Positioning device and method for parallel grafting, seedling gathering and rough cutting of multiple solanaceae vegetables

Abstract

The invention discloses a multi-plant parallel grafting, seedling gathering, rough cutting and positioning device for solanaceae vegetables and a method thereof, and belongs to the field of agricultural machinery. In the device, a rough cutting seedling feeding mechanism is used for positioning scion seedlings, cutting off scion seedling matrixes and clamping scions; the scion seedling gathering mechanism is used for gathering and positioning the scions clamped by the rough cutting seedling feeding mechanism; the rootstock seedling gathering mechanism is used for gathering the rootstocks. The device is used for rough cutting, positioning and seedling gathering of multiple scion seedlings and seedling gathering of rootstocks during full-automatic grafting of solanaceae, useless rhizome matrix parts below the scion seedlings can be sheared, follow-up grafting operation of multiple scions and rootstocks can be completed synchronously, the positioning speed of the scions and the rootstocks is increased, grafting efficiency is improved, and operation difficulty is reduced; according to the method, multiple scion seedlings and stocks can be treated at a time, manual single-plant operation is not needed, the production efficiency is effectively improved, the labor cost is saved, and convenience is provided for subsequent grafting work.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery and relates to the technical field of plant grafting, and in particular to a device and a method for positioning seedlings of multiple parallel grafted Solanaceae vegetables by rough cutting. Background Art

[0002] Rough cutting and positioning of seedlings is one part of the automatic grafting work. The main process is to first rough cut the whole scion seedling, then the scion part is clamped by the scion clamping mechanism, and then the clamped scion part and the pre-cut stock part are transferred to the seedling positioning structure, and finally the scion and stock are positioned together.

[0003] However, in the existing automatic grafting operation, the rough cutting and positioning of seedlings is usually done manually, and most of them are single-plant operations, and it is impossible to complete the rough cutting and positioning of multiple plants at the same time, which makes the automatic grafting work inefficient and affects a large number of large-scale automatic grafting operations. In view of this, a rough cutting and positioning mechanism for parallel grafting of multiple plants of Solanaceae vegetables is proposed. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects in the prior art and provide a device and method for positioning multiple parallel grafted seedlings of Solanaceae vegetables by rough cutting. The device of the present invention can effectively reduce the workload of operators and improve work efficiency.

[0005] The specific technical solutions adopted by the present invention are as follows:

[0006] In a first aspect, the present invention provides a device for coarse cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables, comprising a coarse cutting and seedling placing mechanism, a scion seedling gathering mechanism and a rootstock seedling gathering mechanism installed on a frame;

[0007] The rough cutting and seedling placement mechanism is used to position the scion seedling, cut off the scion seedling matrix and clamp the scion;

[0008] The scion gathering mechanism is installed downstream of the rough cutting and seedling placement mechanism, and is used to gather and position the scions clamped by the rough cutting and seedling placement mechanism;

[0009] The rootstock seedling gathering mechanism is installed downstream of the scion seedling gathering mechanism, and is used for gathering the rootstock seedlings;

[0010] The scion and the corresponding rootstock are respectively brought to the working position by the scion and the rootstock.

[0011] Preferably, the rough cutting and seedling feeding mechanism comprises a linear module, a mechanical arm, a seedling feeding motor, a seedling feeding connecting plate, a seedling feeding parallel guide rail cylinder, a seedling feeding parallel guide rail cylinder slider and a seedling feeding clamp;

[0012] The linear module is horizontally fixed on the frame, and is slidably connected with one end of the mechanical arm through a mechanical arm mounting frame, and a seedling upper motor is fixed on the linear module, and the linear module can make the mechanical arm reciprocate left and right by driving the seedling upper motor, and the other end of the mechanical arm is connected to the head end of the screw rod; the screw rod is vertically arranged, and the end thereof is connected to the upper surface of the seedling upper connecting plate through a screw rod nut; the plate surface of the seedling upper connecting plate is horizontally arranged, and n seedling upper parallel guide cylinders are evenly spaced along the length direction on the lower surface; each seedling upper parallel guide cylinder is respectively provided with a seedling upper parallel guide cylinder slider on both sides, and the two seedling upper parallel guide cylinder sliders can be moved closer to the middle or separated to both sides under the action of the seedling upper parallel guide cylinder; each seedling upper parallel guide cylinder slider is vertically installed with an outwardly extending seedling clamping claw, and the two seedling clamping claws located on the same seedling upper parallel guide cylinder constitute a group, and each group of seedling clamping claws can realize the clamping of the scion and the cutting of the scion seedling matrix under the action of the seedling upper parallel guide cylinder.

[0013] Furthermore, the robotic arm has at least two degrees of freedom: rotation around the z-axis and movement along the y-axis.

[0014] Furthermore, in each group of the two seedling clamping jaws of the seedling parallel guide rail cylinder slider, the inner side of each seedling clamping jaw has a plurality of continuous semicircular seedling clamping grooves along the length direction, and the inner side of each seedling clamping jaw is provided with a knife groove in the middle along the thickness direction, and a blade is installed in the knife groove; when each group of seedling clamping jaws moves toward the middle under the action of the seedling parallel guide rail cylinder, the scion can be clamped through the seedling clamping groove and the scion seedling matrix can be cut off through the blade.

[0015] Preferably, the scion seedling gathering mechanism includes a screw module, a scion seedling gathering motor, a connecting base plate, a positioning double-axis cylinder, a limiting double-axis cylinder, a scion seedling gathering connecting plate, a scion seedling gathering claw, a propulsion bracket, a limiting base plate and a scion seedling gathering parallel guide cylinder;

[0016] The driving mechanism that the cam is in the vertical direction of moving is the same as that of the driving mechanism, and the transmission gear of the cam is connected with the transmission gear of the cam through the support leg of the cam and the support gear of the cam can be connected with the support gear of the cam through the support leg. The limiting bottom plate moves forward and backward along the limiting linear guide rail; n scion-grafting seedling parallel guide rail cylinders are installed on the lower surface of the scion-grafting seedling connecting plate, and scion-grafting seedling guide rail cylinder sliders are respectively provided on both sides of each scion-grafting seedling parallel guide rail cylinder, and the two scion-grafting seedling guide rail cylinder sliders can move toward the middle or separate to both sides under the action of the scion-grafting seedling parallel guide rail cylinder; each scion-grafting seedling guide rail cylinder slider is vertically installed with a scion-grafting seedling clamping claw extending outward, which is located on the same scion-grafting seedling parallel guide rail cylinder The two scion-gathering seedling clamps on the upper part form a group, and a scion-gathering seedling groove for placing the scion from the rough-cut seedling mechanism is provided between each group of scion-gathering seedling clamps, and each scion-gathering seedling groove corresponds to a scion limit block; the outer end of each group of scion-gathering seedling clamps is provided with a limit portion protruding inward; when each group of scion-gathering seedling clamps approaches the limit position, the two limit portions can be clamped closed, and at the same time, the scion limit block can be moved forward by driving the limit double-axis cylinder to realize the front and rear limitation of the scion.

[0017] Furthermore, the connecting frame is a vertically arranged flat plate, which is slidably connected to the screw module, and a connecting base plate is vertically fixed to the outer side of the connecting frame; a number of reinforcing plates for enhancing the connection stability are provided between the connecting frame and the connecting base plate, and the plate surfaces of the reinforcing plates are respectively perpendicular to the connecting frame and the connecting base plate.

[0018] Furthermore, the propulsion bracket is an L-shaped structure, including a vertical plate and a transverse plate; the propulsion assembly of the positioning double-axis cylinder is fixedly connected to the outer side of the vertical plate, and the bottom of the transverse plate is fixedly connected to the scion and seedling gathering connecting plate; the upper surface of the scion and seedling gathering connecting plate has a plurality of protrusions, which are connected to the bottom of the transverse plate through the protrusions, so that there is a gap between the transverse plate for installing the positioning linear guide rail; a plurality of positioning linear guide rails are installed parallel to the upper surface of the connecting base plate along the length direction, and the slider assembly of each positioning linear guide rail is connected to the lower surface of the transverse plate, so that the transverse plate can slide along the length direction of the connecting base plate under the positioning linear guide rail, so as to enhance the stability of the propulsion bracket during the movement along the connecting base plate driven by the positioning double-axis cylinder.

[0019] Furthermore, the slider assembly of the limiting linear guide rail is connected to the scion seedling gathering connecting plate, and the guide rail assembly is fixed on the upper surface of the limiting bottom plate; the outer end of each scion limiting block is provided with a silicone pad for protecting the scion.

[0020] Preferably, the rootstock seedling gathering mechanism comprises a cylinder mounting frame, a rootstock limit block, a rootstock seedling gathering clamp and a rootstock seedling gathering parallel guide cylinder;

[0021] The cylinder mounting frame is mounted on the frame, and n rootstock limit blocks are fixed on the cylinder mounting frame through the rootstock seedling gathering connection plate; a rootstock seedling gathering parallel guide cylinder is fixed on the cylinder mounting frame at each rootstock limit block, and a rootstock seedling gathering parallel guide cylinder slider is provided on both sides of each rootstock seedling gathering parallel guide cylinder, and the two rootstock seedling gathering guide cylinder sliders can move toward the middle or separate to both sides under the action of the rootstock seedling gathering parallel guide cylinder; each rootstock seedling gathering guide cylinder slider is vertically mounted with a The outwardly extended rootstock seedling gathering clamps are composed of two rootstock seedling gathering clamps located on the same rootstock seedling gathering parallel guide cylinder, each group of rootstock seedling gathering clamps is provided with a rootstock seedling gathering groove for placing the rootstock, each rootstock seedling gathering groove corresponds to a rootstock limit block, and the rootstock limit block is used for positioning the rootstock front and back; the outer end of each group of rootstock seedling gathering clamps is provided with a limit portion protruding inwardly, and when each group of rootstock seedling gathering clamps is close to the limit position, the two limit portions can be clamped closed to achieve clamping of the rootstock.

[0022] In a second aspect, the present invention provides an operating method of the device for coarse cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to any one of the first aspects, which is specifically as follows:

[0023] S1: Initial state, all mechanisms are in their original positions, n scion seedlings and n rootstocks are in working positions;

[0024] S2: The seedling raising motor of the rough cutting seedling raising mechanism operates, driving the linear module to move the mechanical arm to the top of the scion seedling working position, and the mechanical arm drives the screw rod to rotate so that the seedling raising connecting plate moves downward as a whole to reach the scion seedling working position; each seedling raising parallel guide cylinder works, driving each group of seedling raising claws to move closer to the middle, completing the clamping of the scion and the removal of the scion seedling matrix; the seedling raising motor operates, driving the linear module to reset, so that the clamped scion reaches the scion clamping position;

[0025] S3: The positioning double-axis cylinder of the scion gathering mechanism operates to drive the scion gathering connection plate as a whole forward to the scion clamping position; each scion gathering parallel guide cylinder works to drive each group of scion gathering claws to move closer to the middle to complete the scion gathering; the limiting double-axis cylinder operates to drive each scion limit block to move forward, and the front and rear limit of the scion is completed in combination with the limit part clamped at the front end of the scion limit block; the scion gathering motor operates to drive the screw module to drive all the scions after the clamping limit to move downward as a whole;

[0026] S4: scion gathering motor, scion gathering parallel guide cylinder, positioning double-axis cylinder and mechanical arm reset;

[0027] S5: the parallel guide cylinders of each rootstock seedling gathering mechanism operate to drive each group of rootstock seedling gathering claws to move closer to the middle, completing the rootstock seedling gathering; the parallel guide cylinders of the rootstock seedling gathering mechanism are reset, and at the same time, the other n scion seedlings and n rootstocks arrive at the working position;

[0028] S6: Repeat S2 to S5 to continuously carry out the seedling gathering, rough cutting and positioning operations.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention is used for the rough cutting, positioning, and gathering of multiple scion seedlings and the gathering of rootstocks during the fully automatic grafting of Solanaceae, and can shear the useless rhizome matrix part below the scion seedlings, which helps to synchronously complete subsequent grafting operations of multiple scions and rootstocks, speeds up the positioning rate of scions and rootstocks, improves grafting efficiency, and reduces operation difficulty; the present invention can process multiple scion seedlings and rootstocks at one time without manual single-plant operation, effectively improves production efficiency, saves labor costs, and provides convenience for subsequent grafting work. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the main structure of the device of the present invention (initial state).

[0032] Figure 2 yes Figure 1 Schematic diagram of the left view structure.

[0033] Figure 3 It is a three-dimensional structural schematic diagram of the rough-cut seedling feeding mechanism of the present invention.

[0034] Figure 4 It is a state diagram of the rough cutting process of the present invention.

[0035] Figure 5 It is a schematic diagram of the three-dimensional structure of the seedling upper clamping claw of the present invention.

[0036] Figure 6 It is a partially enlarged three-dimensional structural schematic diagram of the seedling clamping claw mechanism and the connecting part of the present invention.

[0037] Figure 7 It is a three-dimensional structural schematic diagram of the scion-grafting and seedling-gathering mechanism of the present invention.

[0038] Figure 8 It is a partially enlarged three-dimensional structural schematic diagram of the scion-grafting and seedling-gathering mechanism of the present invention.

[0039] Fig. 9 It is a three-dimensional structural schematic diagram of the limiting bottom plate of the present invention.

[0040] Fig.10 It is a schematic diagram of the three-dimensional structure of the seedling gathering clamp (including the scion seedling gathering clamp and the rootstock seedling gathering clamp) of the present invention.

[0041] Fig.11 It is a schematic diagram of the state of the scion seedling gathering and clamping process of the present invention.

[0042] Fig.12 It is a schematic diagram of the scion limiting process state of the present invention.

[0043] Fig.13 It is a three-dimensional structural schematic diagram of the rootstock seedling gathering mechanism of the present invention.

[0044] Fig.14 It is a three-dimensional structural schematic diagram of the stock limiting block of the present invention.

[0045] Fig.15 It is a schematic diagram of the rootstock seedling gathering and clamping process of the present invention.

[0046] Reference numerals:

[0047] Rough cutting and seedling feeding mechanism 01, robotic arm 0101, linear module 0102, robotic arm mounting frame 0103, seedling feeding motor 0104, seedling feeding connecting plate 0105, screw rod 0106, screw rod nut 0107, seedling feeding parallel guide cylinder 0108, seedling feeding parallel guide cylinder slider 0109, seedling feeding claw 0110, blade 0111, knife groove 0112, seedling clamping groove 0113, frame 0114.

[0048] Scion gathering mechanism 02, screw module 0201, connecting frame 0202, scion gathering connecting plate 0203, scion gathering clamp 0204, reinforcing plate 0205, propulsion bracket 0206, positioning double-axis cylinder connecting plate 0207, limiting base plate 0208, connecting base plate 0209, scion limiting block 0210, limiting linear guide 0211, positioning linear guide 0212, silicone pad 0213, screw module connecting frame 0214, scion gathering motor 0215, scion gathering groove 0216, positioning double-axis cylinder 0217, limiting double-axis cylinder 0218, fixing plate 0219, scion gathering parallel guide cylinder 0220, scion gathering guide cylinder slider 0221.

[0049] Rootstock seedling gathering mechanism 03, rootstock seedling gathering parallel guide cylinder 0301, rootstock seedling gathering guide cylinder slider 0302, rootstock seedling gathering connecting plate 0303, cylinder mounting frame 0304, rootstock limiting block 0305, rootstock seedling gathering groove 0306, rootstock seedling gathering clamp 0307. DETAILED DESCRIPTION

[0050] 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.

[0051] 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.

[0052] In the present invention, for the convenience of description, Figure 1 The left side and right side of are set to "left" and "right" respectively; Figure 1 The lower side and upper side of are set to "lower" and "upper" respectively; Figure 2 The left side and the right side of the device are respectively set as “rear” and “front”; unless otherwise specified, the positional relationship of the present invention is described in this manner.

[0053] like Figure 1 and 2As shown, a rough cutting and positioning device for parallel grafting of multiple Solanaceae vegetables provided by the present invention mainly comprises a rough cutting and placing mechanism 01, a scion gathering mechanism 02 and a rootstock gathering mechanism 03 installed on a frame 0114. Each mechanism cooperates with each other to achieve the function of parallel grafting of multiple Solanaceae vegetables and the rough cutting of the seedlings, and the cooperation process is described below.

[0054] The above-mentioned rough cutting and seedling placement mechanism 01 is used to position the scion seedling, cut off the scion seedling matrix and clamp the scion.

[0055] The above-mentioned scion gathering mechanism 02 is installed downstream of the rough cutting and seedling placement mechanism 01, and is used for gathering and positioning the scion clamped by the rough cutting and seedling placement mechanism 01.

[0056] The above-mentioned rootstock seedling gathering mechanism 03 is installed downstream of the scion seedling gathering mechanism 02, and is used for gathering the rootstock seedlings.

[0057] During use, the scion is brought to the working position by the scion gathering mechanism 02, and the corresponding stock is brought to the working position by the stock gathering mechanism 03, so as to facilitate the grafting of each group of scion and stock.

[0058] Theoretically, the structural forms of the above-mentioned rough-cutting seedling mechanism 01, scion seedling gathering mechanism 02 and rootstock seedling gathering mechanism 03 are not limited, as long as they can achieve the functions described above. As a preferred mode of the above-mentioned mechanism, the rough-cutting seedling mechanism may include a parallel guide cylinder for rough-cutting and clamping the scion seedlings, a mechanical arm for completing the seedling placement of the scion after rough-cutting and clamping, a linear module that drives the mechanical arm to move, and a motor that drives the linear module to move; the scion seedling gathering mechanism may include a parallel guide cylinder for gathering the scion seedlings, a double-axis cylinder for front and rear limiting the scion, a screw module for upper and lower positioning of multiple scions as a whole, a motor that drives the screw module to move, and a double-axis cylinder for front and rear positioning of multiple scions as a whole; the rootstock seedling gathering mechanism may include a parallel guide cylinder for gathering the rootstock seedlings.

[0059] Combine the following Figure 2 to Figure 15 The preferred implementation forms of each mechanism are described in detail through embodiments.

[0060] The specific form of the rack 0114 of the present invention can be adjusted according to actual needs, and its main function is to provide installation positions for each functional unit. Considering the aesthetics and convenience, the rack 0114 can adopt a box-like frame structure.

[0061] like Figures 3 to 6 As shown, the above-mentioned rough cutting seedling mechanism 01 of the present invention mainly includes a linear module 0102, a robotic arm 0101, a seedling feeding motor 0104, a seedling feeding connecting plate 0105, a seedling feeding parallel guide cylinder 0108, a seedling feeding parallel guide cylinder slider 0109 and a seedling feeding clamp 0110.

[0062] Specifically, Figure 3 As shown, the linear module 0102 is horizontally fixed on the frame 0114, and is slidably connected to one end of the robotic arm 0101 through the robotic arm mounting frame 0103. The robotic arm 0101 can move left and right in the horizontal direction on the linear module 0102. The linear module 0104 is fixed to the linear module 0102, and the linear module 0102 is driven by the linear module 0104 to make the robotic arm 0101 reciprocate left and right, and the other end of the robotic arm 0101 is connected to the head end (i.e., the upper end) of the screw rod 0106. The screw rod 0106 is vertically arranged, and its end (i.e., the lower end) is connected to the upper surface of the upper seedling connecting plate 0105 through the screw nut 0107. The plate surface of the upper seedling connecting plate 0105 is horizontally arranged, and n (n≥2 and an integer) upper seedling parallel guide cylinders 0108 are evenly spaced along the length direction (i.e., from left to right) on the lower surface. Each of the upper seedling parallel guide rail cylinders 0108 is provided with upper seedling parallel guide rail cylinder sliders 0109 on both sides, and the two upper seedling parallel guide rail cylinder sliders 0109 can move closer to the middle or separate to both sides under the action of the upper seedling parallel guide rail cylinders 0108. Figure 4 and 6 As shown, each seedling parallel guide rail cylinder slider 0109 is vertically mounted with an outwardly extending seedling clamping claw 0110, and the two seedling clamping claws 0110 located on the same seedling parallel guide rail cylinder 0108 constitute a group. Each group of seedling clamping claws 0110 can clamp the scion and cut off the scion seedling matrix under the action of the seedling parallel guide rail cylinder 0108.

[0063] In actual use, the robot arm 0101 should have at least two degrees of freedom, namely, the ability to rotate around the z-axis and move along the y-axis.

[0064] In actual use, Figure 5 As shown, in the two seedling clamping jaws 0110 of each group of seedling parallel guide rail cylinder sliders 0109, the inner side of each seedling clamping jaw 0110 has a plurality of continuous semicircular seedling clamping grooves 0113 along the length direction, and the inner side of each seedling clamping jaw 0110 is provided with a knife groove 0112 in the middle along the thickness direction, and a blade 0111 is installed in the knife groove 0112. When each group of seedling clamping jaws 0110 moves toward the middle under the action of the seedling parallel guide rail cylinder 0108, the scion can be clamped through the seedling clamping groove 0113 and the scion seedling matrix can be cut through the blade 0111.

[0065] As a preferred embodiment of the present invention, in the rough-cut seedling mechanism 01, the linear module 0102 is installed on the frame 0114, and is used to drive the mechanical arm 0101 to reciprocate left and right; the mechanical arm mounting frame 0103 is installed on the linear module 0102, and is used to connect the mechanical arm 0101 and the linear module 0102; the mechanical arm 0101 is installed on the mechanical arm mounting frame 0103 and is fixed by bolts; the seedling motor 0104 is fixed on the linear module 0102, and drives the linear module 0102 to work; the screw rod 0106 is installed on the mechanical arm 01 01; one end of the screw rod 0106 is suspended, and the other end is connected to the screw rod nut 0107; when the robot arm 0101 is working, it can drive the screw rod 0106 to rotate and move downward as a whole, and at the same time make the screw rod nut 0107 move downward; one end of the screw rod nut 0107 is connected to the screw rod 0106, and the lower surface is fixed on the upper surface of the upper seedling connecting plate 0105; when the screw rod nut 0107 moves downward, the upper seedling connecting plate 0105 also moves downward; the upper seedling connecting plate 0105 is connected to the screw rod nut 0107, and makes the same movement as the screw rod nut 0107. Five (i.e., n=5 in this embodiment) upper seedling parallel guide cylinders 0108 are installed on the lower surface of the upper seedling connecting plate 0105, and are arranged horizontally in the left and right directions. Each upper seedling parallel guide cylinder 0108 has two upper seedling parallel guide cylinder sliders 0109. When the upper seedling parallel guide cylinder 0108 is in operation, the two upper seedling parallel guide cylinder sliders 0109 move from both sides to the middle, driving the upper seedling clamping claws 0110 to move from both sides to the middle, completing the rough cutting clamping operation. Ten upper seedling clamping claws 0110 are installed on the upper seedling parallel guide cylinders 0108. On the guide rail cylinder slider 0109; in each group, the upper seedling clamping claw 0110 on the left is installed in the forward direction, and the upper seedling clamping claw 0110 on the right is installed in the reverse direction; each upper seedling parallel guide rail cylinder slider 0109 is installed with an upper seedling clamping claw 0110, and ten upper seedling clamping claws 0110 are arranged horizontally along the left and right directions; on the inner side of each group of upper seedling clamping claws 0110, there are a plurality of semicircular seedling clamping grooves 0113 and a knife groove 0112 distributed front and back, and the seedling clamping groove 0113 is arranged on the right side of the upper seedling clamping claw 0110 (the upper seedling clamping claw is as shown in FIG. Figure 5 each blade 0111 is installed in a knife groove 0112 of a single upper seedling clamping jaw, a total of ten blades 0111, the cutting surface of the blade 0111 is on the right side of the upper seedling clamping jaw 0110.

[0066] Under the structure of the above preferred embodiment of the rough-cut seedling mechanism 01 of the present invention, the working process is as follows: at the beginning, the rough-cut seedling mechanism 01 is in the original position. When it is working, the seedling motor 0104 drives the linear module 0102 to move to the left, and at the same time, the mechanical arm 0101 drives the seedling connecting plate 0105 to rotate counterclockwise to the scion seedling position, and then the mechanical arm 0101 operates to make the seedling connecting plate 0105 move downward to complete the seedling, and then the seedling parallel guide cylinder 0108 moves, such as Figure 4As shown, the space between the two blades 0111 in the two seedling clamping jaws 0110 and the seedling clamping grooves of the clamping jaws is reduced, completing the rough cutting and clamping of the scion seedlings. Finally, the linear module 0102 operates to drive the robot arm 0101 back to the seedling placing position to the right.

[0067] like Figures 7 to 12 As shown, the above-mentioned scion gathering mechanism 02 of the present invention mainly includes a screw module 0201, a scion gathering motor 0215, a connecting base plate 0209, a positioning double-axis cylinder 0217, a limiting double-axis cylinder 0218, a scion gathering connecting plate 0203, a scion gathering clamp 0204, a propulsion bracket 0206, a limiting base plate 0208 and a scion gathering parallel guide cylinder 0220.

[0068] Specifically, Figure 7 As shown, the screw module 0201 is vertically installed on the frame 0114 through the screw module connecting frame 0214, and a scion gathering motor 0215 is fixed to one end (preferably the upper end) of the screw module 0201. A connecting base plate 0209 is slidably connected to the screw module 0201 through the connecting frame 0202, and the connecting base plate 0209 can move vertically up and down on the screw module 0201. The connecting base plate 0209 is horizontally arranged and can move vertically along the screw module 0201 under the drive of the scion gathering motor 0215. The positioning double-axis cylinder 0217 is fixed to the upper surface of the connecting base plate 0209 through the positioning double-axis cylinder connecting plate 0207, and the propulsion assembly is connected to the propulsion bracket 0206. The positioning double-axis cylinder 0217 can drive the propulsion bracket 0206 to move horizontally along the length direction of the connecting base plate 0209. As shown Figure 8 As shown, the bottom surface of the propulsion bracket 0206 is connected to a horizontally arranged scion-grafting connecting plate 0203, and the bottom surface of the scion-grafting connecting plate 0203 is slidably connected to a horizontally arranged limit bottom plate 0208 via a limit linear guide rail 0211, and the axial direction of the limit linear guide rail 0211 is parallel to the axial direction of the positioning dual-axis cylinder 0217. Fig. 9As shown, the front end of the limiting base plate 0208 is provided with n rod-shaped scion limiting blocks 0210 extending forward, and the rear side of the upper surface is provided with a limiting double-axis cylinder 0218, and the propulsion assembly of the limiting double-axis cylinder 0218 is fixed to the lower surface of the connecting base plate 0209 through a fixing plate 0219. The limiting base plate 0208 can move forward and backward along the limiting linear guide rail 0211 by driving the limiting double-axis cylinder 0218. The lower surface of the scion-gathering seedling connecting plate 0203 is installed with n scion-gathering seedling parallel guide cylinders 0220, and each scion-gathering seedling parallel guide cylinder 0220 is provided with a scion-gathering seedling guide cylinder slider 0221 on both sides. The two scion-gathering seedling guide cylinder sliders 0221 can move toward the middle or separate to both sides under the action of the scion-gathering seedling parallel guide cylinder 0220. Each scion-gathering guide cylinder slider 0221 is vertically mounted with a scion-gathering jaw 0204 extending outwards. Two scion-gathering jaws 0204 located on the same scion-gathering parallel guide cylinder 0220 form a group. Between each group of scion-gathering jaws 0204, there is a scion-gathering groove 0216 for placing the scion from the rough-cut seedling loading mechanism 01. Each scion-gathering groove 0216 corresponds to a scion limit block 0210. Fig.10 As shown, the outer end of each group of scion gathering jaws 0204 is provided with an inwardly protruding limiting portion. When each group of scion gathering jaws 0204 is brought close to the limit position, the two limiting portions can be clamped closed, and at the same time, the scion limiting block 0210 can be driven by the limiting double-axis cylinder 0218 to move forward, thereby limiting the front and rear of the scion.

[0069] In actual use, Figure 7 As shown, the connecting frame 0202 is a vertically arranged flat plate, which is slidably connected to the screw module 0201, and a connecting bottom plate 0209 is vertically fixed to the outer side of the connecting frame 0202. There are several ( Figure 7 There are two reinforcing plates 0205 in the figure for enhancing the connection stability, and the plate surfaces of the reinforcing plates 0205 are respectively perpendicular to the connecting frame 0202 and the connecting bottom plate 0209.

[0070] In actual use, the propulsion bracket 0206 is an L-shaped structure, including a vertical plate and a horizontal plate. The propulsion assembly of the positioning double-axis cylinder 0217 is fixedly connected to the outer side of the vertical plate, and the bottom of the horizontal plate is fixedly connected to the scion and seedling gathering connecting plate 0203. The upper surface of the scion and seedling gathering connecting plate 0203 has a plurality of protrusions, which are connected to the bottom of the horizontal plate through the protrusions, so that there is a gap between the horizontal plate and the horizontal plate for installing the positioning linear guide 0212. A plurality of positioning linear guides 0212 are installed parallel to the upper surface of the connecting base plate 0209 along the length direction, and the slider assembly of each positioning linear guide 0212 is connected to the lower surface of the horizontal plate, so that the horizontal plate can slide along the length direction of the connecting base plate 0209 under the positioning linear guide 0212, so as to enhance the stability of the propulsion bracket 0206 during the movement along the connecting base plate 0209 driven by the positioning double-axis cylinder 0217.

[0071] In actual use, the slider assembly of the limiting linear guide rail 0211 is connected to the scion seedling connecting plate 0203, and the guide rail assembly is fixed on the upper surface of the limiting bottom plate 0208. The outer end of each scion limiting block 0210 is provided with a silicone pad 0213 for protecting the scion.

[0072] As a preferred embodiment of the present invention, in the scion-grafting mechanism 02, the screw module connecting frame 0214 is installed on the frame 0114; the screw module 0201 is installed on the screw module connecting frame 0214, which is used to drive five scions (i.e., n=5 in this embodiment) to be positioned up and down as a whole; the connecting frame 0202 is installed on the screw module 0201; the connecting base plate 0209 is installed on the connecting frame 0202, and the connecting base plate 0209 is vertically installed with the connecting frame 0202 to form two 90° angle; two reinforcing plates 0205 are installed in the two 90° angles formed between the connecting base plate 0209 and the connecting frame 0202, so as to enhance the stability of the connecting base plate 0209; the positioning dual-axis cylinder connecting plate 0207 is installed on the connecting base plate 0209; the cylinder body of the positioning dual-axis cylinder 0217 is installed and fixed on the positioning dual-axis cylinder connecting plate 0207, and the propulsion assembly of the positioning dual-axis cylinder 0217 is installed at the rear of the "L"-shaped propulsion bracket 0206. When the positioning double-axis cylinder 0217 is in operation, it can drive the propulsion bracket 0206 to move forward and backward; the bottom surface of the propulsion bracket 0206 is installed on the two vertically raised rectangular blocks of the scion-grafting and seedling-gathering connecting plate 0203, and a certain gap is formed during the installation; the scion-grafting and seedling-gathering connecting plate 0203 is only installed on the bottom surface of the propulsion bracket 0206, and is in a semi-suspended state; the guide rail components of the two positioning linear guide rails 0212 are installed on the upper surface of the connecting bottom plate 0209, and the slider component of the positioning linear guide rail 0212 is connected to the lower surface of the propulsion bracket 0206; when When the positioning double-axis cylinder 0217 drives the propulsion bracket 0206 and the scion-grafting connecting plate 0203 to move, the stability of the propulsion bracket 0206 and the scion-grafting connecting plate 0203 can be enhanced; the slider assemblies of the two limiting linear guides 0211 are connected to the scion-grafting connecting plate 0203, and the guide rail assemblies of the limiting linear guides 0211 are fixed on the upper surface of the limiting bottom plate 0208; five (i.e., n=5 in this embodiment) scion limiting blocks 0210 are part of the limiting bottom plate 0208, and are located in front of the limiting bottom plate (the limiting bottom plate is as shown in FIG. Fig. 9), a single silicone pad 0213 is glued to the scion limiting block 0210, and there are five silicone pads 0213 in total, which are used to avoid damage to the scion when the scion is limited; the cylinder body of the limiting double-axis cylinder 0218 is installed on the upper surface of the limiting base plate 0208, and the propulsion component of the limiting double-axis cylinder 0218 is installed on the front surface of the fixed plate 0219, and the upper surface of the fixed plate 0219 is fixed on the lower surface of the connecting base plate 0209. When the limiting double-axis cylinder 0218 is operating, the cylinder body of the limiting double-axis cylinder 0218 drives the limiting base plate 0208 to move back and forth, and the scion limiting block 0210 at the front of the limiting base plate 0208 The simultaneous movement completes the front and rear limit of the scion, and the limiting linear guide 0211 can enhance the stability of the operation; five scion seedling gathering parallel guide cylinders 0220 are installed on the lower surface of the scion seedling gathering connecting plate 0203, and are arranged horizontally along the left and right directions. Each scion seedling gathering parallel guide cylinder 0220 has two scion seedling gathering guide cylinder sliders 0221. When the scion seedling gathering parallel guide cylinder 0220 is in operation, the two scion seedling gathering guide cylinder sliders 0221 move from both sides to the middle, driving the scion seedling gathering claws 0204 to move from both sides to the middle, completing the scion seedling gathering clamping operation (the scion seedling gathering claws are as shown in FIG. Fig.10 );Ten scion seedling gathering claws 0204 are installed on the scion seedling gathering guide rail cylinder slider 0221;In each group of scion seedling gathering claws 0204, the scion seedling gathering claws 0204 on the left are installed in the forward direction, and the scion seedling gathering claws 0204 on the right are installed in the reverse direction;Each scion seedling gathering guide rail cylinder slider 0221 is installed with a scion seedling gathering claw 0204, and the ten scion seedling gathering claws 0204 are horizontally arranged along the left and right directions, and when the scion seedling gathering parallel guide rail cylinder 0220 operates, the scion seedling gathering groove 0216 is reduced, and the scion seedling gathering groove 0216 is a gap formed by two scion seedling gathering claws installed on the scion seedling gathering guide rail cylinder slider 0221;The scion seedling gathering motor 0215 is installed on the screw module 0201, which is used to drive the screw module 0201 to drive the connecting frame 0202 to move downward, thereby driving the five scion seedlings to move downward as a whole.

[0073] Under the structure of the above preferred embodiment of the present invention, the working process of the scion seedling gathering mechanism 02 is as follows: at the beginning, the scion seedling gathering mechanism 02 is in the original position. When it is working, the positioning double-axis cylinder 0217 drives the scion seedling gathering connecting plate 0203 to move forward. At this time, the two scion seedling gathering guide cylinder sliders 0221 of the five (i.e., n=5 in this embodiment) scion seedling gathering parallel guide cylinders 0220 at the front of the bottom surface of the scion seedling gathering connecting plate 0203 are opened. After the scion is transported to the right place by the rough-cut seedling loading mechanism 01, the scion seedling gathering parallel guide cylinders 0220 work to complete the scion seedling gathering operation. Fig.11Then the limiting double-axis cylinder 0218 operates, driving the limiting bottom plate 0208 and the five scion limiting blocks 0210 at the front to move forward in a straight line, limiting each scion at the front of the scion-gathering slot 0216, completing the front and rear limiting of the five scions, as shown. Fig.12 Finally, the scion gathering motor 0215 operates to drive the screw module 0201 to drive the connecting frame 0202 to move downward, thereby driving the five scion seedlings to move downward as a whole, completing the upper and lower positioning of the scion.

[0074] like Figures 13-15 As shown, the above-mentioned rootstock seedling gathering mechanism 03 of the present invention mainly includes a cylinder mounting frame 0304, a rootstock limiting block 0305, a rootstock seedling gathering clamp 0307 and a rootstock seedling gathering parallel guide cylinder 0301.

[0075] Specifically, the cylinder mounting frame 0304 is mounted on the frame 0114, and n stock limit blocks 0305 are fixed on the cylinder mounting frame 0304 through the stock seedling gathering connection plate 0303. A stock seedling gathering parallel guide cylinder 0301 is fixed on the cylinder mounting frame 0304 at each stock limit block 0305, and a stock seedling gathering parallel guide cylinder slider 0302 is provided on both sides of each stock seedling gathering parallel guide cylinder 0301. The two stock seedling gathering guide cylinder sliders 0302 can be moved together or separated to both sides under the action of the stock seedling gathering parallel guide cylinder 0301. Each rootstock seedling collecting guide cylinder slider 0302 is vertically mounted with a rootstock seedling collecting clamp 0307 extending outward, and two rootstock seedling collecting clamps 0307 located on the same rootstock seedling collecting parallel guide cylinder 0301 form a group, and a rootstock seedling collecting groove 0306 for placing the rootstock is provided between each group of rootstock seedling collecting clamps 0307, ​​and each rootstock seedling collecting groove 0306 corresponds to a rootstock limiting block 0305, and the rootstock limiting block 0305 is used to position the rootstock forward and backward. The outer end of each group of rootstock seedling collecting clamps 0307 is provided with a limiting portion protruding inward, and when each group of rootstock seedling collecting clamps 0307 is close to the limit position, the two limiting portions can be clamped and closed to achieve the clamping of the rootstock.

[0076] As a preferred embodiment of the present invention, in the rootstock seedling gathering mechanism 03, the cylinder mounting frame 0304 is mounted on the frame 0114, and is used to fix the rootstock seedling gathering mechanism 03 as a whole; the rootstock seedling gathering connecting plate 0303 is mounted on the cylinder mounting frame 0304; five (i.e., n=5 in this embodiment) rootstock limit blocks 0305 are mounted on the rootstock seedling gathering connecting plate 0303, and the five rootstock limit blocks 0305 are horizontally arranged in the left and right directions, and are fixed to the rootstock seedling gathering connecting plate 0303 by bolt connection, and are used for front and rear positioning of the rootstock; (the rootstock limit blocks are as shown in FIG. Fig.14As shown in the figure, five rootstock seedling gathering parallel guide cylinders 0301 are installed on the upper surface of the cylinder mounting frame 0304, and are arranged horizontally in the left and right directions. Each rootstock seedling gathering parallel guide cylinder 0301 has two rootstock seedling gathering guide cylinder sliders 0302. When the rootstock seedling gathering parallel guide cylinder 0301 is in operation, the two rootstock seedling gathering guide cylinder sliders 0302 move from both sides to the middle, driving the rootstock seedling gathering clamping claws 0307 to move from both sides to the middle, thereby completing the rootstock seedling gathering clamping operation; ten rootstock seedling gathering clamping claws 0307 are installed on the rootstock seedling gathering guide On the cylinder slider 0302, the rootstock seedling gathering claw 0307 on the left is installed in the forward direction, and the rootstock seedling gathering claw 0307 on the right is installed in the reverse direction. Each rootstock seedling gathering guide cylinder slider 0302 is installed with a rootstock seedling gathering claw 0307, ​​and ten rootstock seedling gathering claws 0307 are horizontally arranged along the left and right directions. When the rootstock seedling gathering parallel guide cylinder 0301 is operating, the rootstock seedling gathering groove 0306 is reduced. The rootstock seedling gathering groove 0306 is the gap formed by two rootstock seedling gathering claws 0307 installed on the rootstock seedling gathering guide cylinder slider 0302.

[0077] Under the structure of the above-mentioned preferred embodiment of the rootstock seedling gathering mechanism 03 of the present invention, the working process is: at the beginning, the rootstock seedling gathering mechanism 03 is in the original position, and when the rootstock reaches the working position, the rootstock seedling gathering parallel guide cylinder 0301 starts to operate, and every two rootstock seedling gathering guide cylinder sliders 0302 move from both sides to the middle, driving the rootstock seedling gathering claws 0307 to move from both sides to the middle, and the rootstock seedling gathering groove 0306 is reduced, thereby completing the rootstock seedling gathering and clamping operation.

[0078] The present invention further provides an operation method using the above-mentioned device for coarse cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables, and the specific operation method is as follows:

[0079] S1: Initial state, all mechanisms are in their original positions, and n scion seedlings and n rootstocks are in working positions.

[0080] S2: The seedling motor 0104 of the rough cutting seedling mechanism 01 operates, driving the linear module 0102 to move the mechanical arm 0101 to the top of the scion seedling working position, and the mechanical arm 0101 drives the screw rod 0106 to rotate so that the seedling connecting plate 0105 moves downward as a whole to the scion seedling working position. Each seedling parallel guide cylinder 0108 works, driving each group of seedling clamping claws 0110 to move closer to the middle, completing the clamping of the scion and the removal of the scion seedling matrix ( Figure 4 The seedling raising motor 0104 operates to drive the linear module 0102 to reset, so that the clamped scion reaches the scion clamping position.

[0081] S3: The positioning double-axis cylinder 0217 of the scion-grafting mechanism 02 operates, driving the scion-grafting connecting plate 0203 to move forward as a whole to the scion-grafting position. Each scion-grafting parallel guide cylinder 0220 operates, driving each group of scion-grafting clamping claws 0204 to move closer to the middle, completing the scion-grafting ( Fig.11 The limiting double-axis cylinder 0218 operates to drive each scion limiting block 0210 to move forward, and in combination with the limiting part clamped at the front end of the scion limiting block 0210, the front and rear limiting of the scion is completed ( Fig.12 The scion gathering motor 0215 operates to drive the screw module 0201 to drive all the scions after the clamping limit to move downward as a whole.

[0082] S4: The scion-grafting and seedling-gathering motor 0215, the scion-grafting and seedling-gathering parallel guide cylinder 0220, the positioning dual-axis cylinder 0217 and the robotic arm 0101 are reset.

[0083] S5: The parallel guide cylinders 0301 of the rootstock seedling gathering mechanism 03 operate, driving the groups of rootstock seedling gathering clamps 0307 to move toward the middle, completing the rootstock seedling gathering and clamping ( Fig.15 ). The rootstock seedling-gathering parallel guide cylinder 0301 is reset, and at the same time, the other n scion seedlings and n rootstocks arrive at the working position, and a working cycle is completed.

[0084] S6: Repeat S2 to S5 to continuously carry out the seedling gathering, rough cutting and positioning operations.

[0085] It should be noted that the seedling gathering and clamping operation refers to: using the seedling gathering clamps to gather the Solanaceae seedlings that are in the working position but have a certain position deviation between the two seedling gathering clamps and successfully clamp them.

[0086] The above 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 can 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. A device for rough cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables, characterized in that: It comprises a rough-cut seedling-raising mechanism (01), a scion seedling-collecting mechanism (02) and a rootstock seedling-collecting mechanism (03) installed on a frame (0114); The rough cutting and seedling placing mechanism (01) is used to position the scion seedling, cut off the scion seedling matrix and clamp the scion; The scion gathering mechanism (02) is installed downstream of the rough cutting and seedling placement mechanism (01) and is used to gather and position the scions clamped by the rough cutting and seedling placement mechanism (01); The rootstock seedling gathering mechanism (03) is installed downstream of the scion seedling gathering mechanism (02) and is used to gather the seedlings of the rootstock; The scion and the corresponding rootstock are respectively brought to a working position by the scion and seedling gathering mechanism (02) and the rootstock and seedling gathering mechanism (03) for grafting.

2. The device for rough cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to claim 1, characterized in that: The rough cutting and seedling feeding mechanism (01) comprises a linear module (0102), a mechanical arm (0101), a seedling feeding motor (0104), a seedling feeding connecting plate (0105), a seedling feeding parallel guide rail cylinder (0108), a seedling feeding parallel guide rail cylinder slider (0109) and a seedling feeding clamp (0110); The linear module (0102) is horizontally fixed on the frame (0114), and is slidably connected to one end of the mechanical arm (0101) through the mechanical arm mounting frame (0103); a seedling raising motor (0104) is fixed on the linear module (0102), and the mechanical arm (0101) can be reciprocated left and right by driving the linear module (0102) through the seedling raising motor (0104), and the other end of the mechanical arm (0101) is connected to the head end of the screw rod (0106); the screw rod (0106) is vertically arranged, and its end is connected to the upper surface of the seedling raising connecting plate (0105) through the screw rod nut (0107); the plate surface of the seedling raising connecting plate (0105) is horizontally arranged, and the lower surface is evenly spaced along the length direction. There are n seedling raising parallel guide cylinders (0108); seedling raising parallel guide cylinder sliders (0109) are respectively arranged on both sides of each seedling raising parallel guide cylinder (0108); the two seedling raising parallel guide cylinder sliders (0109) can be moved together to the middle or separated to both sides under the action of the seedling raising parallel guide cylinder (0108); each seedling raising parallel guide cylinder slider (0109) is vertically installed with a seedling raising clamping claw (0110) extending outward, and the two seedling raising clamping claws (0110) located on the same seedling raising parallel guide cylinder (0108) form a group, and each group of seedling raising clamping claws (0110) can realize the clamping of the scion and the cutting of the scion seedling matrix under the action of the seedling raising parallel guide cylinder (0108).

3. The device for rough cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to claim 2, characterized in that: The robotic arm (0101) has at least two degrees of freedom: rotation around the z-axis and movement along the y-axis.

4. The device for rough cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to claim 2, characterized in that: In the two seedling clamping jaws (0110) of each group of the seedling parallel guide rail cylinder sliders (0109), the inner side of each seedling clamping jaw (0110) is provided with a plurality of continuous semicircular seedling clamping grooves (0113) along the length direction, and the inner side of each seedling clamping jaw (0110) is provided with a knife groove (0112) in the middle along the thickness direction, and a blade (0111) is installed in the knife groove (0112); when each group of seedling clamping jaws (0110) moves toward the middle under the action of the seedling parallel guide rail cylinder (0108), the scion can be clamped through the seedling clamping groove (0113) and the scion seedling matrix can be cut through the blade (0111).

5. The device for rough cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to claim 1, characterized in that: The scion-grafting and seedling-gathering mechanism (02) comprises a screw rod module (0201), a scion-grafting and seedling-gathering motor (0215), a connecting base plate (0209), a positioning double-axis cylinder (0217), a limiting double-axis cylinder (0218), a scion-grafting and seedling-gathering connecting plate (0203), a scion-grafting and seedling-gathering clamp (0204), a propulsion bracket (0206), a limiting base plate (0208) and a scion-grafting and seedling-gathering parallel guide cylinder (0220); The screw module (0201) is vertically mounted on the frame (0114) via a screw module connecting frame (0214), and a scion-grafting and seedling-gathering motor (0215) is fixed at one end; a connecting base plate (0209) is slidably connected to the screw module (0201) via a connecting frame (0202); the connecting base plate (0209) is horizontally arranged and can move vertically along the screw module (0201) under the drive of the scion-grafting and seedling-gathering motor (0215); the positioning double-axis cylinder (0217) is fixed to the upper surface of the connecting base plate (0209) via a positioning double-axis cylinder connecting plate (0207); the propulsion assembly is connected to the propulsion bracket (0206), and the propulsion bracket can be driven by the positioning double-axis cylinder (0217). (0206) moves horizontally along the length direction of the connecting base plate (0209); the bottom surface of the propulsion bracket (0206) is connected to a horizontally arranged scion-grafting and seedling-gathering connecting plate (0203), and the bottom surface of the scion-grafting and seedling-gathering connecting plate (0203) is slidably connected to a horizontally arranged limiting base plate (0208) through a limiting linear guide rail (0211), and the axial direction of the limiting linear guide rail (0211) is parallel to the axial direction of the positioning double-axis cylinder (0217); the front end of the limiting base plate (0208) is provided with n rod-shaped scion limiting blocks (0210) extending forward, and a limiting double-axis cylinder (0218) is provided on the rear side of the upper surface, and the propulsion component of the limiting double-axis cylinder (0218) is fixed to the connecting base plate through a fixing plate (0219). The lower surface of the plate (0209); the limiting bottom plate (0208) can be driven by the limiting double-axis cylinder (0218) to move forward and backward along the limiting linear guide rail (0211); n scion seedling gathering parallel guide rail cylinders (0220) are installed on the lower surface of the scion seedling gathering connection plate (0203), and scion seedling gathering guide rail cylinder sliders (0221) are respectively provided on both sides of each scion seedling gathering parallel guide rail cylinder (0220), and the two scion seedling gathering guide rail cylinder sliders (0221) can be moved together to the middle or separated to both sides under the action of the scion seedling gathering parallel guide rail cylinder (0220); each scion seedling gathering guide rail cylinder slider (0221) is vertically installed with a scion seedling gathering claw (0204) extending outward, located The two scion-gathering seedling clamps (0204) on the same scion-gathering seedling parallel guide cylinder (0220) form a group, and a scion-gathering seedling groove (0216) for placing the scion from the rough-cut seedling mechanism (01) is provided between each group of scion-gathering seedling clamps (0204), and each scion-gathering seedling groove (0216) corresponds to a scion limiting block (0210); the outer end of each group of scion-gathering seedling clamps (0204) is provided with a limiting portion protruding inward; when each group of scion-gathering seedling clamps (0204) is brought to an extreme position, the two limiting portions can be clamped closed, and at the same time, the scion limiting block (0210) can be driven by the limiting double-axis cylinder (0218) to move forward, thereby realizing the front and rear limiting of the scion.

6. The device for rough cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to claim 5, characterized in that: The connecting frame (0202) is a vertically arranged flat plate, which is slidably connected to the screw module (0201), and a connecting base plate (0209) is vertically fixed on the outer side of the connecting frame (0202); a plurality of reinforcing plates (0205) for enhancing the connection stability are arranged between the connecting frame (0202) and the connecting base plate (0209), and the plate surfaces of the reinforcing plates (0205) are respectively perpendicular to the connecting frame (0202) and the connecting base plate (0209).

7. The device for rough cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to claim 5, characterized in that: The propulsion bracket (0206) is an L-shaped structure, including a vertical plate and a horizontal plate; the propulsion component of the positioning double-axis cylinder (0217) is fixedly connected to the outer side of the vertical plate, and the bottom of the horizontal plate is fixedly connected to the scion and seedling gathering connecting plate (0203); the upper surface of the scion and seedling gathering connecting plate (0203) has a plurality of protrusions, which are connected to the bottom of the horizontal plate through the protrusions, so that there is a gap between the horizontal plate and the horizontal plate for installing the positioning linear guide rail (0212); a plurality of positioning linear guide rails (0212) are installed on the upper surface of the connecting base plate (0209) in parallel along the length direction, and the slider assembly of each positioning linear guide rail (0212) is connected to the lower surface of the horizontal plate, so that the horizontal plate can slide along the length direction of the connecting base plate (0209) under the positioning linear guide rail (0212), so as to enhance the stability of the propulsion bracket (0206) during the movement along the connecting base plate (0209) driven by the positioning double-axis cylinder (0217).

8. The device for rough cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to claim 5, characterized in that: The slider assembly of the limiting linear guide rail (0211) is connected to the scion seedling gathering connecting plate (0203), and the guide rail assembly is fixed on the upper surface of the limiting bottom plate (0208); the outer end of each scion limiting block (0210) is provided with a silicone pad (0213) for protecting the scion.

9. The device for rough cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to claim 1, characterized in that: The rootstock seedling gathering mechanism (03) comprises a cylinder mounting frame (0304), a rootstock limiting block (0305), a rootstock seedling gathering clamping claw (0307) and a rootstock seedling gathering parallel guide cylinder (0301); The cylinder mounting frame (0304) is mounted on the frame (0114), and n rootstock limit blocks (0305) are fixed on the cylinder mounting frame (0304) through the rootstock seedling gathering connection plate (0303); a rootstock seedling gathering parallel guide cylinder (0301) is fixed on the cylinder mounting frame (0304) at each rootstock limit block (0305), and a rootstock seedling gathering parallel guide cylinder slider (0302) is provided on both sides of each rootstock seedling gathering parallel guide cylinder (0301), and the two rootstock seedling gathering guide cylinder sliders (0302) can be moved together or separated to both sides under the action of the rootstock seedling gathering parallel guide cylinder (0301); each rootstock seedling gathering guide cylinder slider (0302) ) are vertically mounted with outwardly protruding rootstock seedling gathering claws (0307), two rootstock seedling gathering claws (0307) located on the same rootstock seedling gathering parallel guide cylinder (0301) form a group, and a rootstock seedling gathering groove (0306) for placing the rootstock is provided between each group of rootstock seedling gathering claws (0307), and each rootstock seedling gathering groove (0306) corresponds to a rootstock limiting block (0305), and the rootstock limiting block (0305) is used to position the rootstock forward and backward; the outer end of each group of rootstock seedling gathering claws (0307) is provided with an inwardly protruding limiting portion, and when each group of rootstock seedling gathering claws (0307) is close to the limit position, the two limiting portions can be clamped and closed to achieve the clamping of the rootstock.

10. An operating method using the device for coarse cutting and positioning of multiple parallel grafted seedlings of Solanaceae vegetables according to any one of claims 1 to 9, characterized in that: The details are as follows: S1: Initial state, all mechanisms are in their original positions, n scion seedlings and n rootstocks are in working positions; S2: the seedling raising motor (0104) of the rough-cutting seedling raising mechanism (01) operates to drive the linear module (0102) to move the mechanical arm (0101) to the top of the scion seedling working position, and the mechanical arm (0101) drives the screw rod (0106) to rotate so that the seedling raising connecting plate (0105) moves downward as a whole to reach the scion seedling working position; each seedling raising parallel guide cylinder (0108) operates to drive each group of seedling raising clamping claws (0110) to move closer to the middle, thereby completing the clamping of the scion and the cutting of the scion seedling matrix; the seedling raising motor (0104) operates to drive the linear module (0102) to reset, so that the clamped scion reaches the scion clamping position; S3: The positioning double-axis cylinder (0217) of the scion-grafting mechanism (02) operates to drive the scion-grafting connecting plate (0203) to move forward as a whole to the scion-grafting position; each scion-grafting parallel guide cylinder (0220) operates to drive each group of scion-grafting clamping claws (0204) to move toward the middle to complete the scion-grafting; the limiting double-axis cylinder (0218) operates to drive each scion-grafting limit block (0210) to move forward, and the front and rear limit of the scion is completed in combination with the limit part clamped at the front end of the scion-grafting limit block (0210); the scion-grafting motor (0215) operates to drive the screw module (0201) to drive all the scions after the clamping limit to move downward as a whole; S4: The scion-grafting and seedling-gathering motor (0215), the scion-grafting and seedling-gathering parallel guide cylinder (0220), the positioning double-axis cylinder (0217) and the mechanical arm (0101) are reset; S5: each rootstock seedling gathering parallel guide cylinder (0301) in the rootstock seedling gathering mechanism (03) operates, driving each group of rootstock seedling gathering clamps (0307) to move toward the middle, completing the rootstock seedling gathering; the rootstock seedling gathering parallel guide cylinder (0301) is reset, and at the same time, the other n scion seedlings and n rootstocks arrive at the working position; S6: Repeat S2 to S5 to continuously carry out the seedling gathering, rough cutting and positioning operations.

Images