conversion module is arranged in the controller and connected to the push rod motor to replace and fix the sheared tomato seedlings;

[0025] A grafting module is arranged in the controller and connected to the second mechanical arm, the second cylinder and the grafting cylinder, and is used to clamp and position the grafting jacket, and at the same time, convert the jacket to the outside of the tomato seedling, and clamp the jacket between the rootstock and the tomato seedling, so as to graft the tomato seedling;

[0026] The monitoring module is arranged in the controller and connected to the infrared probe. The infrared probe is used to scan and monitor the grafted tomato seedlings to prevent defective products.

[0027] Compared with the prior art, the advantages of the present invention are:

[0028] (1) In this solution, due to the action of the first cylinder, the shearing knife and the blade cooperate with each other, so that the piston of the first cylinder can drive the shearing knife to shear the tomato seedlings, and press and fix them by the pressing block, and the tomato seedlings can be moved under the action of the first mechanical arm;

[0029] (2) In this solution, since the inclined groove and the movable shaft are connected in a sliding manner, and the two corresponding clamping blocks cooperate with each other, the push rod motor can drive the clamping blocks to clamp and fix the tomato seedlings, and the shearing part can be exposed;

[0030] (3) In this scheme, the pressure plate and the fixed plate cooperate with each other, and the jacket is located between the pressure plate and the fixed plate. Under the action of the second cylinder, the movable rod is driven to push and clamp the jacket, and the jacket is kept in an open state. At the same time, the jacket can be moved under the action of the second mechanical arm, which is convenient for grafting operation.

[0031] The invention has a simple structure and is easy to use. It can facilitate the rapid and automatic cutting of multiple tomato seedlings, and automatically move and graft them. At the same time, it can also detect the grafted tomato seedlings, which is convenient for people to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a structural schematic diagram of a fully automatic tomato grafting machine proposed by the present invention;

[0033] Figure 2 This is a side structural schematic diagram of a fully automatic tomato grafting machine proposed by the present invention;

[0034] Figure 3 This is a schematic diagram of a top view and cross-sectional structure of a shear plate of a fully automatic tomato grafting machine proposed by the present invention;

[0035] Figure 4 A schematic diagram of the side structure of a conversion mechanism of a fully automatic tomato grafting machine proposed by the present invention;

[0036] Figure 5 This is a schematic diagram of the push plate structure of a fully automatic tomato grafting machine proposed by the present invention;

[0037] Figure 6 A schematic diagram of a top view and cross-sectional structure of a functional panel of a fully automatic tomato grafting machine proposed by the present invention;

[0038] Figure 7 A fully automatic tomato grafting machine proposed by the present invention Figure 1 Schematic diagram of the structure of part A;

[0039] Figure 8 The present invention provides a system block diagram of a control system for a fully automatic tomato grafting machine.

[0040] In the figure: 1, machine tool; 2, conveying device; 3, shearing cylinder; 4, first mechanical arm; 5, shearing plate; 6, positioning plate; 7, grafting cylinder; 8, second mechanical arm; 9, function board; 10, sliding cavity; 11, fixed block; 12, moving rod; 13, shearing knife; 14, connecting block; 15, movable hole; 16, ejector rod; 17, pressure block; 18, baffle; 19, top spring; 20, knife edge; 21, clamping block ; 22. Positioning groove; 23. Slide bar; 24. Sliding block; 25. Mounting plate; 26. Push rod motor; 27. Push plate; 28. Inclined groove; 29. ​​Movable shaft; 30. Feeding device; 31. Positioning block; 32. Planting pot; 33. Fixed plate; 34. Movable rod; 35. Pressing plate; 36. Connecting strip; 37. Second cylinder; 38. Jacket; 39. Infrared probe; 40. Display screen; 41. First cylinder. DETAILED DESCRIPTION

[0041] The technical solution of this embodiment will be clearly and completely described below in conjunction with the drawings in this embodiment. Obviously, the described embodiment is only a part of this embodiment, rather than all of the embodiments.

[0042] Embodiment 1

[0043] Reference Figure 1-Figure 8 , a fully automatic tomato grafting machine, comprising:

[0044] Machine tool 1;

[0045] The conveying device 2 is installed on the left side of the machine tool 1. The machine tool 1 is concavely arranged. A shearing cylinder 3 is installed on the inner side of the top of the machine tool 1. A first mechanical arm 4 is installed on the piston of the shearing cylinder 3. A grafting cylinder 7 is installed on the inner side of the top of the machine tool 1. A second mechanical arm 8 is installed on the piston of the grafting cylinder 7. A feeding device 30 is installed on the front side of the machine tool 1. The feeding device 30 cooperates with the shearing cylinder 3. An infrared probe 39 is installed on the inner wall of one side of the machine tool 1. A display screen 40 is installed on one side of the top of the machine tool 1. The display screen 40 is connected to the infrared probe 39.

[0046] The shearing mechanism is mounted on the first mechanical arm 4 and cooperates with the feeding device 30;

[0047] The conversion mechanism is installed on the inner wall of one side of the machine tool 1 and cooperates with the shearing mechanism;

[0048] The grafting mechanism is installed on the second mechanical arm 8 and cooperates with the conversion mechanism. The grafting mechanism cooperates with the infrared probe 39.

[0049] In this embodiment, the shearing mechanism includes a shearing plate 5, which is installed on the first mechanical arm 4. A plurality of fixed blocks 11 are fixedly installed on the shearing plate 5. A plurality of shearing knives 13 are slidably connected to the shearing plate 5. The shearing knives 13 cooperate with the fixed blocks 11. A sliding cavity 10 is provided on the shearing plate 5. A moving rod 12 is slidably connected to the inner wall of the sliding cavity 10. A plurality of connecting blocks 14 are fixedly installed on one side of the moving rod 12. A movable hole 15 is provided on the inner wall of one side of the sliding cavity 10. The movable hole 15 is slidably connected to the connecting block 14. The connecting block 14 is fixedly connected to the corresponding shearing knives 13. A knife edge 20 is provided on one side of the fixed block 11. The shearing knives 13 cooperate with the corresponding knife edges 20. A positioning block 31 is fixedly installed on the top of the shearing knife 13. A push rod 16 is slidably connected to the positioning block 31. A pressure block 17 is fixedly installed on one end of the push rod 16. The pressure block 17 cooperates with the fixed block 11. One side of the positioning block 31 A top spring 19 is fixedly installed, one end of the top spring 19 is fixedly connected to the pressure block 17, and a baffle 18 is fixedly installed on the other end of the push rod 16, and the baffle 18 cooperates with the positioning block 31. A first cylinder 41 is fixedly installed on one side of the shearing plate 5, and the piston of the first cylinder 41 is fixedly connected to the moving rod 12. The piston of the first cylinder 41 drives the moving rod 12 to move, and the moving rod 12 drives the shearing knife 13 to move through the connecting block 14. The shearing knife 13 cooperates with the fixed block 11, so that the placed tomato seedlings can be sheared. At the same time, the moving shearing knife 13 drives the positioning block 31 to move, and the positioning block 31 drives the pressure block 17 to move through the push rod 16. The pressure block 17 presses and positions the sheared tomato seedlings under the action of the top spring 19. At the same time, through the setting of the shearing cylinder 3 and the first mechanical arm 4, the tomato seedlings on the shearing plate 5 can be easily transported and moved between the corresponding two clamping blocks 21 on the positioning plate 6.

[0050] In this embodiment, the conversion mechanism includes a positioning plate 6, which is fixedly mounted on the inner wall of one side of the machine tool 1, and a plurality of clamping blocks 21 are slidably connected to the positioning plate 6. A plurality of positioning grooves 22 are provided on one side of the positioning plate 6, and a slide bar 23 is fixedly mounted on the inner wall of the positioning groove 22, and a slider 24 is slidably connected to the slide bar 23. The clamping block 21 is fixedly connected to the corresponding slider 24, and a mounting plate 25 is fixedly mounted on the top of the positioning plate 6, and a push rod motor 26 is fixedly mounted on one end of the mounting plate 25. A push plate 27 is fixedly mounted on the piston of the push rod motor 26, and a plurality of inclined grooves 28 arranged symmetrically in pairs are provided on the push plate 27. A movable shaft 29 is fixedly installed on one side of the slider 24, and the movable shaft 29 is slidably connected to the inclined groove 28. The push rod motor 26 is connected to the conversion module. When the tomato seedlings are placed between the corresponding two clamping blocks 21, the push rod motor 26 switch is started, and the output shaft of the push rod motor 26 drives the push plate 27 to move downward. The push plate 27 is slidably connected to the movable shaft 29 through the inclined groove 28, so that the corresponding two clamping blocks 21 can be driven to approach each other, thereby clamping and positioning the tomato seedlings and exposing the roots of the tomato seedlings. At the same time, the slider 24 is slidably connected to the slide bar 23, so that the slider 24 can be limited.

[0051] In this embodiment, the grafting mechanism includes a function plate 9, which is mounted on the second mechanical arm 8. A plurality of pressure plates 35 are slidably connected to the function plate 9. A plurality of fixed plates 33 are fixedly mounted on one side of the function plate 9. The pressure plates 35 cooperate with the corresponding fixed plates 33, and a jacket 38 is clamped between the fixed plates 33 and the pressure plates 35. A movable rod 34 is slidably connected to the function plate 9. A plurality of connecting strips 36 are fixedly mounted on one side of the movable rod 34. The connecting strips 36 are fixedly connected to the corresponding pressure plates 35. A second cylinder 37 is fixedly mounted on one side of the function plate 9. The second cylinder 37 is fixedly mounted on one side of the function plate 9. The piston of the cylinder 37 is fixedly connected to the movable rod 34, the piston of the second cylinder 37 drives the movable rod 34 to move, and the movable rod 34 drives the pressure plate 35 to move through the connecting strip 36. The pressure plate 35 cooperates with the fixed plate 33 to clamp the jacket 38 and keep the jacket 38 in an open state. Then, under the action of the grafting cylinder 7 and the second mechanical arm 8, the jacket 38 is moved to the bottom of the clamping block 21 and placed on the tomato seedling. When the pressure plate 35 is released, the jacket 38 automatically clamps and positions the tomato seedling and the rootstock, thereby completing the grafting operation.

[0052] A control system for a fully automatic tomato grafting machine, comprising:

[0053] A controller is arranged in the machine tool 1 and controls the grafting operation process;

[0054] The feeding module is arranged in the controller and connected with the conveying device 2 and the feeding device 30, so as to control the conveying of the rootstock and feed the tomato seedlings, so as to graft the tomato seedlings onto the corresponding rootstock;

[0055] The shearing module is arranged in the controller and connected to the first mechanical arm 4 and the first cylinder 41, and is used to shear the tomato seedlings and move and transport the sheared tomato seedlings;

[0056] The conversion module is arranged in the controller and connected to the push rod motor 26 to replace and fix the cut tomato seedlings;

[0057] The grafting module is arranged in the controller and connected to the second mechanical arm 8, the second cylinder 37 and the grafting cylinder 7, so as to clamp and position the grafting jacket 38, and at the same time transfer the jacket 38 to the outside of the tomato seedling, and clamp the jacket 38 between the rootstock and the tomato seedling, so as to graft the tomato seedling;

[0058] The monitoring module is arranged in the controller and connected to the infrared probe 39. The infrared probe 39 is used to scan and monitor the grafted tomato seedlings to prevent defective products.

[0059] Working principle: tomato seedlings are loaded through the loading device 30, the rootstocks are planted in the planting pots 32, and loaded through the conveying device 2. The controller controls the loading module to drive the conveying device 2 and the loading device 30. At the same time, the controller controls the shearing module to drive the shearing cylinder 3, the first mechanical arm 4 and the first cylinder 41 to start. The piston of the first cylinder 41 drives the moving rod 12 to move. The moving rod 12 drives the shearing knife 13 to move through the connecting block 14. The shearing knife 13 cooperates with the fixed block 11 to shear the placed tomato seedlings. The shearing knife 13 drives the positioning block 31 to move, and the positioning block 31 drives the pressure block 17 to move through the push rod 16. The pressure block 17 presses and positions the sheared tomato seedlings under the action of the top spring 19. At the same time, through the setting of the shearing cylinder 3 and the first mechanical arm 4, it is convenient to carry the tomato seedlings on the shearing plate 5 and move them between the corresponding two clamping blocks 21 on the positioning plate 6. The controller controls the conversion module to drive the push rod motor 26 to start, and the output shaft of the push rod motor 26 drives the push plate 27 to move downward. The push plate 27 is connected to the sliding of the movable shaft 29 through the inclined slot 28, so that it can The two corresponding clamping blocks 21 can be driven to approach each other, so as to clamp and position the tomato seedlings and expose the roots of the tomato seedlings. At the same time, the slider 24 is slidably connected to the slide bar 23, so as to limit the slider 24. When the clamping block 21 clamps and positions the tomato seedlings, the controller controls the grafting cylinder 7, the second mechanical arm 8 and the second cylinder 37 to start, and the piston of the second cylinder 37 drives the movable rod 34 to move. The movable rod 34 drives the pressing plate 35 to move through the connecting strip 36. The pressing plate 35 cooperates with the fixed plate 33 to clamp the jacket 38. , and keep the jacket 38 in an open state, and then move the jacket 38 to the bottom of the clamping block 21 under the action of the grafting cylinder 7 and the second mechanical arm 8, and place it on the tomato seedlings. When the pressure plate 35 is released, the jacket 38 automatically clamps and positions the tomato seedlings and the rootstock, thereby completing the grafting operation. At the same time, the rootstock is moved to the bottom of the positioning plate 6 under the action of the conveying device 2, so that the tomato seedlings can be grafted. After the grafting is completed, the conveying device 2 is used to unload the material, and the infrared probe 39 is used to scan it, and the display screen 40 is used to observe whether the grafting is accurate.

[0060] Embodiment 2

[0061] The difference between this embodiment and the first embodiment is that an alarm device and a screening device are provided on the machine tool 1. The setting of the alarm device can facilitate the alarm operation of defective products detected by the infrared probe 39, and the setting of the screening device can facilitate the screening and discharge of defective products. All structures in this application can be selected in terms of material and length according to actual use conditions. The accompanying drawings are all schematic structural diagrams, and the specific actual dimensions can be appropriately adjusted.

[0062] The above description is only a preferred specific implementation manner of this embodiment, but the protection scope of this embodiment is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of this embodiment within the technical scope disclosed in this embodiment, and they should be covered by the protection scope of this embodiment.

Claims

1. A fully automatic tomato grafting machine, characterized in that: include: Machine tools (1); A conveying device (2) is installed on the left side of the machine tool (1). The machine tool (1) is concavely arranged. A shearing cylinder (3) is installed on the inner side of the top of the machine tool (1). A first mechanical arm (4) is installed on the piston of the shearing cylinder (3). A grafting cylinder (7) is installed on the inner side of the top of the machine tool (1). A second mechanical arm (8) is installed on the piston of the grafting cylinder (7). A feeding device (30) is installed on the front side of the machine tool (1). The feeding device (30) cooperates with the shearing cylinder (3). An infrared probe (39) is installed on the inner wall of one side of the machine tool (1). A display screen (40) is installed on one side of the top of the machine tool (1). The display screen (40) is connected to the infrared probe (39). A shearing mechanism, mounted on the first mechanical arm (4) and cooperating with the feeding device (30); A conversion mechanism, mounted on an inner wall of one side of the machine tool (1) and cooperating with the shearing mechanism; The grafting mechanism is installed on the second mechanical arm (8) and cooperates with the conversion mechanism. The grafting mechanism cooperates with the infrared probe (39).

2. A fully automatic tomato grafting machine according to claim 1, characterized in that: The shearing mechanism comprises a shearing plate (5), the shearing plate (5) being mounted on the first mechanical arm (4), a plurality of fixed blocks (11) being fixedly mounted on the shearing plate (5), a plurality of shearing knives (13) being slidably connected to the shearing plate (5), and the shearing knives (13) and the fixed blocks (11) being in cooperation with each other.

3. A fully automatic tomato grafting machine according to claim 2, characterized in that: The shear plate (5) is provided with a sliding cavity (10), a moving rod (12) is slidably connected to the inner wall of the sliding cavity (10), a plurality of connecting blocks (14) are fixedly installed on one side of the moving rod (12), a movable hole (15) is provided on the inner wall of one side of the sliding cavity (10), the movable hole (15) is slidably connected to the connecting block (14), and the connecting block (14) is fixedly connected to the corresponding shear knife (13).

4. A fully automatic tomato grafting machine according to claim 3, characterized in that: A knife edge (20) is provided on one side of the fixed block (11), and the shearing knife (13) cooperates with the corresponding knife edge (20). A positioning block (31) is fixedly installed on the top of the shearing knife (13), and a push rod (16) is slidably connected to the positioning block (31). A pressure block (17) is fixedly installed on one end of the push rod (16), and the pressure block (17) cooperates with the fixed block (11). A top spring (19) is fixedly installed on one side of the positioning block (31), and one end of the top spring (19) is fixedly connected to the pressure block (17), and a baffle (18) is fixedly installed on the other end of the push rod (16), and the baffle (18) cooperates with the positioning block (31). A first cylinder (41) is fixedly installed on one side of the shearing plate (5), and a piston of the first cylinder (41) is fixedly connected to the moving rod (12).

5. A fully automatic tomato grafting machine according to claim 4, characterized in that: The conversion mechanism comprises a positioning plate (6), the positioning plate (6) is fixedly mounted on an inner wall of one side of the machine tool (1), a plurality of clamping blocks (21) are slidably connected to the positioning plate (6), a plurality of positioning grooves (22) are provided on one side of the positioning plate (6), a sliding rod (23) is fixedly mounted on the inner wall of the positioning groove (22), a sliding block (24) is slidably connected to the sliding rod (23), and the clamping block (21) is fixedly connected to the corresponding sliding block (24).

6. A fully automatic tomato grafting machine according to claim 5, characterized in that: A mounting plate (25) is fixedly mounted on the top of the positioning plate (6), a push rod motor (26) is fixedly mounted on one end of the mounting plate (25), a push plate (27) is fixedly mounted on the piston of the push rod motor (26), a plurality of inclined grooves (28) symmetrically arranged in pairs are provided on the push plate (27), a movable shaft (29) is fixedly mounted on one side of the slider (24), and the movable shaft (29) is slidably connected to the inclined groove (28).

7. The fully automatic tomato grafting machine according to claim 6, characterized in that: The grafting mechanism comprises a function plate (9), the function plate (9) is mounted on the second mechanical arm (8), a plurality of pressure plates (35) are slidably connected to the function plate (9), a plurality of fixing plates (33) are fixedly mounted on one side of the function plate (9), the pressure plates (35) cooperate with the corresponding fixing plates (33), and a jacket (38) is clamped between the fixing plates (33) and the pressure plates (35).

8. The fully automatic tomato grafting machine according to claim 7, characterized in that: A movable rod (34) is slidably connected to the functional plate (9), a plurality of connecting strips (36) are fixedly mounted on one side of the movable rod (34), the connecting strips (36) are fixedly connected to corresponding pressure plates (35), a second cylinder (37) is fixedly mounted on one side of the functional plate (9), and a piston of the second cylinder (37) is fixedly connected to the movable rod (34).

9. The fully automatic tomato grafting machine according to claim 1, characterized in that: The conveying device (2) is provided with a plurality of planting pots (32), and the planting pots (32) cooperate with the clamping blocks (21).

10. A control system for a fully automatic tomato grafting machine, the fully automatic tomato grafting machine being the fully automatic tomato grafting machine according to any one of claims 1 to 9, characterized in that: include: A controller is arranged in the machine tool (1) and controls the grafting operation process; A feeding module is arranged in the controller and connected to the conveying device (2) and the feeding device (30), and is used to control the conveying of the rootstock and feed the tomato seedlings, so as to graft the tomato seedlings onto the corresponding rootstock; A shearing module is arranged in the controller and connected to the first mechanical arm (4) and the first cylinder (41) to shear the tomato seedlings and move and transport the sheared tomato seedlings; A conversion module is arranged in the controller and connected to the push rod motor (26) for replacing and fixing the sheared tomato seedlings; A grafting module is arranged in the controller and is connected to the second mechanical arm (8), the second cylinder (37) and the grafting cylinder (7) to clamp and position the grafting jacket (38), and at the same time transfer the jacket (38) to the outside of the tomato seedling, clamp the jacket (38) between the rootstock and the tomato seedling, so as to graft the tomato seedling; The monitoring module is arranged in the controller and connected to the infrared probe (39). The infrared probe (39) is used to scan and monitor the grafted tomato seedlings to prevent defective products.

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