Automatic clamp taking and clamping device for parallel grafting of multiple solanaceae vegetable plants and method of automatic clamp taking and clamping device

Abstract

The invention discloses an automatic clamping device and method for parallel grafting of multiple solanaceae vegetable plants, and belongs to the field of agricultural machinery. The device comprises a clamping mechanism installed on a clamping Y-axis direction double-axis sliding table and a seedling gathering limiting mechanism installed on a seedling gathering Y-axis direction double-axis sliding table. The clamping mechanism is used for clamping the material clamp single bodies and expanding the material clamp single bodies, and then the expanded material clamp single bodies are conveyed to the upper clamping position for upper clamping operation; and the seedling gathering and limiting mechanism is used for gathering the accurately cut scion seedlings and stock seedlings to a clamping range position, and plays a limiting role in the clamping process. According to actual production requirements, the mechanical structure is simplified, and the clamping efficiency and the clamping success rate of solanaceae vegetable grafting operation are greatly improved; the method has the advantages of reducing grafting operation difficulty, reducing operation cost and being easy to operate.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, in particular to the field of solanaceous vegetable grafting machinery, an automatic clamping device suitable for the mechanized grafting process of vegetables, in particular to a fully automatic grafting machine suitable for solanaceous vegetables. Background Art

[0002] Solanaceae vegetables are one of the important cultivated vegetables, but continuous cropping of vegetables is common in my country, and soil-borne diseases and continuous cropping obstacles are very serious, which hinders the sustainable development of the vegetable industry. A large number of studies have shown that grafting can enhance the disease resistance and drought resistance of vegetable crops and increase crop yields. However, most of the current domestic vegetable seedling grafting work is done manually, with low work efficiency and high labor costs, which seriously restricts the intensive production process of my country's vegetable industry. Robotic grafting technology is hailed as a revolution in the development of my country's seedling industry, and clamping is one of the most important components of the mechanized grafting process. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects in the prior art and provide an automatic clamping device and method for parallel grafting of multiple plants of Solanaceae vegetables. The present invention combines the actual production needs, simplifies the mechanical structure, greatly improves the clamping efficiency and clamping success rate of fruit and vegetable seedling grafting operations; and has the advantages of reducing the difficulty of grafting operations, reducing operating costs, and simple operation.

[0004] The specific technical solutions adopted by the present invention are as follows:

[0005] In a first aspect, the present invention provides an automatic clamping device for parallel grafting of multiple Solanaceae vegetables, comprising a clamping mechanism installed on a double-axis slide table in the Y-axis direction of clamping and a seedling gathering limiting mechanism installed on a double-axis slide table in the Y-axis direction of seedling gathering;

[0006] The clamping mechanism is used to clamp the material clamping unit and expand it, and then transport the expanded material clamping unit to the clamping position and perform the clamping operation;

[0007] The seedling gathering and limiting mechanism is used to gather the precisely cut scion seedlings and rootstock seedlings to the upper clamping range position, and plays a limiting role in the clamping process.

[0008] Preferably, the clamping Y-axis dual-axis slide comprises a first frame, a clamping thrust telescopic pull rod cylinder, a clamping telescopic pull rod connecting plate, a clamping support plate, a clamping Y-axis dual-axis slide mounting plate, a clamping slider and a clamping slide rail;

[0009] Two rows of vertical clamping support plates are arranged in parallel on the upper surface of the first frame, and a clamping slide rail is fixed on the top of each row of clamping support plates; the plate surface of the clamping Y-axis direction dual-axis slide mounting plate is arranged horizontally, the top is fixedly connected to the clamping mechanism, and the two sides are slidingly connected to the two clamping slide rails through a number of clamping sliding blocks; a clamping thrust telescopic pull rod cylinder is coaxially fixed on the upper surface of the first frame located between the two rows of clamping support plates, and the telescopic pull rod of the clamping thrust telescopic pull rod cylinder is connected to the clamping Y-axis direction dual-axis slide mounting plate through the clamping telescopic pull rod connecting plate, and the clamping Y-axis direction dual-axis slide mounting plate can be driven to slide back and forth along the clamping slide rail through the clamping thrust telescopic pull rod cylinder.

[0010] Furthermore, there are four clamping support plates in total, and each row includes two clamping support plates coaxially spaced apart; a number of clamping sliding blocks are symmetrically distributed on both sides of the clamping Y-axis direction dual-axis slide mounting plate, and the clamping sliding blocks are fixedly connected to the clamping Y-axis direction dual-axis slide mounting plate and are slidably connected to the clamping slide rail; the clamping telescopic pull rod connecting plate is fixedly connected to the clamping Y-axis direction dual-axis slide mounting plate and the telescopic pull rod of the clamping thrust telescopic pull rod cylinder.

[0011] Preferably, the clamping mechanism comprises a Z-axis screw module, an X-axis screw module, a plate assembly, a clamping mounting plate and a clamping clamping assembly;

[0012] The Z-axis screw module is installed vertically, and the X-axis screw module is installed on its slide, and the slide of the X-axis screw module is connected to the clamping installation plate through a plate assembly; the plate surface of the clamping installation plate is arranged horizontally, and n clamping assemblies are installed on it;

[0013] The clamping assembly includes a clamping pneumatic finger cylinder, a clamping limit plate and a clamping limit mounting plate; the clamping pneumatic finger cylinder is fixed to the clamping mounting plate through the clamping limit mounting plate, and the two pneumatic fingers thereon can realize clamping and releasing actions; in the clamping or releasing process, the clamping ends of the two pneumatic fingers can cooperate with each other to apply pressure to the wing ends on both sides of the material clamp to open it or remove the pressure to close it; a clamping limit plate with a vertical plate surface is provided between the two pneumatic fingers; the clamping limit plate is fixed to the clamping limit mounting plate, and is used to support the material clamp ring located at the center of the wing ends on both sides to limit the material clamp monomer.

[0014] Further, the plate assembly includes an extension mounting plate, a vertical mounting plate and a clamping connection plate;

[0015] The extended mounting plate is fixed on the slide table of the screw rod module in the X-axis direction, and a vertical mounting plate is installed at the end. A clamping connection plate with a horizontal plate surface is fixed at the bottom of the vertical mounting plate, and the bottom of the clamping connection plate is fixedly connected to the clamping mounting plate.

[0016] Preferably, the double slide in the Y-axis direction of the seedling gathering includes a seedling gathering thrust telescopic pull rod cylinder, a seedling gathering telescopic pull rod connecting plate, a seedling gathering support plate, a seedling gathering Y-axis direction double-axis slide mounting plate, a seedling gathering slider, a seedling gathering slide rail and a second frame;

[0017] Two rows of vertical seedling gathering support plates are arranged in parallel on the upper surface of the second frame, and a seedling gathering slide rail is fixed on the top of each row of seedling gathering support plates; the plate surface of the seedling gathering Y-axis direction double-axis slide table mounting plate is arranged horizontally, the top is fixedly connected with the seedling gathering limiting mechanism, and the two sides are slidably connected with the two seedling gathering slide rails through a number of seedling gathering sliding blocks; a seedling gathering thrust telescopic pull rod cylinder is coaxially fixed on the upper surface of the second frame between the two rows of seedling gathering support plates, and the telescopic pull rod of the seedling gathering thrust telescopic pull rod cylinder is connected with the seedling gathering Y-axis direction double-axis slide table mounting plate through the seedling gathering telescopic pull rod connecting plate, and the seedling gathering Y-axis direction double-axis slide table mounting plate can be driven to slide reciprocatingly along the seedling gathering slide rail through the seedling gathering thrust telescopic pull rod cylinder.

[0018] Furthermore, there are four seedling gathering support plates in total, and each row includes two seedling gathering support plates coaxially spaced apart; a number of seedling gathering sliding blocks are symmetrically distributed on both sides of the seedling gathering Y-axis direction double-axis slide mounting plate, and the seedling gathering sliding blocks are fixedly connected to the seedling gathering Y-axis direction double-axis slide mounting plate and are slidably connected to the seedling gathering slide rail; the seedling gathering telescopic rod connecting plate is fixedly connected to the seedling gathering Y-axis direction double-axis slide mounting plate and the telescopic rod of the seedling gathering thrust telescopic rod cylinder.

[0019] Furthermore, the seedling gathering and limiting mechanism includes a double-axis cylinder and a seedling gathering and limiting clamping assembly, and the seedling gathering and limiting clamping assembly includes a seedling gathering and limiting connecting plate, a seedling gathering and limiting mounting plate, a seedling gathering and limiting pneumatic finger cylinder, a limiting linear guide rail and a limiting slider;

[0020] The double-axis cylinder is fixed on the double-axis slide platform mounting plate in the seedling gathering Y-axis direction, and the telescopic pull rod is fixedly connected to one end side of the seedling gathering limit connecting plate; a plurality of limit linear guide rails coaxial with the double-axis cylinder are opened on the front side of the double-axis slide platform mounting plate in the seedling gathering Y-axis direction, and the limit linear guide rails are slidably connected with the seedling gathering limit connecting plate through the limit sliding block and the seedling gathering limit connecting plate, and the double-axis cylinder can drive the seedling gathering limit connecting plate to slide back and forth along the limit linear guide rail; the front half of the seedling gathering limit connecting plate extends out of the double-axis slide platform mounting plate in the seedling gathering Y-axis direction and is suspended, and n seedling gathering limit pneumatic finger cylinders are evenly installed on the suspended section of the seedling gathering limit connecting plate through the seedling gathering limit mounting plate; the two pneumatic fingers of the seedling gathering limit pneumatic finger cylinder can realize clamping and releasing actions. The inner side of the seedling gathering limit end of each pneumatic finger has a quarter-arc notch, and the inner side can form a semicircular notch when the two pneumatic fingers are fully clamped and closed; the size of the notch is consistent with the size of the opening of the material clamp monomer.

[0021] Preferably, the material clamp monomer is made of a bendable flexible plastic material, including a material clamp ring and wing ends located on both sides thereof; the material clamp ring has a linear opening, and the opening is closed in an initial state.

[0022] In a second aspect, the present invention provides an operating method of the automatic clamping device for parallel grafting of multiple Solanaceae vegetables using any one of the first aspects, which is specifically as follows:

[0023] When the clamping operation is performed, the n clamping clamping components in the clamping mechanism clamp the material clamping monomer, and then reach the target clamping position through the coordinated movement of the Y-axis dual-axis slide, the X-axis screw module and the Z-axis screw module, waiting for the clamping operation; at this time, the outer end of each clamping limit plate presses against the material clamping ring located at the center of the two side wing ends on the material clamping monomer to limit the position; after reaching the clamping position, the clamping pneumatic finger cylinder is ventilated to close the clamping end, clamp the two side wing ends of the material clamping monomer, and open the opening of the material clamping ring; then, through the coordinated movement of the clamping thrust telescopic pull rod cylinder, the Z-axis screw module and the X-axis screw module, the n clamping clamping components reach the upper clamping position to prepare for the subsequent upper clamping work;

[0024] When the seedling gathering operation is carried out, the n seedling gathering limit clamping components in the seedling gathering limit mechanism reach the upper clamping working position through the seedling gathering thrust telescopic pull rod cylinder, and then reach the seedling gathering position along the limit linear guide through the double-axis cylinder; the seedling gathering limit pneumatic finger cylinder drives the two seedling gathering limit ends to close, and the incision positions of the rootstock seedling and the scion seedling are brought closer to the middle notch, and the grafted seedling is gathered at the notch position;

[0025] When the clamping operation is performed, the clamping end is opened by the clamping pneumatic finger cylinder, the double wing ends of the material clamp monomer are not subjected to pressure, the opening of the material clamp ring is closed, and the scion seedling and the rootstock seedling in the gap are clamped to fix the scion seedling and the rootstock seedling as a whole, and the clamping work is completed to obtain the grafted seedling;

[0026] After the clamping is completed, the clamping clamping assembly reaches the clamping position through the coordinated movement of the Y-axis double-axis slide, the X-axis screw module and the Z-axis screw module, waiting for the next clamping operation; the seedling gathering limit mechanism is reset through the action of the double-axis cylinder and the seedling gathering thrust telescopic pull rod cylinder, waiting for the next seedling gathering work.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention can perform multi-station synchronous clamping of the cut material clamp monomer, apply pressure to the double-side wing ends of the material clamp monomer to open the originally closed material clamp monomer, and carry it to the upper clamping position in the open state to perform the upper clamping operation; the seedling gathering and limiting mechanism gathers the cutting wounds (to-be-clamped position) of the scion seedlings and the rootstock seedlings to be grafted together, and performs a limiting effect during the seedling raising process. It can realize the automatic and precise clamping and clamping of multiple plants in the vegetable grafting and planting scene in the mechanized grafting operation, and can stably and efficiently realize the grafting of a scion seedling of a vegetable onto its rootstock. The whole working process is stable and reliable, which improves the accuracy and efficiency of the grafting operation, ensures the close fit of the grafting part, promotes the grafting survival rate, and reduces the intensity of manual labor at the same time, realizes automation and planned development, and opens up a new direction for clamping and clamping in mechanized grafting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the device of the present invention;

[0030] Figure 2 A schematic diagram of the top view of the structure of an embodiment of the device of the present invention;

[0031] Figure 3 It is a left structural schematic diagram of an embodiment of the device of the present invention;

[0032] Figure 4 A schematic diagram of a material clamp unit according to an embodiment of the device of the present invention;

[0033] Figure 5 A schematic diagram of a dual-axis slide in the Y-axis direction for clamping in an embodiment of the device of the present invention;

[0034] Figure 6 A schematic diagram of a clamping mechanism of an embodiment of the device of the present invention;

[0035] Figure 7 It is a schematic diagram of a clamping assembly in a clamping mechanism in an embodiment of the device of the present invention;

[0036] Figure 8 It is a principle diagram of the pinching process of the clamping mechanism in the embodiment of the device of the present invention;

[0037] Fig. 9 This is a schematic diagram of a double slide in the Y-axis direction of the seedling gathering device embodiment of the present invention;

[0038] Fig.10 This is a schematic diagram of a seedling-collecting and limiting mechanism in an embodiment of the device of the present invention;

[0039] Fig.11 It is a schematic diagram of the mechanism of the seedling-collecting limiting clamping assembly in the embodiment of the device of the present invention;

[0040] Fig.12It is a schematic diagram of the clamping process of the bonding method in the embodiment of the device of the present invention;

[0041] Figure numerals: wing end 0401, material clamp ring 0402, Y-axis dual-axis slide 05 for clamping, first frame 0501, clamping thrust telescopic pull rod cylinder 0502, clamping telescopic pull rod connecting plate 0503, clamping support plate 0504, Y-axis dual-axis slide mounting plate 0505 for clamping, clamping slider 0506, clamping slide rail 0507, clamping mechanism 06, Z-axis screw module 0601, X-axis screw module 0602, extension mounting plate 0603, vertical mounting plate 0604, clamping connecting plate 0605, clamping mounting plate 0606, clamping clamping assembly 07, clamping pneumatic finger cylinder 0701, clamping limit plate 0 702, clamping limit mounting plate 0703, clamping end 0704, seedling gathering Y-axis direction double slide 09, seedling gathering thrust telescopic pull rod cylinder 0901, seedling gathering telescopic pull rod connecting plate 0902, seedling gathering support plate 0903, seedling gathering Y-axis direction double-axis slide mounting plate 0904, seedling gathering slider 0905, seedling gathering slide rail 0906, second frame 0907, seedling gathering limit mechanism 10, double-axis cylinder 1001, seedling gathering limit clamping assembly 11, seedling gathering limit connecting plate 1101, seedling gathering limit mounting plate 1102, seedling gathering limit pneumatic finger cylinder 1103, seedling gathering limit end 1104, limit linear guide rail 1105, limit slider 1106. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation mode of the present invention is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The technical features in each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0043] In the description of the present invention, it is to be understood that when an element is considered to be "connected" to another element, it may be directly connected to the other element or indirectly connected, that is, there are intermediate elements. On the contrary, when an element is said to be "directly" connected to another element, there are no intermediate elements.

[0044] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for the purpose of distinguishing descriptions, and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0045] In particular, as in the examples of the present invention, the X-axis direction screw rod module, the Z-axis direction screw rod module, the finger cylinder and other market standard parts are prior art, and their structural principles are not described in detail accordingly.

[0046] like Figures 1 to 3 As shown, an automatic clamping device for parallel grafting of multiple plants of Solanaceae vegetables provided by the present invention is provided. The device mainly comprises a clamping mechanism 06 installed on a double-axis slide 05 in the clamping Y-axis direction and a seedling gathering limiting mechanism 10 installed on a double slide 09 in the seedling gathering Y-axis direction. The clamping mechanism 06 and the seedling gathering limiting mechanism 10 are installed relative to each other. The double-axis slide 05 in the clamping Y-axis direction and the double slide 09 in the seedling gathering Y-axis direction can respectively make the clamping mechanism 06 and the seedling gathering limiting mechanism 10 reciprocate in the Y-axis direction. The mechanisms cooperate with each other to automatically realize the clamping and clamping functions. The following describes the cooperation process.

[0047] The clamping mechanism 06 is used to clamp the material clamp monomer and expand it, and then transport the expanded material clamp monomer to the clamping position and perform the clamping operation (i.e., for the subsequent grafting process of connecting and fixing the scion seedling and the rootstock seedling together).

[0048] The seedling-gathering and limiting mechanism 10 is used to gather the finely cut scion seedlings and rootstock seedlings to the upper clamping range position, and plays a limiting role in the clamping process.

[0049] It should be noted in advance that the clamping in the present invention is the process of clamping the cut material clamp monomer and applying pressure to its double-side wing ends to open the material clamp ring. The original material clamp is a wire in a slender shape, generally made of bendable flexible plastic material, and the wire is cut along the cross section to form a single material clamp monomer. Similarly, upper clamping refers to fixing the material clamp to the grafting position of the cut wound of the scion seedling and the rootstock seedling. Figure 4 As shown, each material clamp monomer includes a material clamp collar 0402 and wing ends 0401 located on both sides of the material clamp collar 0402. The material clamp collar 0402 is pre-cut with a linear opening, and the opening is closed in the initial state. Since the material clamp is made of a bendable flexible plastic material, the opening will expand after pressure is applied to the wing ends 0401 on both sides. The opening is placed on the grafting position of the seedling to be grafted, and the wing ends 0401 are released to restore the opening to a closed state, completing the fixation of the scion seedling and the rootstock seedling on both sides of the grafting position. The device of the present invention is to realize the automation of the clamping and clamping process of the material clamp monomer.

[0050] Theoretically, the structures of the above-mentioned Y-axis dual-axis slide 05, the clamping mechanism 06, the seedling gathering limiting mechanism 10, and the Y-axis dual-axis slide 09 are not limited, as long as they can achieve the functions described above. Figures 1 to 12 , the preferred implementation forms of each mechanism component are described in detail through embodiments.

[0051] As a preferred embodiment of the present invention, Figure 5 As shown, the Y-axis direction dual-axis slide 05 for clipping mainly includes a first frame 0501, a clipping thrust telescopic pull rod cylinder 0502, a clipping telescopic pull rod connecting plate 0503, a clipping support plate 0504, a Y-axis direction dual-axis slide mounting plate 0505 for clipping, a clipping slider 0506 and a clipping slide rail 0507. Among them, two rows of vertical clipping support plates 0504 are arranged in parallel on the upper surface of the first frame 0501, and a clipping slide rail 0507 is fixed on the top of each row of clipping support plates 0504. The board surface of the Y-axis direction dual-axis slide mounting plate 0505 for clipping is arranged horizontally, the top is fixedly connected to the clipping mechanism 06, and the two sides are slidably connected to the two clipping slide rails 0507 through a plurality of clipping sliders 0506. A clamp taking thrust telescopic pull rod cylinder 0502 is coaxially fixed on the upper surface of the first frame 0501 located between the two rows of clamp taking support plates 0504. The telescopic pull rod of the clamp taking thrust telescopic pull rod cylinder 0502 is connected to the clamp taking Y-axis direction dual-axis slide mounting plate 0505 through the clamp taking telescopic pull rod connecting plate 0503. The clamp taking thrust telescopic pull rod cylinder 0502 can drive the clamp taking Y-axis direction dual-axis slide mounting plate 0505 to slide back and forth along the clamp taking slide rail 0507.

[0052] In actual use, there are four clamping support plates 0504, and each row includes two clamping support plates 0504 coaxially spaced. A plurality of clamping sliders 0506 are evenly distributed on both sides of the clamping Y-axis direction dual-axis slide mounting plate 0505. The clamping sliders 0506 are fixedly connected to the clamping Y-axis direction dual-axis slide mounting plate 0505 and are slidably connected to the clamping slide rail 0507. The clamping telescopic rod connecting plate 0503 is fixedly connected to the clamping Y-axis direction dual-axis slide mounting plate 0505 and the telescopic rod of the clamping thrust telescopic rod cylinder 0502.

[0053] Specifically, in this embodiment, four vertically mounted clamping support plates 0504 are mounted on the first frame 0501 at a certain distance from each other, and the clamping thrust telescopic pull rod cylinder 0502 is also mounted on the first frame 0501, located in the middle of the two clamping support plates 0504. Two clamping slide rails 0507 are respectively mounted on the central horizontal lines of the upper surfaces of the two vertically mounted clamping support plates 0504, and each clamping slide rail 0507 is equipped with three clamping slide blocks 0506, and the clamping Y-axis direction dual-axis slide mounting plate 0505 is mounted on the clamping slide block 0506 across the support plate. In particular, the six clamping sliding blocks 0506 are evenly distributed on both sides of the clamping Y-axis direction dual-axis slide mounting plate 0505. A clamping telescopic rod connecting plate 0503 is installed below the clamping Y-axis direction dual-axis slide mounting plate 0505. The clamping telescopic rod connecting plate 0503 and the telescopic rod of the clamping thrust telescopic rod cylinder 0502 are fixed. The clamping thrust telescopic rod cylinder 0502 can drive the clamping Y-axis direction dual-axis slide mounting plate 0505 to reciprocate along the Y-axis direction through ventilation and deflation actions to complete subsequent work.

[0054] As a preferred embodiment of the present invention, Figure 6 As shown, the clamping mechanism 06 mainly includes a Z-axis screw module 0601, an X-axis screw module 0602, a plate assembly, a clamping mounting plate 0606 and a clamping clamping assembly 07. The Z-axis screw module 0601 is installed vertically, and the X-axis screw module 0602 is installed on its slide. The slide of the X-axis screw module 0602 is connected to the clamping mounting plate 0606 through the plate assembly. The plate surface of the clamping mounting plate 0606 is set horizontally, and n clamping clamping assemblies 07 are installed on it. Figure 7 As shown, the clamping assembly 07 includes a clamping pneumatic finger cylinder 0701, a clamping limit plate 0702 and a clamping limit mounting plate 0703. The clamping pneumatic finger cylinder 0701 is fixed to the clamping mounting plate 0606 through the clamping limit mounting plate 0703, and the two pneumatic fingers on it extend and can realize clamping and releasing actions. Figure 8 As shown, during the clamping or releasing process, the clamping ends 0704 of the two pneumatic fingers can cooperate with each other to apply pressure to the wing ends 0401 on both sides of the material clamp to open it or remove the pressure to close it. A clamping limit plate 0702 with a vertical plate surface is provided between the two pneumatic fingers. The clamping limit plate 0702 is fixed on the clamping limit mounting plate 0703, and is used to support the material clamp ring 0402 located at the center of the wing ends 0401 on both sides to limit the position of the material clamp monomer.

[0055] In actual use, the plate assembly mainly includes an extension mounting plate 0603, a vertical mounting plate 0604 and a clamp removal connecting plate 0605. The extension mounting plate 0603 is fixed on the slide of the X-axis screw module 0602, and a vertical mounting plate 0604 is installed at the end. A clamp removal connecting plate 0605 with the plate surface level is fixed to the bottom of the vertical mounting plate 0604, and the bottom of the clamp removal connecting plate 0605 is fixedly connected to the clamp removal mounting plate 0606. Since the extension mounting plate is installed on the slide of the X-axis screw module, it has the degrees of freedom in the X and Y directions.

[0056] Specifically, in this embodiment, the clamping mechanism 06 is installed on the Y-axis dual-axis slide mounting plate 0505, which includes a Z-axis screw module 0601, an X-axis screw module 0602, an extension mounting plate 0603, a vertical mounting plate 0604, a clamping connection plate 0605, a clamping mounting plate 0606 and five (i.e., n=5 in this embodiment) identical clamping assemblies 07. The Z-axis screw module 0601 is vertically installed on the Y-axis dual-axis slide mounting plate 0505, and the Z-axis screw module 0601 is equipped with a slide. The motor drives the screw to rotate, which can drive the slide to reciprocate along the Z-axis direction; the X-axis screw module 0602 is vertically installed on the slide of the Z-axis screw module 0601 through the bottom surface connection. The extension mounting plate 0603 is mounted on the slide of the X-axis screw module 0602, and the vertical mounting plate 0604 is vertically mounted on the end of the extension mounting plate 0603; the clamping connection plate 0605 is vertically mounted on the vertical mounting plate 0604; and the clamping mounting plate 0606 is horizontally mounted on the clamping connection plate 0605. Five clamping assemblies 07 are connected through the upper surface and mounted on the clamping mounting plate 0606 at the same intervals, such as Figure 7 As shown, the clamping limit installation plate 0703 is installed on the lower surface of the clamping pneumatic finger cylinder 0701 through the installation hole provided therein, and the clamping limit plate 0702 is installed on the clamping limit installation plate 0703. In particular, the clamping limit plate 0702 is located at the center of the two pneumatic finger clamping ends 0704 of the clamping pneumatic finger cylinder 0701. During operation, the clamping limit plate 0702 is located at the center of the double wing ends 0401 of the material clamp monomer that can be used for grafting operation after cutting.

[0057] As a preferred embodiment of the present invention, Fig. 9As shown, the double slide 09 in the Y-axis direction of the seedling gathering mainly includes a seedling gathering thrust telescopic pull rod cylinder 0901, a seedling gathering telescopic pull rod connecting plate 0902, a seedling gathering support plate 0903, a seedling gathering Y-axis direction double-axis slide mounting plate 0904, a seedling gathering slider 0905, a seedling gathering slide rail 0906 and a second frame 0907. Among them, two rows of vertical seedling gathering support plates 0903 are arranged in parallel on the upper surface of the second frame 0907, and a seedling gathering slide rail 0906 is fixed on the top of each row of seedling gathering support plates 0903. The board surface of the double-axis slide mounting plate 0904 in the Y-axis direction of the seedling gathering is arranged horizontally, and the top is fixedly connected to the seedling gathering limiting mechanism 10, and the two sides are slidably connected to the two seedling gathering slide rails 0906 through a plurality of seedling gathering sliders 0905. A seedling gathering thrust telescopic pull rod cylinder 0901 is coaxially fixed on the upper surface of the second frame 0907 located between the two rows of seedling gathering support plates 0903. The telescopic pull rod of the seedling gathering thrust telescopic pull rod cylinder 0901 is connected to the seedling gathering Y-axis direction double-axis slide mounting plate 0904 through the seedling gathering telescopic pull rod connecting plate 0902. The seedling gathering thrust telescopic pull rod cylinder 0901 can drive the seedling gathering Y-axis direction double-axis slide mounting plate 0904 to slide back and forth along the seedling gathering slide rail 0906.

[0058] In actual use, there are four seedling gathering support plates 0903, and each row includes two coaxially spaced seedling gathering support plates 0903. A plurality of seedling gathering sliders 0905 are symmetrically arranged on both sides of the seedling gathering Y-axis direction dual-axis slide mounting plate 0904, and the seedling gathering sliders 0905 are fixedly connected to the seedling gathering Y-axis direction dual-axis slide mounting plate 0904 and slidably connected to the seedling gathering slide rail 0906. The seedling gathering telescopic pull rod connecting plate 0902 is fixedly connected to the seedling gathering Y-axis direction dual-axis slide mounting plate 0904 and the telescopic pull rod of the seedling gathering thrust telescopic pull rod cylinder 0901.

[0059] That is to say, the form, positional relationship and working principle of the double slide 09 in the Y-axis direction for gathering seedlings and the double slide 05 in the Y-axis direction for clamping are the same.

[0060] As a preferred embodiment of the present invention, Fig.10As shown, the seedling gathering and limiting mechanism 10 mainly includes a double-axis cylinder 1001 and a seedling gathering and limiting clamping assembly 11, and the seedling gathering and limiting clamping assembly 11 mainly includes a seedling gathering and limiting connecting plate 1101, a seedling gathering and limiting mounting plate 1102, a seedling gathering and limiting pneumatic finger cylinder 1103, a limiting linear guide 1105 and a limiting slider 1106. Among them, the double-axis cylinder 1001 is fixed on the double-axis slide mounting plate 0904 in the seedling gathering Y-axis direction, and the telescopic pull rod is fixedly connected to one end side of the seedling gathering and limiting connecting plate 1101. The front side of the seedling gathering Y-axis direction dual-axis slide mounting plate 0904 is provided with a plurality of limit linear guide rails 1105 coaxial with the dual-axis cylinder 1001. The limit linear guide rails 1105 are slidably connected to the seedling gathering limit connecting plate 1101 via the limit slider 1106. The dual-axis cylinder 1001 can drive the seedling gathering limit connecting plate 1101 to slide forward and backward along the limit linear guide rails 1105. The front half of the seedling gathering limit connecting plate 1101 extends out of the seedling gathering Y-axis direction dual-axis slide mounting plate 0904 and is suspended in the air. On the suspended section of the seedling gathering limit connecting plate 1101, n seedling gathering limit pneumatic finger cylinders 1103 are evenly installed via the seedling gathering limit mounting plate 1102. Fig.11 As shown, the two pneumatic fingers of the seedling-holding pneumatic finger cylinder 1103 can realize clamping and releasing actions, and the inner side of the seedling-holding end 1104 of each pneumatic finger is a quarter arc-shaped notch, and a semicircular notch can be formed inside when the two pneumatic fingers are fully clamped and closed. The size of the semicircular notch should be consistent with the size of the opening of the material clamp unit to ensure accurate clamping.

[0061] Specifically, in this embodiment, five (i.e., n=5 in this embodiment) seedling gathering limit clamping assemblies 11 are distributed along a horizontal straight line on the double-axis slide mounting plate 0904 in the seedling gathering Y-axis direction, which is composed of a seedling gathering limit connecting plate 1101, five seedling gathering limit mounting plates 1102, five seedling gathering limit pneumatic finger cylinders 1103 and four limit linear guide rails 1105 and corresponding limit sliders 1106. Four limit linear guides 1105 are horizontally installed on the double slide mounting plate 0904 in the Y-axis direction of seedling gathering, and are symmetrically distributed along the center line of the double slide mounting plate 0904 in the Y-axis direction of seedling gathering. Four limit sliders 1106 are respectively installed on the four limit linear guides 1105; the seedling gathering connecting plate 1101 is installed on the four limit linear guides 1105; the double-axis cylinder 1001 is connected to the rear center position of the seedling gathering connecting plate 1101, and the double-axis cylinder 1001 is installed on the double slide mounting plate 0904 in the Y-axis direction of seedling gathering. The double-axis push rod of the double-axis cylinder 1001 is fixed to the seedling gathering limit connecting plate 1101. The double-axis cylinder 1001 can drive the seedling gathering limit connecting plate 1101 to do reciprocating motion on the limit linear guide 1105 through the limit slider 1106 through the ventilation and deflation action. Five seedling-raising limiting mounting plates 1102 are horizontally mounted in front of the seedling-raising limiting connecting plate 1101, and the five seedling-raising limiting mounting plates 1102 are partially suspended; five seedling-raising limiting pneumatic finger cylinders 1103 are respectively mounted on the side of the suspended position of the five seedling-raising limiting mounting plates 1102 through the threaded holes on both sides of the finger cylinders. Two seedling-raising limiting terminals 1104 are symmetrically mounted on the two pneumatic fingers of the five seedling-raising limiting pneumatic finger cylinders, and the inner sides of the two seedling-raising limiting terminals 1104 are quarter-arc-shaped notches. In actual use, the pneumatic finger cylinder 1103 of the seedling-gathering limiter can drive the pneumatic finger to open and close through ventilation and deflation, and then drive the two seedling-gathering limiter ends 1104 to close, forming a semicircular notch. While closing, the two seedling-gathering limiter ends 1104 move closer to the middle, move the cutting wound positions of the rootstock seedling and the scion seedling closer to the middle, and gather the grafted seedling at the notch position, which is convenient for subsequent clamping operations. At the same time, the notch formed by the closure of the two seedling-gathering limiter ends also plays a role in limiting support during the subsequent clamping operation, thereby improving the success rate of the subsequent clamping action of the clamping mechanism 06.

[0062] The present invention further provides an operation method using the automatic clamping device for parallel grafting of multiple Solanaceae vegetables. The operation method can realize the automatic clamping and clamping operation of the material clamp monomer. The specific steps of the method are as follows:

[0063] 1) When the clamping operation is performed, the n clamping clamping assemblies 07 in the clamping mechanism 06 clamp the material clamping monomer, and then reach the target clamping position through the coordinated movement of the clamping Y-axis dual-axis slide 05, the X-axis screw module 0602 and the Z-axis screw module 0601, and wait for the clamping operation. At this time, the clamping thrust telescopic pull rod cylinder 0502 is ventilated, and the telescopic pull rod is in the push-out state; the outer end of each clamping limit plate 0702 is against the material clamping ring 0402 located at the center of the two side wing ends 0401 on the material clamping monomer to limit the position. After reaching the clamping position, the clamping pneumatic finger cylinder 0701 is ventilated to close the clamping end 0704, clamp the two side wing ends 0401 of the material clamping monomer, and open the opening of the material clamping ring 0402. Next, through the coordinated movement of the clamping thrust telescopic pull rod cylinder 0502, the Z-axis screw module 0601 and the X-axis screw module 0602, the n clamping clamping assemblies 07 reach the clamping position to prepare for the subsequent clamping work.

[0064] As a preferred embodiment of the present invention, after the material clamping ring 0402 is stretched open, the clamping thrust telescopic pull rod cylinder 0502 works to put the telescopic pull rod in a closed state, and the clamping mechanism 06 also retreats; the Z-axis direction screw rod module 0601 moves downward through the motor, and the five clamping clamping components 0701 also move downward, and then the X-axis direction screw rod module 0602 moves forward through the motor to reach the upper clamping position, preparing for subsequent clamping work.

[0065] 2) When the seedlings are gathered, the n seedlings gathering limit clamping assemblies 11 in the seedlings gathering limit mechanism 10 reach the upper clamping working position through the seedlings gathering thrust telescopic pull rod cylinder 0901, and then reach the seedlings to be gathered position along the limit linear guide rail 1105 through the double-axis cylinder 1001. The seedlings gathering limit pneumatic finger cylinder 1103 drives the two seedlings gathering limit ends 1104 to close, and the incision positions of the rootstock seedling and the scion seedling are brought closer to the middle notch, and the grafted seedlings are gathered at the notch position.

[0066] As a preferred embodiment of the present invention, when the seedling gathering operation is performed, the seedling gathering thrust telescopic pull rod cylinder 0901 is deflated, and the telescopic pull rod of the seedling gathering thrust telescopic pull rod cylinder 0901 is retracted, driving the five seedling gathering limit clamping assemblies 11 to move leftward as a whole to reach the upper clamping working position, and the double-axis cylinder 1001 is ventilated to telescopically move forward, and the five seedling gathering limit clamping assemblies 11 also move forward along the limit linear guide rail 1105 to reach the seedling gathering position. The seedling gathering limit pneumatic finger cylinder 1103 is ventilated and closed, driving the two seedling gathering limit ends 1104 to close, and the incision positions of the rootstock seedling and the scion seedling are brought closer to the middle notch, and the grafted seedling is gathered at the notch position.

[0067] 3) When the clamping operation is performed, the clamping end 0704 is opened by deflating the clamping pneumatic finger cylinder 0701, and the double wing ends 0401 of the material clamp monomer are not subjected to pressure, and the opening of the material clamp ring 0402 is closed, and the scion seedling and the rootstock seedling are clamped at the wound of the scion seedling and the rootstock seedling in the notch, so that the scion seedling and the rootstock seedling are fixed as a whole, and the clamping work is completed to obtain the grafted seedling. Fig.12 shown.

[0068] 4) After the clamping is completed, the clamping assembly 07 reaches the clamping position through the coordinated movement of the Y-axis dual-axis slide 05, the X-axis screw module 0602 and the Z-axis screw module 0601, and waits for the next clamping operation. The seedling gathering limit mechanism 10 is reset through the action of the dual-axis cylinder 1001 and the seedling gathering thrust telescopic pull rod cylinder 0901, and waits for the next seedling gathering operation.

[0069] As a preferred embodiment of the present invention, the double-axis cylinder 1001 is deflated to move forward and telescopically, the seedling gathering thrust telescopic rod cylinder 0901 is ventilated, the telescopic rod of the seedling gathering thrust telescopic rod cylinder 0901 is telescoped forward, and the seedling gathering limit mechanism 10 returns to the initial position, waiting for the next seedling gathering work.

[0070] It should be noted that the clamping operation and the seedling gathering operation are independent of each other and can be carried out at the same time.

[0071] It should be specially noted that each pneumatic device needs to be equipped with an air source (preferably an air pump), an air pipe and pneumatic components, which are all conventional components and are omitted in the figure.

[0072] The above-described embodiment is only a preferred solution of the present invention, but it is not intended to limit the present invention. A person skilled in the relevant technical field may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. An automatic clamping device for parallel grafting of multiple Solanaceae vegetables, characterized in that: It comprises a clamping mechanism (06) installed on a double-axis slide table (05) in the clamping Y-axis direction and a seedling gathering limiting mechanism (10) installed on a double slide table (09) in the seedling gathering Y-axis direction; The clamping mechanism (06) is used to clamp the material clamping unit and expand it, and then transport the expanded material clamping unit to the clamping position and perform the clamping operation; The seedling gathering and limiting mechanism (10) is used to gather the precisely cut scion seedlings and rootstock seedlings to the upper clamping range position, and plays a limiting role in the clamping process.

2. The automatic clamping device for parallel grafting of multiple Solanaceae vegetables according to claim 1, characterized in that: The Y-axis dual-axis slideway (05) for clamping removal comprises a first frame (0501), a clamping removal thrust telescopic pull rod cylinder (0502), a clamping removal telescopic pull rod connecting plate (0503), a clamping removal support plate (0504), a Y-axis dual-axis slideway mounting plate (0505), a clamping removal slider (0506) and a clamping removal slide rail (0507); Two rows of vertical clamping support plates (0504) are arranged in parallel on the upper surface of the first frame (0501), and a clamping slide rail (0507) is fixed on the top of each row of clamping support plates (0504); the plate surface of the dual-axis slide mounting plate (0505) in the Y-axis direction of clamping is arranged horizontally, and the top is fixedly connected to the clamping mechanism (06), and the two sides are slidably connected to the two clamping slide rails (0507) through a plurality of clamping sliding blocks (0506); the clamping support plates located on the two rows are connected to the clamping slide rails (0507). A clamping thrust telescopic rod cylinder (0502) is coaxially fixed on the upper surface of the first frame (0501) between (0504), and the telescopic rod of the clamping thrust telescopic rod cylinder (0502) is connected to the clamping Y-axis direction double-axis slide mounting plate (0505) through the clamping telescopic rod connecting plate (0503). The clamping thrust telescopic rod cylinder (0502) can drive the clamping Y-axis direction double-axis slide mounting plate (0505) to slide back and forth along the clamping slide rail (0507).

3. The automatic clamping device for parallel grafting of multiple Solanaceae vegetables according to claim 2, characterized in that: There are four clamping support plates (0504) in total, and each row includes two clamping support plates (0504) coaxially spaced apart; a number of clamping sliding blocks (0506) are symmetrically distributed on both sides of the clamping Y-axis direction dual-axis slide mounting plate (0505), and the clamping sliding block (0506) is fixedly connected to the clamping Y-axis direction dual-axis slide mounting plate (0505) and is slidably connected to the clamping slide rail (0507); the clamping telescopic pull rod connecting plate (0503) is fixedly connected to the clamping Y-axis direction dual-axis slide mounting plate (0505) and the telescopic pull rod of the clamping thrust telescopic pull rod cylinder (0502).

4. The automatic clamping device for parallel grafting of multiple Solanaceae vegetables according to claim 1, characterized in that: The clamping mechanism (06) comprises a Z-axis screw module (0601), an X-axis screw module (0602), a plate assembly, a clamping mounting plate (0606) and a clamping clamping assembly (07); The Z-axis screw rod module (0601) is installed vertically, and the X-axis screw rod module (0602) is installed on its slide, and the slide of the X-axis screw rod module (0602) is connected to the clamping installation plate (0606) through a plate assembly; the plate surface of the clamping installation plate (0606) is arranged horizontally, and n clamping clamping assemblies (07) are installed on it; The clamping assembly (07) comprises a clamping pneumatic finger cylinder (0701), a clamping limit plate (0702) and a clamping limit mounting plate (0703); the clamping pneumatic finger cylinder (0701) is fixed to the clamping mounting plate (0606) through the clamping limit mounting plate (0703), and the two pneumatic fingers thereon can realize clamping and releasing actions by ventilation and deflation; during the clamping or releasing process, the clamping ends (0704) of the two pneumatic fingers can cooperate with each other to apply pressure to the wing ends (0401) on both sides of the material clamp to open it or remove the pressure to close it; a clamping limit plate (0702) with a vertical plate surface is provided between the two pneumatic fingers; the clamping limit plate (0702) is fixed to the clamping limit mounting plate (0703) and is used to support the material clamp ring (0402) located at the center of the wing ends (0401) on both sides to limit the material clamp monomer.

5. The automatic clamping device for parallel grafting of multiple Solanaceae vegetables according to claim 4, characterized in that: The plate assembly comprises an extension mounting plate (0603), a vertical mounting plate (0604) and a clamping connection plate (0605); The extended mounting plate (0603) is fixed on the slide of the screw rod module (0602) in the X-axis direction, and a vertical mounting plate (0604) is installed at the end. A clamping connection plate (0605) with a horizontal plate surface is fixed at the bottom of the vertical mounting plate (0604), and the bottom of the clamping connection plate (0605) is fixedly connected to the clamping mounting plate (0606).

6. The automatic clamping device for parallel grafting of multiple Solanaceae vegetables according to claim 1, characterized in that: The seedling gathering Y-axis direction double slide (09) comprises a seedling gathering thrust telescopic pull rod cylinder (0901), a seedling gathering telescopic pull rod connecting plate (0902), a seedling gathering support plate (0903), a seedling gathering Y-axis direction double-axis slide mounting plate (0904), a seedling gathering slider (0905), a seedling gathering slide rail (0906) and a second frame (0907); Two rows of vertical seedling gathering support plates (0903) are arranged in parallel on the upper surface of the second frame (0907), and a seedling gathering slide rail (0906) is fixed on the top of each row of seedling gathering support plates (0903); the plate surface of the seedling gathering Y-axis direction double-axis slide mounting plate (0904) is arranged horizontally, and the top is fixedly connected to the seedling gathering limit mechanism (10), and the two sides are slidably connected to the two seedling gathering slide rails (0906) through a plurality of seedling gathering sliders (0905); A seedling gathering thrust telescopic pull rod cylinder (0901) is coaxially fixed on the upper surface of the second frame (0907) between the plates (0903); the telescopic pull rod of the seedling gathering thrust telescopic pull rod cylinder (0901) is connected to the seedling gathering Y-axis direction double-axis slide mounting plate (0904) through the seedling gathering telescopic pull rod connecting plate (0902); the seedling gathering Y-axis direction double-axis slide mounting plate (0904) can be driven by the seedling gathering thrust telescopic pull rod cylinder (0901) to slide back and forth along the seedling gathering slide rail (0906).

7. The automatic clamping device for parallel grafting of multiple Solanaceae vegetables according to claim 6, characterized in that: There are four seedling gathering support plates (0903) in total, and each row includes two seedling gathering support plates (0903) coaxially spaced apart; a plurality of seedling gathering sliders (0905) are symmetrically distributed on both sides of the seedling gathering Y-axis direction dual-axis slide mounting plate (0904), and the seedling gathering sliders (0905) are fixedly connected to the seedling gathering Y-axis direction dual-axis slide mounting plate (0904) and are slidably connected to the seedling gathering slide rail (0906); the seedling gathering telescopic pull rod connecting plate (0902) is fixedly connected to the seedling gathering Y-axis direction dual-axis slide mounting plate (0904) and the telescopic pull rod of the seedling gathering thrust telescopic pull rod cylinder (0901).

8. The automatic clamping device for parallel grafting of multiple Solanaceae vegetables according to claim 7, characterized in that: The seedling gathering and limiting mechanism (10) comprises a double-axis cylinder (1001) and a seedling gathering and limiting clamping assembly (11); the seedling gathering and limiting clamping assembly (11) comprises a seedling gathering and limiting connecting plate (1101), a seedling gathering and limiting mounting plate (1102), a seedling gathering and limiting pneumatic finger cylinder (1103), a limiting linear guide rail (1105) and a limiting sliding block (1106); The double-axis cylinder (1001) is fixed on the double-axis slide mounting plate (0904) in the Y-axis direction of the seedling gathering, and the telescopic pull rod is fixedly connected to one end of the seedling gathering limit connecting plate (1101); a plurality of limit linear guide rails (1105) coaxial with the double-axis cylinder (1001) are provided on the front side of the double-axis slide mounting plate (0904) in the Y-axis direction of the seedling gathering, and the limit linear guide rails (1105) are slidably connected to the seedling gathering limit connecting plate (1101) through the limit slider (1106), and the double-axis cylinder (1001) can drive the seedling gathering limit connecting plate (1101) to slide forward and backward along the limit linear guide rails (1105); The front half of the position connecting plate (1101) extends out of the double-axis slide mounting plate (0904) in the Y-axis direction of the seedling gathering and limiting position and is suspended in the air. On the suspended section of the seedling gathering and limiting connecting plate (1101), n ​​seedling gathering and limiting pneumatic finger cylinders (1103) are evenly installed through the seedling gathering and limiting mounting plate (1102); the two pneumatic fingers of the seedling gathering and limiting pneumatic finger cylinders (1103) are extended and can realize clamping and releasing actions, and the inner side of the seedling gathering and limiting end (1104) of each pneumatic finger has a quarter-arc notch, and a semicircular notch can be formed on the inner side when the two pneumatic fingers are fully clamped and closed; the size of the notch is consistent with the size of the opening of the material clamp monomer.

9. The automatic clamping device for parallel grafting of multiple Solanaceae vegetables according to claim 1, characterized in that: The material clamping unit is made of a bendable flexible plastic material, including a material clamping ring (0402) and wing ends (0401) located on both sides thereof; the material clamping ring (0402) has a linear opening, and the opening is closed in an initial state.

10. An operating method of the automatic clamping device for parallel grafting of multiple Solanaceae vegetables according to any one of claims 1 to 9, characterized in that: The details are as follows: When the clamping operation is performed, the n clamping clamping assemblies (07) in the clamping mechanism (06) clamp the material clamping unit, and then reach the target clamping position through the coordinated movement of the Y-axis dual-axis slide (05), the X-axis screw module (0602) and the Z-axis screw module (0601), and wait for the clamping operation; at this time, the outer end of each clamping limit plate (0702) presses against the material clamping ring (0402) located at the center of the two side wing ends (0401) on the material clamping unit to limit the material clamping unit. After reaching the clamping position, the clamping pneumatic finger cylinder (0701) is ventilated to close the clamping end (0704), clamp the double wing ends (0401) of the material clamping monomer, and open the opening of the material clamping ring (0402); then, through the coordinated movement of the clamping thrust telescopic pull rod cylinder (0502), the Z-axis screw module (0601) and the X-axis screw module (0602), the n clamping clamping components (07) reach the clamping position, preparing for the subsequent clamping work; When the seedling gathering operation is performed, the n seedling gathering limit clamping assemblies (11) in the seedling gathering limit mechanism (10) reach the upper clamping working position through the seedling gathering thrust telescopic pull rod cylinder (0901), and then reach the seedling gathering position along the limit linear guide rail (1105) through the double-axis cylinder (1001); the seedling gathering limit pneumatic finger cylinder (1103) drives the two seedling gathering limit ends (1104) to close, so that the incision positions of the rootstock seedling and the scion seedling are brought closer to the middle notch, and the grafted seedling is gathered at the notch position; When the clamping operation is performed, the clamping end (0704) is opened by the clamping pneumatic finger cylinder (0701), the double wing ends (0401) of the material clamping unit are not subjected to pressure, the opening of the material clamping ring (0402) is closed, and the material clamping ring is clamped on the wound of the scion seedling and the rootstock seedling in the gap, so that the scion seedling and the rootstock seedling are fixed as a whole, and the clamping operation is completed to obtain the grafted seedling; After the clamping is completed, the clamping clamping assembly (07) reaches the clamping position through the coordinated movement of the Y-axis double-axis slide (05), the X-axis screw module (0602) and the Z-axis screw module (0601), and waits for the next clamping operation; the seedling gathering limit mechanism (10) is reset through the action of the double-axis cylinder (1001) and the seedling gathering thrust telescopic pull rod cylinder (0901), and waits for the next seedling gathering operation.

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