A device and method for automatically taking and placing a grafting clip for a multi-plant parallel grafting of solanaceous vegetables

Abstract

The application discloses a kind of solanaceae vegetables multi-parallel grafting automatic taking clip upper clip device and method, belong to agricultural machinery field.Device includes the taking clip mechanism of installation on the double axle slide platform of taking clip Y axle direction and the bunching seedling limiting mechanism of installation on the double slide platform of bunching seedling Y axle direction;Taking clip mechanism is used to clamp and take material clip monomer and open it, then after opening material clip monomer is sent to the upper clip position and carries out upper clip operation;Bunching seedling limiting mechanism is used to bunch the scion seedling and stock seedling after fine cutting to the upper clip range position, and play the limiting effect in the process of upper clip.The application combines actual need of production, simplifies mechanical structure, greatly improves solanaceae vegetables grafting operation upper clip efficiency and upper clip success rate;With the advantages of reducing grafting operation difficulty, reducing operation cost, simple operation.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery, specifically an automatic clamping and clamping device suitable for the mechanized grafting process of vegetables, particularly a fully automatic grafting machine for solanaceous vegetables. Background Technology

[0002] Solanaceous vegetables are among the most important cultivated vegetables, but continuous cropping is prevalent in my country, leading to severe soil-borne diseases and crop rotation obstacles, hindering the sustainable development of the vegetable industry. Numerous studies have shown that grafting can enhance the disease and drought resistance of vegetable crops and increase yield. However, currently, most vegetable seedling grafting in China relies on manual labor, resulting in low efficiency and high labor costs, severely restricting the intensive production process of my country's vegetable industry. Robotic grafting technology is hailed as a revolution in my country's seedling industry, and the clamping and clamping process is one of the most crucial components of mechanized grafting. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an automatic clamping device and method for parallel grafting of multiple solanaceous vegetables. This invention, tailored to actual production needs, simplifies the mechanical structure and significantly improves the clamping efficiency and success rate in fruit and vegetable seedling grafting operations; it also offers advantages such as reduced grafting difficulty, lower operating costs, and simple operation.

[0004] The specific technical solution adopted in this invention is as follows:

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

[0006] The clamping mechanism is used to clamp the individual clamps and expand them, and then transport the expanded individual clamps to the clamping position for clamping.

[0007] The seedling gathering and limiting mechanism is used to gather the finely cut scion seedlings and rootstock seedlings into the upper clamping range and to limit their movement during the clamping process.

[0008] Preferably, the dual-axis slide table in the Y-axis direction of clamping includes a first frame, a clamping thrust telescopic rod cylinder, a clamping telescopic rod connecting plate, a clamping support plate, a clamping Y-axis direction dual-axis slide table mounting plate, a clamping slider, and a clamping slide rail;

[0009] The first frame has two rows of vertically oriented clamping support plates arranged parallel to each other on its upper surface. Each row of clamping support plates has a clamping slide rail fixed to its top. The clamping Y-axis dual-axis slide mounting plate is horizontally oriented, with its top fixedly connected to the clamping mechanism. Both sides are slidably connected to the two clamping slide rails via several clamping sliders. A clamping thrust telescopic rod cylinder is coaxially fixed to the upper surface of the first frame between the two rows of clamping support plates. The telescopic rod of the clamping thrust telescopic rod cylinder is connected to the clamping Y-axis dual-axis slide mounting plate via a clamping telescopic rod connecting plate. The clamping thrust telescopic rod cylinder can drive the clamping Y-axis dual-axis slide mounting plate to slide back and forth along the clamping slide rail.

[0010] Furthermore, there are four clamping support plates, with two clamping support plates arranged coaxially at intervals in each row; several clamping sliders are symmetrically distributed on both sides of the clamping Y-axis dual-axis slide table mounting plate, and the clamping sliders are fixedly connected to the clamping Y-axis dual-axis slide table mounting plate and slidably connected to the clamping slide rail; the clamping telescopic rod connecting plate is fixedly connected to both the clamping Y-axis dual-axis slide table mounting plate and the telescopic rod of the clamping thrust telescopic rod cylinder.

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

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

[0013] The clamping assembly includes a clamping pneumatic finger cylinder, a clamping limiting plate, and a clamping limiting mounting plate. The clamping pneumatic finger cylinder is fixed to the clamping mounting plate via the clamping limiting mounting plate, and its two pneumatic fingers can perform clamping and releasing actions. During clamping or releasing, the clamping ends of the two pneumatic fingers can cooperate to apply pressure to the wing ends on both sides of the clamp to open it or release the pressure to close it. A clamping limiting plate with a vertical plate surface is provided between the two pneumatic fingers. The clamping limiting plate is fixed to the clamping limiting mounting plate and is used to press against the clamping collar located at the center of the two wing ends to limit the clamping unit.

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

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

[0016] Preferably, the seedling-gathering Y-axis dual slide table includes a seedling-gathering thrust telescopic rod cylinder, a seedling-gathering telescopic rod connecting plate, a seedling-gathering support plate, a seedling-gathering Y-axis dual slide table mounting plate, a seedling-gathering slider, a seedling-gathering slide rail, and a second frame.

[0017] The second frame has two rows of vertically oriented seedling support plates arranged parallel to each other on its upper surface. Each row of seedling support plates has a seedling guide rail fixed to its top. The seedling Y-axis dual-axis slide mounting plate is horizontally oriented, with its top fixedly connected to the seedling limiting mechanism. Both sides are slidably connected to the two seedling guide rails via several seedling sliders. A seedling thrust telescopic rod cylinder is coaxially fixed to the upper surface of the second frame between the two rows of seedling support plates. The telescopic rod of the seedling thrust telescopic rod cylinder is connected to the seedling Y-axis dual-axis slide mounting plate via a seedling telescopic rod connecting plate. The seedling thrust telescopic rod cylinder can drive the seedling Y-axis dual-axis slide mounting plate to slide back and forth along the seedling guide rail.

[0018] Furthermore, there are four seedling support plates, with two seedling support plates arranged coaxially at intervals in each row; several seedling sliders are symmetrically distributed on both sides of the seedling Y-axis dual-axis slide mounting plate, and the seedling sliders are fixedly connected to the seedling Y-axis dual-axis slide mounting plate and slidably connected to the seedling slide rail; the seedling telescopic tie rod connecting plate is fixedly connected to both the seedling Y-axis dual-axis slide mounting plate and the telescopic tie rod of the seedling thrust telescopic tie rod cylinder.

[0019] Furthermore, the seedling gathering and limiting mechanism includes a dual-axis cylinder and a seedling gathering and limiting clamping assembly. 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 dual-axis cylinder is fixed to the dual-axis slide mounting plate in the Y-axis direction of the seedling gathering, and the telescopic pull rod is fixedly connected to one end of the seedling gathering limiting connecting plate. Several limiting linear guides coaxial with the dual-axis cylinder are provided on the front side of the dual-axis slide mounting plate in the Y-axis direction of the seedling gathering. The limiting linear guides are slidably connected to the seedling gathering limiting connecting plate via limiting sliders. The dual-axis cylinder can drive the seedling gathering limiting connecting plate to slide back and forth along the limiting linear guides. The front half of the seedling gathering limiting connecting plate extends out of the dual-axis slide mounting plate in the Y-axis direction of the seedling gathering and is suspended in the air. n seedling gathering limiting pneumatic finger cylinders are evenly installed on the suspended section of the seedling gathering limiting connecting plate via the seedling gathering limiting mounting plate. The two pneumatic fingers of each seedling gathering limiting pneumatic finger cylinder can perform clamping and releasing actions. The inner side of the seedling gathering limiting end of each pneumatic finger has a quarter-arc notch. When the two pneumatic fingers are fully clamped and closed, a semi-circular notch is formed on the inner side. The size of the notch is consistent with the size of the opening of the individual material clamp.

[0021] Preferably, the clamp unit is made of a flexible plastic material that can be bent, including a clamping collar and wing ends located on both sides thereon; the clamping collar has a linear opening, and the opening is closed in the initial state.

[0022] Secondly, the present invention provides a method for operating an automatic clamping and loading device for parallel grafting of multiple Solanaceae vegetables as described in the first aspect, as follows:

[0023] When performing the clamping operation, the n clamping components in the clamping mechanism clamp the material clamping unit. Then, through the coordinated movement of the clamping dual-axis slide in the Y-axis direction, the lead screw module in the X-axis direction, and the lead screw module in the Z-axis direction, they reach the target clamping position and await the clamping operation. At this time, the outer end of each clamping limiting piece abuts against the clamping ring located at the center of the two wing ends on the material clamping unit for limiting. After reaching the clamping position, the clamping pneumatic finger cylinder is vented, causing the clamping end to close and clamping the two wing ends of the material clamping unit, opening the opening of the clamping ring. Subsequently, through the coordinated movement of the clamping thrust telescopic pull rod cylinder, the lead screw module in the Z-axis direction, and the lead screw module in the X-axis direction, the n clamping components reach the upper clamping position, ready for subsequent upper clamping operations.

[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 to be gathered position along the limit linear guide rail through the dual-axis cylinder; the seedling gathering limit pneumatic finger cylinder drives the two seedling gathering limit ends to close, bringing the cut positions of the rootstock seedling and scion seedling closer to the middle notch, and gathering the grafted seedling at the notch position;

[0025] When performing the clamping operation, the clamping end is opened by the pneumatic finger cylinder of the clamping unit. The two wings of the clamping unit are not under pressure, the opening of the clamping ring is closed, and the scion and rootstock seedling are clamped at the wound of the scion and rootstock seedling in the notch, so that the scion and rootstock seedling are fixed together and the clamping work is completed to obtain the grafted seedling.

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

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

[0028] This invention enables multi-station simultaneous clamping of pre-cut grafting units. Pressure is applied to the two sides of each clamping unit to open it, allowing it to be transported to the clamping position for clamping. A seedling-gathering and limiting mechanism gathers the cut wounds (to be clamped) of the scion and rootstock seedlings together and provides restraint during clamping. This allows for the automatic and precise clamping of multiple seedlings in mechanized vegetable grafting operations, stably and efficiently grafting scions of one vegetable onto its rootstock. The entire process is stable and reliable, improving the accuracy and efficiency of grafting operations, ensuring a tight fit at the grafting site, promoting graft survival rate, reducing manual labor intensity, and achieving automated and planned development. This opens up new directions for clamping in mechanized grafting operations. Attached Figure Description

[0029] Figure 1 This is a three-dimensional structural diagram of an embodiment of the device of the present invention;

[0030] Figure 2 This is a top view of an embodiment of the device of the present invention;

[0031] Figure 3 This is a schematic diagram of the left side structure of an embodiment of the device of the present invention;

[0032] Figure 4 This is a schematic diagram of a single material clamp unit in an embodiment of the device of the present invention;

[0033] Figure 5 This is a schematic diagram of a dual-axis slide table in the Y-axis direction for clamping, according to an embodiment of the device of the present invention;

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

[0035] Figure 7 This is a schematic diagram of the clamping and holding component in the clamping mechanism of the device embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram illustrating the clamping process of the clamping mechanism in an embodiment of the device of the present invention.

[0037] Figure 9 This is a schematic diagram of the double slide table in the Y-axis direction for seedling collection in an embodiment of the device of the present invention;

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

[0039] Figure 11 This is a schematic diagram of the seedling-gathering and limiting clamping component mechanism in an embodiment of the device of the present invention;

[0040] Figure 12This is a schematic diagram of the clamping process using the bonding method in an embodiment of the device of the present invention;

[0041] Reference numerals: Wing tip 0401, clamping collar 0402, dual-axis slide table in the Y-axis direction for clamping 05, first frame 0501, clamping thrust telescopic rod cylinder 0502, clamping telescopic rod connecting plate 0503, clamping support plate 0504, dual-axis slide table mounting plate in the Y-axis direction for clamping 0505, clamping slider 0506, clamping slide rail 0507, clamping mechanism 06, lead screw module in the Z-axis direction 0601, lead screw module in the X-axis direction 0602, extension mounting plate 0603, vertical mounting plate 0604, clamping connecting plate 0605, clamping mounting plate 0606, clamping gripping assembly 07, clamping pneumatic finger cylinder 0701, clamping limit plate 0 702, Clamping and Limiting Mounting Plate; 0703, Clamping End; 0704, Double Slide Table in Y-axis Direction for Seedling Gathering; 09, Seedling Gathering Thrust Telescopic Rod Cylinder; 0901, Seedling Gathering Telescopic Rod Connecting Plate; 0902, Seedling Gathering Support Plate; 0903, Double Slide Table Mounting Plate in Y-axis Direction for Seedling Gathering; 0904, Seedling Gathering Slider; 0905, Seedling Gathering Slide Rail; 0906, Second Frame; 0907, Seedling Gathering Limiting Mechanism; 10, Double Axis Cylinder; 1001, Seedling Gathering Limiting Clamping Assembly; 11, Seedling Gathering Limiting Connecting Plate; 1101, Seedling Gathering Limiting Mounting Plate; 1102, Seedling Gathering Limiting Pneumatic Finger Cylinder; 1103, Seedling Gathering Limiting End; 1104, Limiting Linear Guide Rail; 1105, Limiting Slider; 1106. Detailed Implementation

[0042] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. Technical features in the various embodiments of the present invention can be combined accordingly without mutual conflict.

[0043] In the description of this invention, it should be understood that when an element is considered to be "connected" to another element, it can be a direct connection to the other element or an indirect connection, i.e., there is an intermediate element. Conversely, when an element is said to be "directly" connected to another element, there is no intermediate element.

[0044] In the description of this invention, it should be understood that the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" and "second" may explicitly or implicitly include at least one of those features.

[0045] In particular, as in the examples of this invention, the X-axis lead screw module, the Z-axis lead screw module, the finger cylinder, and other market standard parts are existing technologies, and their structural principles will not be described in detail.

[0046] like Figures 1-3 As shown, this invention provides an automatic clamping and mounting device for parallel grafting of multiple Solanaceae vegetables. The device mainly includes a clamping mechanism 06 mounted on a dual-axis slide 05 in the Y-axis direction and a seedling-gathering limiting mechanism 10 mounted on a dual-axis slide 09 in the Y-axis direction. The clamping mechanism 06 and the seedling-gathering limiting mechanism 10 are mounted opposite each other. The dual-axis slide 05 and the dual-axis slide 09 in the Y-axis direction can respectively cause the clamping mechanism 06 and the seedling-gathering limiting mechanism 10 to reciprocate in the Y-axis direction. The various mechanisms cooperate to automatically achieve the clamping and mounting functions. The cooperation process is described below.

[0047] The aforementioned clamping mechanism 06 is used to clamp the individual material clamp and open it, and then transport the opened individual material clamp 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 aforementioned seedling gathering and limiting mechanism 10 is used to gather the finely cut scion seedlings and rootstock seedlings into the upper clamping range and to limit their movement during the clamping process.

[0049] It should be noted beforehand that the "clamping" in this invention refers to the process of clamping the pre-cut clamp unit and applying pressure to its two side wings to open the clamp ring. The original clamp is a long, thin wire, typically made of flexible, bendable plastic. Individual clamp units are formed by cutting the wire along its cross-section. Similarly, "clamping" refers to fixing the clamp to the grafting position at the cut wound of the scion and rootstock seedlings. Figure 4 As shown, each clamp unit includes a clamping collar 0402 and wing ends 0401 located on both sides of the clamping collar 0402. The clamping collar 0402 has a pre-cut linear opening, which is initially closed. Because the clamp is made of flexible, bendable plastic, applying pressure to the wing ends 0401 will expand the opening. This opening is then placed over the grafting position of the seedling to be grafted. Releasing the wing ends 0401 restores the opening to a closed state, thus securing the scion and rootstock seedlings on both sides of the grafting position. The device of this invention is designed to automate the clamping and clamping process of this clamp unit.

[0050] Theoretically, the structural forms of the above-mentioned dual-axis slide 05 in the Y-axis direction for grasping, grasping mechanism 06, seedling gathering limiting mechanism 10, and dual-axis slide 09 in the Y-axis direction for seedling gathering are not limited, as long as they can achieve the functions described above. The following is a combination of... Figures 1-12 The preferred implementations of each mechanism component are described in detail through embodiments.

[0051] As a preferred embodiment of the present invention, such as Figure 5 As shown, the dual-axis slide table 05 in the Y-axis direction mainly includes a first frame 0501, a clamping thrust telescopic rod cylinder 0502, a clamping telescopic rod connecting plate 0503, a clamping support plate 0504, a clamping Y-axis dual-axis slide table mounting plate 0505, clamping sliders 0506, and clamping slide rails 0507. The upper surface of the first frame 0501 has two rows of vertically oriented clamping support plates 0504 arranged parallel to each other, and each row of clamping support plates 0504 has a clamping slide rail 0507 fixed to its top. The mounting plate 0505 in the Y-axis direction is horizontally oriented, with its top fixedly connected to the clamping mechanism 06, and its sides slidably connected to the two clamping slide rails 0507 via several clamping sliders 0506. A clamping thrust telescopic rod cylinder 0502 is coaxially fixed on the upper surface of the first frame 0501 located between the two rows of clamping support plates 0504. The telescopic rod of the clamping thrust telescopic rod cylinder 0502 is connected to the clamping Y-axis direction dual-axis slide table 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 dual-axis slide table mounting plate 0505 to slide back and forth along the clamping slide rail 0507.

[0052] In actual use, there are four clamping support plates 0504, with two coaxially spaced clamping support plates 0504 in each row. Several clamping sliders 0506 are symmetrically distributed on both sides of the clamping Y-axis dual-axis slide mounting plate 0505. The clamping sliders 0506 are fixedly connected to the clamping Y-axis dual-axis slide mounting plate 0505 and slidably connected to the clamping slide rail 0507. The clamping telescopic rod connecting plate 0503 is fixedly connected to both the clamping Y-axis 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 installed on the first frame 0501 at intervals between each other. The clamping thrust telescopic cylinder 0502 is also installed on the first frame 0501, located in the middle of the two clamping support plates 0504. Two clamping slide rails 0507 are respectively installed on the center horizontal line of the upper surface of the two vertically mounted clamping support plates 0504. Each clamping slide rail 0507 is equipped with three clamping sliders 0506. The clamping Y-axis dual-axis slide mounting plate 0505 is installed across the support plate on the clamping sliders 0506. Specifically, six clamping sliders 0506 are evenly distributed on both sides of the clamping Y-axis dual-axis slide mounting plate 0505. A clamping telescopic rod connecting plate 0503 is installed below the clamping Y-axis dual-axis slide mounting plate 0505. The clamping telescopic rod connecting plate 0503 is fixed to the telescopic rod of the clamping thrust telescopic rod cylinder 0502. The clamping thrust telescopic rod cylinder 0502 can drive the clamping Y-axis dual-axis slide mounting plate 0505 to reciprocate along the Y-axis direction through the air-blowing and air-releasing action to complete the subsequent work.

[0054] As a preferred embodiment of the present invention, such as Figure 6 As shown, the clamping mechanism 06 mainly includes a Z-axis lead screw module 0601, an X-axis lead screw module 0602, a plate assembly, a clamping mounting plate 0606, and clamping holding assemblies 07. The Z-axis lead screw module 0601 is vertically mounted, and the X-axis lead screw module 0602 is mounted on its slide. The slide of the X-axis lead screw module 0602 is connected to the clamping mounting plate 0606 via the plate assembly. The clamping mounting plate 0606 is horizontally positioned, and n clamping holding assemblies 07 are mounted on it. Figure 7 As shown, the gripping assembly 07 includes a pneumatic finger cylinder 0701, a gripping limiting plate 0702, and a gripping limiting mounting plate 0703. The pneumatic finger cylinder 0701 is fixed to the gripping mounting plate 0606 via the gripping limiting mounting plate 0703, and two pneumatic fingers extend from it, enabling gripping and releasing actions. Figure 8 As shown, during the clamping or releasing process, the gripping ends 0704 of the two pneumatic fingers cooperate to apply pressure to the wing ends 0401 on both sides of the clamp to open it or release the pressure to close it. A vertically oriented clamping limiting plate 0702 is provided between the two pneumatic fingers. The clamping limiting plate 0702 is fixed to the clamping limiting mounting plate 0703 and is used to press against the clamping collar 0402 located at the center of the two wing ends 0401 to limit the clamping unit.

[0055] In practical use, the plate assembly mainly includes an extension mounting plate 0603, a vertical mounting plate 0604, and a clamping connecting plate 0605. The extension mounting plate 0603 is fixed to the slide of the X-axis lead screw module 0602, and the vertical mounting plate 0604 is mounted at its end. The bottom of the vertical mounting plate 0604 is fixed to the horizontally surfaced clamping connecting plate 0605, and the bottom of the clamping connecting plate 0605 is fixedly connected to the clamping mounting plate 0606. Because the extension mounting plate is mounted on the slide of the X-axis lead screw module, it has degrees of freedom in both the X and Y directions.

[0056] Specifically, in this embodiment, the clamping mechanism 06 is mounted on the dual-axis slide mounting plate 0505 in the Y-axis direction. It includes a Z-axis lead screw module 0601, an X-axis lead screw module 0602, an extension mounting plate 0603, a vertical mounting plate 0604, a clamping connecting plate 0605, a clamping mounting plate 0606, and five (i.e., n=5 in this embodiment) identical clamping and holding components 07. The Z-axis lead screw module 0601 is vertically mounted on the dual-axis slide mounting plate 0505 in the Y-axis direction. The Z-axis lead screw module 0601 is mounted on a slide. The motor drives the lead screw to rotate, which can drive the slide to reciprocate along the Z-axis direction. The X-axis lead screw module 0602 is vertically mounted on the slide of the Z-axis lead screw module 0601 through a bottom connection. An extension mounting plate 0603 is mounted on the slide of the lead screw module 0602 in the X-axis direction. A vertical mounting plate 0604 is vertically mounted at the end of the extension mounting plate 0603. A clamping connecting plate 0605 is vertically mounted on the vertical mounting plate 0604. A clamping mounting plate 0606 is horizontally mounted on the clamping connecting plate 0605. Five clamping assemblies 07 are connected via their upper surfaces and mounted at equal intervals on the clamping mounting plate 0606, as shown below. Figure 7 As shown, the clamping and limiting mounting plate 0703 is mounted on its lower surface through the mounting holes of the clamping pneumatic finger cylinder 0701, and the clamping limiting piece 0702 is mounted on the clamping and limiting mounting plate 0703. Specifically, the clamping limiting piece 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 limiting piece 0702 is located at the center of the double-wing ends 0401 of the cut material clamp unit that can be used for grafting.

[0057] As a preferred embodiment of the present invention, such as Figure 9As shown, the seedling-gathering Y-axis dual slide table 09 mainly includes a seedling-gathering thrust telescopic rod cylinder 0901, a seedling-gathering telescopic rod connecting plate 0902, a seedling-gathering support plate 0903, a seedling-gathering Y-axis dual slide table mounting plate 0904, seedling-gathering sliders 0905, seedling-gathering slide rails 0906, and a second frame 0907. The upper surface of the second frame 0907 has two rows of vertically oriented seedling-gathering support plates 0903, and each row of support plates 0903 has a seedling-gathering slide rail 0906 fixed to its top. The seedling-gathering Y-axis dual slide table mounting plate 0904 is horizontally oriented, its top is fixedly connected to the seedling-gathering limiting mechanism 10, and its two sides are slidably connected to the two seedling-gathering slide rails 0906 via several seedling-gathering sliders 0905. A seedling-gathering thrust telescopic 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 rod of the seedling-gathering thrust telescopic rod cylinder 0901 is connected to the seedling-gathering Y-axis direction dual-axis slide table mounting plate 0904 through the seedling-gathering telescopic rod connecting plate 0902. The seedling-gathering thrust telescopic rod cylinder 0901 can drive the seedling-gathering Y-axis direction dual-axis slide table mounting plate 0904 to slide back and forth along the seedling-gathering slide rail 0906.

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

[0059] In other words, the positional relationship and working principle of the double slide 09 in the Y-axis direction for seedling collection and the double slide 05 in the Y-axis direction for seedling picking are the same.

[0060] As a preferred embodiment of the present invention, such as Figure 10As shown, the seedling-gathering limiting mechanism 10 mainly includes a dual-axis cylinder 1001 and a seedling-gathering limiting clamping assembly 11. The seedling-gathering limiting clamping assembly 11 mainly includes a seedling-gathering limiting connecting plate 1101, a seedling-gathering limiting mounting plate 1102, a seedling-gathering limiting pneumatic finger cylinder 1103, a limiting linear guide rail 1105, and a limiting slider 1106. The dual-axis cylinder 1001 is fixed to the dual-axis slide mounting plate 0904 in the Y-axis direction of the seedling-gathering mechanism, and the telescopic pull rod is fixedly connected to one end of the seedling-gathering limiting connecting plate 1101. The front side of the dual-axis slide mounting plate 0904 in the Y-axis direction of the seedling gathering is provided with several limiting linear guides 1105 coaxial with the dual-axis cylinder 1001. The limiting linear guides 1105 are slidably connected to the seedling gathering limiting connecting plate 1101 through limiting sliders 1106. The dual-axis cylinder 1001 can drive the seedling gathering limiting connecting plate 1101 to slide back and forth along the limiting linear guides 1105. The front half of the seedling gathering limiting connecting plate 1101 extends out of the dual-axis slide mounting plate 0904 in the Y-axis direction of the seedling gathering and is suspended. On the suspended section of the seedling gathering limiting connecting plate 1101, n seedling gathering limiting pneumatic finger cylinders 1103 are evenly installed through the seedling gathering limiting mounting plate 1102. Figure 11 As shown, the two pneumatic fingers of the seedling-gathering and limiting pneumatic finger cylinder 1103 can perform clamping and releasing actions. The inner side of the seedling-gathering limiting end 1104 of each pneumatic finger has a quarter-arc notch. When the two pneumatic fingers are fully clamped and closed, a semi-circular notch can be formed on the inner side. The size of the semi-circular notch should be consistent with the size of the opening of the individual material clamp to ensure accurate clamping.

[0061] Specifically, in this embodiment, five (i.e., n=5 in this embodiment) seedling-gathering limiting clamping components 11 are distributed along a horizontal straight line on the dual-axis slide mounting plate 0904 in the Y-axis direction of seedling gathering. They consist of a seedling-gathering limiting connecting plate 1101, five seedling-gathering limiting mounting plates 1102, five seedling-gathering limiting pneumatic finger cylinders 1103, four limiting linear guide rails 1105, and corresponding limiting sliders 1106. Four limiting linear guides 1105 are horizontally mounted on the double slide mounting plate 0904 in the Y-axis direction of the seedling gathering, and are symmetrically distributed along the center line of the double slide mounting plate 0904 in the Y-axis direction of the seedling gathering. Four limiting sliders 1106 are respectively mounted on the four limiting linear guides 1105. The seedling gathering connecting plate 1101 is mounted on the four limiting linear guides 1105. The dual-axis cylinder 1001 is connected to the rear center position of the seedling gathering connecting plate 1101. The dual-axis cylinder 1001 is mounted on the double slide mounting plate 0904 in the Y-axis direction of the seedling gathering. The dual-axis push rod of the dual-axis cylinder 1001 is fixed to the seedling gathering limiting connecting plate 1101. By venting and releasing air, the dual-axis cylinder 1001 can drive the seedling gathering limiting connecting plate 1101 to reciprocate on the limiting linear guides 1105 through the limiting sliders 1106. Five seedling-gathering limiting mounting plates 1102 are horizontally installed in front of the seedling-gathering limiting connecting plate 1101, with each plate partially suspended. Five seedling-gathering limiting pneumatic finger cylinders 1103 are respectively installed on the sides of the suspended positions of the five seedling-gathering limiting mounting plates 1102 through threaded holes on both sides of the finger cylinders. Two seedling-gathering limiting ends 1104 are symmetrically installed on the two pneumatic fingers of the five seedling-gathering limiting pneumatic finger cylinders, with the inner sides of the two seedling-gathering limiting ends 1104 having a quarter-arc-shaped notch. In practical use, the pneumatic finger cylinder 1103, through its air-blowing and air-releasing actions, drives the pneumatic fingers to open and close, thereby causing the two seedling-gathering limiting ends 1104 to close, forming a semi-circular notch. Simultaneously, the two seedling-gathering limiting ends 1104 move towards the center, bringing the cut wounds of the rootstock and scion seedlings closer together, thus gathering the grafted seedling at the notch for easier subsequent clamping. At the same time, the notch formed by the closing of the two seedling-gathering limiting ends also provides limiting support during the subsequent clamping process, improving the success rate of the clamping action performed by the subsequent clamping mechanism 06.

[0062] Utilizing the aforementioned automatic clamping and loading device for parallel grafting of multiple solanaceous vegetables, this invention also provides an operating method. This method enables automatic clamping and loading of individual clamps. The specific steps of the method are as follows:

[0063] 1) During the clamping operation, the n clamping components 07 in the clamping mechanism 06 clamp the material clamp unit. Then, through the coordinated movement of the dual-axis slide 05 in the Y-axis direction, the lead screw module 0602 in the X-axis direction, and the lead screw module 0601 in the Z-axis direction, the material clamps reach the target clamping position, awaiting the clamping operation. At this time, the clamping thrust telescopic rod cylinder 0502 is vented, and the telescopic rod is in the extended state. The outer end of each clamping limiting piece 0702 abuts against the clamping ring 0402 located at the center of the two side wing ends 0401 on the material clamp unit for limiting. After reaching the clamping position, the clamping pneumatic finger cylinder 0701 is vented, causing the clamping end 0704 to close, clamping the two side wing ends 0401 of the material clamp unit and opening the opening of the clamping ring 0402. Next, through the coordinated movement of the clamping thrust telescopic lever cylinder 0502, the Z-axis lead screw module 0601 and the X-axis lead screw module 0602, the n clamping and holding components 07 are brought to the upper clamping position, ready for subsequent clamping operations.

[0064] In a preferred embodiment of the present invention, after the clamping ring 0402 is opened, the clamping thrust telescopic rod cylinder 0502 works, so that the telescopic rod is in a closed state, and the clamping mechanism 06 also moves backward; the Z-axis lead screw module 0601 moves downward through the motor, and the five clamping components 0701 also move downward; then the X-axis lead screw module 0602 moves forward through the motor to reach the upper clamping position, ready for subsequent upper clamping work.

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

[0066] In a preferred embodiment of the present invention, when the seedling gathering operation is performed, the seedling gathering thrust telescopic lever cylinder 0901 is depressurized, and the telescopic lever of the seedling gathering thrust telescopic lever cylinder 0901 is retracted, driving the five seedling gathering limiting clamping components 11 to move to the left as a whole, reaching the upper clamping working position. The dual-axis cylinder 1001 is vented and moves forward telescopically, and the five seedling gathering limiting clamping components 11 also move forward along the limiting linear guide rail 1105, reaching the seedling gathering position. The seedling gathering limiting pneumatic finger cylinder 1103 is vented and closed, driving the two seedling gathering limiting ends 1104 to close, bringing the cut positions of the rootstock seedling and scion seedling closer to the middle notch, and gathering the grafted seedling at the notch position.

[0067] 3) During the clamping operation, the pneumatic finger cylinder 0701 is depressurized, causing the clamping end 0704 to open. The two side wings 0401 of the clamp unit are no longer under pressure, and the opening of the clamp ring 0402 closes. The clamp is then placed on the wound of the scion and rootstock seedlings in the notch, fixing them together and completing the clamping process to obtain the grafted seedling. Figure 12 As shown.

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

[0069] In a preferred embodiment of the present invention, the dual-axis cylinder 1001 is vented and moves forward to extend and retract, the seedling-gathering thrust telescopic rod cylinder 0901 is vented, the telescopic rod of the seedling-gathering thrust telescopic rod cylinder 0901 extends and retracts forward, and the seedling-gathering limiting mechanism 10 returns to its initial position, waiting for the next seedling-gathering operation.

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

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

[0072] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all technical solutions obtained through equivalent substitution or transformation fall within the protection scope of the present invention.

Claims

1. A device for automatically taking and placing a grafting clip for a multi-planting of a Solanaceae vegetable in parallel, characterized in that, The seedling taking mechanism (06) is installed on the double-shaft sliding table (05) in the Y-axis direction, and the seedling gathering limiting mechanism (10) is installed on the double-shaft sliding table (09) in the Y-axis direction. The seedling taking mechanism (06) is used for clamping and opening the seedling holder, and then conveying the opened seedling holder to the upper clamping position for upper clamping operation. The seedling gathering limiting mechanism (10) is used for gathering the grafted scion seedlings and stock seedlings to the upper clamping range position, and limiting the position during the upper clamping process. The seedling taking mechanism (06) comprises a Z-axis direction screw rod module (0601), an X-axis direction screw rod module (0602), a plate assembly, a seedling taking installation plate (0606), and a seedling taking clamping assembly (07). The Z-axis direction screw module (0601) is vertically installed, the sliding table of the Z-axis direction screw module (0601) is installed with the X-axis direction screw module (0602), the sliding table of the X-axis direction screw module (0602) is connected with the taking clamp mounting plate (0606) through a plate assembly; the plate surface of the taking clamp mounting plate (0606) is horizontally arranged, and one taking clamp clamping assembly (07) is installed on the taking clamp mounting plate (0606). n ​ The seedling taking clamping assembly (07) comprises a seedling taking pneumatic finger cylinder (0701), a seedling taking limiting sheet (0702), and a seedling taking limiting installation plate (0703). The seedling taking pneumatic finger cylinder (0701) is fixed on the seedling taking installation plate (0606) through the seedling taking limiting installation plate (0703). The two pneumatic fingers can realize clamping and loosening through air supply and air release. During the clamping or loosening process, the seedling taking 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 seedling holder to open or remove the pressure to close. The seedling taking limiting sheet (0702) is vertically arranged on the plate surface between the two pneumatic fingers. The seedling taking limiting sheet (0702) is fixed on the seedling taking limiting installation plate (0703) and is used for pressing against the seedling holder sleeve ring (0402) at the center of the wing ends (0401) to limit the seedling holder. The seedling gathering limiting mechanism (10) comprises a double-shaft cylinder (1001) and a seedling gathering limiting clamping assembly (11). The seedling gathering limiting clamping assembly (11) comprises a seedling gathering limiting connecting plate (1101), a seedling gathering limiting installation plate (1102), a seedling gathering limiting pneumatic finger cylinder (1103), a limiting linear guide rail (1105), and a limiting sliding block (1106). The double-shaft air cylinder (1001) is fixed on the seedling gathering Y-axis direction double-shaft sliding table mounting plate (0904), and one end side of the telescopic pull rod is fixedly connected with the seedling gathering limiting connecting plate (1101). A plurality of limiting linear guides (1105) coaxial with the double-shaft air cylinder (1001) are formed on the front side of the seedling gathering Y-axis direction double-shaft sliding table mounting plate (0904), the limiting linear guides (1105) are slidably connected with the seedling gathering limiting connecting plate (1101) through limiting sliding blocks (1106), and the seedling gathering limiting connecting plate (1101) can slide forward and backward along the limiting linear guides (1105) by the double-shaft air cylinder (1001). n A plurality of seedling gathering limiting pneumatic finger air cylinders (1103) are uniformly arranged on the front half of the seedling gathering limiting connecting plate (1101) and protrude from the seedling gathering Y-axis direction double-shaft sliding table mounting plate (0904) and are arranged in a suspended manner, the seedling gathering limiting connecting plate (1101) is provided with the seedling gathering limiting mounting plate (1102) on the suspended segment, and the seedling gathering limiting mounting plate (1102) is provided with the seedling gathering limiting pneumatic finger air cylinders (1103).

2. The automatic device for taking and placing a clip for a multi-plant parallel grafting of solanaceous vegetables according to claim 1, characterized in that, The seedling taking Y-axis direction double-shaft sliding table (05) comprises a first rack (0501), a seedling taking push-pull rod cylinder (0502), a seedling taking push-pull rod connecting plate (0503), a seedling taking support plate (0504), a seedling taking Y-axis direction double-shaft sliding table installation plate (0505), a seedling taking sliding block (0506), and a seedling taking sliding rail (0507). The first rack (0501) upper surface is provided with two rows of plate vertical clamping support plates (0504) in parallel, the top of each row of clamping support plates (0504) is fixed with a clamping slide rail (0507); the plate surface of the clamping Y-axis direction double-shaft sliding table mounting plate (0505) is horizontally arranged, the top is fixedly connected with the clamping mechanism (06), and the two sides are respectively slidably connected with the two clamping slide rails (0507) through a plurality of clamping sliding blocks (0506); the first rack (0501) upper surface between the two rows of clamping support plates (0504) is coaxially fixed with a clamping thrust telescopic pull rod air cylinder (0502), the telescopic pull rod of the clamping thrust telescopic pull rod air cylinder (0502) is connected with the clamping Y-axis direction double-shaft sliding table mounting plate (0505) through a clamping telescopic pull rod connecting plate (0503), and the clamping Y-axis direction double-shaft sliding table mounting plate (0505) can be driven to reciprocatingly slide along the clamping slide rail (0507) through the clamping thrust telescopic pull rod air cylinder (0502).

3. The automatic device for taking and placing a clip for grafting of a solanaceous vegetable in multiple plants in parallel according to claim 2, characterized in that, The clamping support plates (0504) are four in total, each row includes two coaxially spaced clamping support plates (0504); the two sides of the clamping Y-axis direction double-shaft sliding table mounting plate (0505) are symmetrically and uniformly provided with a plurality of clamping sliding blocks (0506), the clamping sliding blocks (0506) are fixedly connected with the clamping Y-axis direction double-shaft sliding table mounting plate (0505) and slidably connected with the clamping slide rail (0507); the clamping telescopic pull rod connecting plate (0503) is fixedly connected with the clamping Y-axis direction double-shaft sliding table mounting plate (0505) and the telescopic pull rod of the clamping thrust telescopic pull rod air cylinder (0502).

4. The automatic device for taking and placing a clip for grafting of a solanaceous vegetable in multiple plants in parallel according to claim 1, characterized in that, The plate assembly includes an extension mounting plate (0603), a vertical mounting plate (0604) and a clamping connecting plate (0605); The extension mounting plate (0603) is fixed on the sliding table of the X-axis direction lead screw module (0602), the end is provided with the vertical mounting plate (0604), the bottom of the vertical mounting plate (0604) is fixedly provided with the clamping connecting plate (0605) in the plate surface, and the bottom of the clamping connecting plate (0605) is fixedly connected with the clamping mounting plate (0606).

5. The automatic device for taking and placing a clip for grafting of a solanaceous vegetable in multiple plants in parallel according to claim 1, characterized in that, The gathering seedlings Y-axis direction double sliding table (09) includes a gathering seedlings thrust telescopic pull rod air cylinder (0901), a gathering seedlings telescopic pull rod connecting plate (0902), a gathering seedlings support plate (0903), a gathering seedlings Y-axis direction double-shaft sliding table mounting plate (0904), a gathering seedlings sliding block (0905), a gathering seedlings slide rail (0906) and a second rack (0907); The second rack (0907) upper surface is provided with two rows of vertical plate surfaces of the seedling gathering support plate (0903), the top of each row of seedling gathering support plate (0903) is fixed with seedling gathering slide rail (0906); the plate surface of the seedling gathering Y-axis direction double-shaft sliding table mounting plate (0904) is horizontally arranged, the top is fixedly connected with the seedling gathering limiting mechanism (10), the two sides are respectively slidably connected with the two seedling gathering slide rails (0906) through a plurality of seedling gathering sliding blocks (0905); the coaxially fixed seedling gathering push-pull telescopic rod air cylinder (0901) is arranged on the upper surface of the second rack (0907) between the two rows of seedling gathering support plates (0903), the telescopic rod of the seedling gathering push-pull telescopic rod air cylinder (0901) is connected with the seedling gathering Y-axis direction double-shaft sliding table mounting plate (0904) through the seedling gathering telescopic rod connecting plate (0902), and the seedling gathering Y-axis direction double-shaft sliding table mounting plate (0904) is driven to reciprocatingly slide along the seedling gathering slide rail (0906) through the seedling gathering push-pull telescopic rod air cylinder (0901).

6. The automatic device for taking and placing a clip for grafting of a solanaceous vegetable in multiple plants in parallel according to claim 5, characterized in that, The seedling gathering support plate (0903) has a total of four pieces, each row includes two coaxially spaced seedling gathering support plates (0903); a plurality of seedling gathering sliding blocks (0905) are symmetrically and uniformly arranged on the two sides of the seedling gathering Y-axis direction double-shaft sliding table mounting plate (0904), the seedling gathering sliding blocks (0905) are fixedly connected with the seedling gathering Y-axis direction double-shaft sliding table mounting plate (0904) and slidably connected with the seedling gathering slide rail (0906); the seedling gathering telescopic rod connecting plate (0902) is fixedly connected with the seedling gathering Y-axis direction double-shaft sliding table mounting plate (0904) and the telescopic rod of the seedling gathering push-pull telescopic rod air cylinder (0901).

7. The automatic device for taking and placing a clip for a multi-plant parallel grafting of solanaceous vegetables according to claim 1, characterized in that, The material clamp monomer is made of flexible plastic material and is foldable, comprising a material clamp sleeve ring (0402) and wing ends (0401) on both sides of the sleeve ring; the material clamp sleeve ring (0402) has a linear opening, and the opening is closed in the initial state.

8. A method for operating the automatic grafting and taking device for multiple parallel grafting of solanaceous vegetables according to any one of claims 1 to 7, characterized in that The specific process is as follows: When performing the clamping operation, the clamping mechanism (06) in n The individual clamping assembly (07) clamps the material clamp unit, and then, through the coordinated movement of the clamping dual-axis slide (05) in the Y-axis direction, the lead screw module (0602) in the X-axis direction, and the lead screw module (0601) in the Z-axis direction, it reaches the target clamping position and waits for clamping operation; at this time, the outer end of each clamping limiting piece (0702) abuts against the clamping ring (0402) located at the center of the two wing ends (0401) on the material clamp unit for limiting; after reaching the clamping position, the clamping pneumatic finger cylinder (0701) is vented, so that the clamping end (0704) closes, clamping the two wing ends (0401) of the material clamp unit and opening the opening of the clamping ring (0402); then, through the coordinated movement of the clamping thrust telescopic pull rod cylinder (0502), the lead screw module (0601) in the Z-axis direction, and the lead screw module (0602) in the X-axis direction, it makes the clamping operation proceed smoothly. n The individual clamping and holding component (07) reaches the upper clamping position, ready for subsequent clamping work; When the bunching operation is performed, the bunching limiting mechanism (10) in the n bunching limiting clamping assembly (11) reaches the upper clamping working position through the bunching thrust telescopic pull rod cylinder (0901), and then reaches the to-be-bunched position along the limiting linear guide rail (1105) through the double-shaft cylinder (1001); the bunching limiting pneumatic finger cylinder (1103) drives the two bunching limiting ends (1104) to close, and the cut positions of the stock seedlings and the scion seedlings are bunched to the middle gap, and the grafted seedlings are bunched at the gap position; When the upper clamping operation is performed, the taking clamp end (0704) is opened by the taking clamp pneumatic finger air cylinder (0701), the two wing ends (0401) of the material clamp monomer are not subjected to pressure, the opening of the material clamp sleeve ring (0402) is closed, the scion and the stock are clamped at the wound part in the gap, the scion and the stock are fixed as a whole, the upper clamping work is completed, and the grafted seedling is obtained; After the upper clamping is completed, the taking clamp holding assembly (07) reaches the taking clamp position through the cooperation of the taking clamp Y-axis direction double-shaft sliding table (05), the X-axis direction lead screw module (0602) and the Z-axis direction lead screw module (0601), and waits for the next taking clamp operation; the seedling gathering limiting mechanism (10) is reset through the action of the double-shaft air cylinder (1001) and the seedling gathering push-pull telescopic rod air cylinder (0901), and waits for the next seedling gathering work.

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