Multi-station automatic grafting machine

Abstract

The invention discloses a multi-station automatic grafting machine which comprises a robot clamping part and a root plant cutting part, the robot clamping part is provided with a first clamping jaw used for clamping, transporting and clamping seedlings, and the root plant cutting part comprises a moving assembly used for clamping and moving the seedlings and a cutting unit used for cutting off seedling stems. After the root plant is cut off by the cutting unit, the root part is retained and is clamped by the moving assembly to move, and the seedling plant cutting part and the root plant cutting part are symmetrically arranged. According to the multi-station automatic grafting machine, grafting cutting is unified, grafting cutting and grafting cutting can be tightly attached, the survival rate after grafting is increased, meanwhile, multiple work can be conducted at the same time, the grafting efficiency is improved, and the grafting cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of grafting, in particular to a multi-station automatic grafting machine. Background Art

[0002] The traditional process of seedling grafting generally involves cutting the roots and seedlings manually, and then wrapping and fixing the cut assembly with a film. The grafting process is completed manually, which takes a long time. At the same time, the cutting positions are not uniform, and there is a situation where they cannot fit tightly during docking, which affects the survival rate of the grafted seedlings. However, the existing mechanical grafting machines, such as those described in the patent publication number CN102823438B, are generally operated at a single station, and thus cannot perform rapid grafting in large-scale grafting work. Summary of the invention

[0003] Aiming at the deficiencies in the prior art, the present invention provides a multi-station automatic grafting machine.

[0004] To solve the above technical problems, the present invention is solved through the following technical solutions: a multi-station automated grafting machine, comprising a robot clamping part, the robot clamping part is provided with a first clamping claw for clamping and transporting seedlings, a root cutting part, the root cutting part comprises a moving component for clamping and moving seedlings and a cutting unit for cutting the seedling stem, after the root is cut off by the cutting unit, the retained root is clamped by the moving component and then moved, a seedling cutting part, the seedling cutting part and the root cutting part are symmetrically arranged, used to cut the seedlings and retain the seedlings, the moving components of the root cutting part and the seedling cutting part move toward each other so that the remaining root after cutting is combined with the seedling, and a fixing part, the fixing part is used to fix the combined position of the root and the seedling so that the root and the seedling are connected together.

[0005] Its beneficial effect is that through automated cutting, the consistency of the incisions of the roots and seedlings is guaranteed, and they can fit tightly after assembly, thereby improving the survival rate of the seedlings after transplanting.

[0006] In the above scheme, preferably, the robot clamping part is provided with a group, one group is used for clamping and transporting seedlings and cooperating with the seedling cutting part, and the other group is used for clamping and transporting roots and cooperating with the root cutting part.

[0007] In the above scheme, preferably, the moving component includes a first track group and a second clamping jaw, the second clamping jaw is used to clamp the seedling stem and is arranged on the first track group, and the first track group is used to drive the second clamping jaw to move.

[0008] In the above scheme, preferably, the cutting unit includes a cutting knife and a first lifting member, the cutting knife is arranged on the first lifting member, and is driven by the first lifting member to move up and down, and is used for cutting the seedlings clamped by the second clamping claw.

[0009] In the above scheme, preferably, the angle between the cutting blade edge and the jaw direction of the second clamp is greater than 10 degrees and less than 70 degrees, so that the incision on the seedling stem after cutting is inclined.

[0010] In the above scheme, preferably, the cutting unit also includes a third clamping jaw, which is arranged on the first lifting member and located on one side of the cutting knife. When the cutting knife is cutting, the second clamping jaw and the third clamping jaw are respectively located on both sides of the cutting knife.

[0011] In the above solution, preferably, the cutting knife can vibrate at a high frequency.

[0012] In the above scheme, preferably, the fixing part includes a grasping unit and a feeding assembly, the feeding assembly is used to convey the wrapping piece for tightening to the grasping unit, the grasping unit moves the wrapping piece to the combination of the seedling stem root and the seedling part, and the wrapping piece tightens the combination.

[0013] In the above scheme, preferably, it also includes a transfer unit, which moves the combined seedling stem after the fixing part is fastened out of the grafting machine.

[0014] In the above scheme, preferably, a plurality of groups of second clamps are evenly arranged on the first track group on the root cutting part and the seedling cutting part, and the two are symmetrically arranged with each other, and a plurality of cutting units are matched with the second clamps.

[0015] Its beneficial effect is that multiple stations operate simultaneously, thereby improving the working efficiency of the equipment and making it suitable for large-scale operations.

[0016] The beneficial effects of the present invention are as follows: the present invention provides a multi-station automated grafting machine, which makes the grafting cutting uniform, the two can fit closely together, improves the survival rate after grafting, and can perform multiple tasks simultaneously, thereby improving the grafting efficiency and reducing the grafting cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the present invention.

[0018] Figure 2 It is a top view of the present invention.

[0019] Figure 3 Schematic diagram of the robot of the present invention.

[0020] Figure 4 It is a schematic diagram of the moving assembly and cutting unit of the present invention.

[0021] Figure 5 It is a schematic diagram of the mobile unit of the present invention.

[0022] Figure 6 It is a schematic diagram of the fixing part after alignment of the present invention.

[0023] Figure 7 It is a cross-sectional view of the package of the present invention.

[0024] Figure 8 This is a partial enlarged view of the package of the present invention.

[0025] Fig. 9 This is a partial enlarged view of the package of the present invention after expansion.

[0026] Fig.10 This is a schematic diagram of a package in Embodiment 2. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: Example 1

[0028] See also Figure 1-Figure 7 A multi-station automated grafting machine comprises a robot clamping part 1 and a root cutting part 2, a seedling cutting part 3, a fixing part 4, a transfer unit 5, a wrapping piece 6 and a frame body arranged on a frame body. The robot clamping part 1 has a 5-axis robot and a first clamping claw 11 arranged on the robot, which is used to take the seedling stalk out of a conveyor belt or a storage tray and move it into the equipment. The 5-axis robot is fixed on the ground and is provided with two groups, one group supplies seedlings to the root cutting part 2, and the other group supplies seedlings to the seedling cutting part 3.

[0029] The components of the root cutting part 2 and the seedling cutting part 3 are consistent and symmetrically arranged. The root cutting part 2 includes a moving component 21 and a cutting unit 22. The moving component 21 includes a first track group 211. A connecting piece is mounted on the first track group 211. Four groups of second clamps 212 are evenly arranged on the connecting piece by bolts, and the clamping mouth of the second clamp 212 is arranged upward to facilitate exchange and clamping with the first clamp 11 in the robot clamping part 1. The number of first clamps 11 on the robot clamping part 1 is consistent with that of the second clamp 212, and the spacing is also consistent. The first clamp 11 clamps the seedlings and moves them into the clamping mouth of the second clamp 212. The second clamp 212 clamps, and the first clamp 11 is released, thereby completing the first step of automatic seedling operation.

[0030] The first track group 211 is two linear modules mounted on the frame body, and the connecting parts are fixedly connected to the moving blocks of the two linear modules by bolts, providing a stable supporting force for the connecting parts to ensure that the linear modules will not shake when driving the connecting parts to move.

[0031] The cutting unit 22 includes a cutting knife 221, a first lifting member 222 and a third clamping jaw 223. The first lifting member 222 is fixed on the frame body by bolts and is located below the first track group 211. A fixing plate is provided on the lifting end of the first lifting member 222. The cutting knife 221 and the third clamping jaw 223 are provided on the fixing plate. When the first lifting member 222 moves upward, the cutting knife 221 and the third clamping jaw 223 are driven to move upward. The cutting knife 221 is an ultrasonic vibration knife, which can generate high-frequency vibration after being started. Therefore, after contacting the seedling stem, it can easily cut the seedling stem.

[0032] Since an ultrasonic vibration knife is used, only the second clamping jaw 212 is needed to fix the seedling stem. During the upward extension of the first lifting member 222, the cutting knife 221 can contact the seedling stem to carry out the cutting work. During the rising process, the third clamping jaw 223 is in an open state. After the ultrasonic vibration knife completes the cutting, the third clamping jaw 223 contracts and clamps to clamp the cut seedling stem. After the first lifting member 222 is lowered into place, the third clamping jaw 223 is released. At this time, the cut and abandoned seedling stem part falls downward. The function of the third clamping jaw 223 is to clamp the seedling stem after the cutting knife 221 cuts off the seedling stem to prevent the seedling stem from falling disorderly at the moment of cutting. Due to the lifting force of the cutting knife on the seedling stem and the vibration force of the cutting knife itself, the seedling stem will fall disorderly and accidentally fall on the instruments and equipment below, thereby causing unnecessary operating errors.

[0033] The angle between the cutting edge direction of the cutting knife 221 and the direction of the seedling stem is greater than 20 degrees and less than 70 degrees, so that the incision of the seedling stem is inclined. The angle of the cutting edge is adjusted according to the different diameters of the seedling stem to ensure that the length of the incision is moderate. The adjustment method here can be manual adjustment. If automatic adjustment is required, a rotating unit is set under the cutting knife 221. When the seedling type or batch is input at the central control end of the equipment, the diameter of the seedling is input. The central control end controls the rotation of the rotating unit according to the input numerical value, so that the cutting knife 221 is at different angles, thereby ensuring that the incision is moderate. The length of the wrapping piece adapted to the fixing part 4 can be selected from an electrically controlled angle steering component such as a servo motor.

[0034] The seedling cutting part 3 and the root cutting part 2 are symmetrically arranged, and what remains after the second clamping jaw 212 of the seedling cutting part 3 cuts is the seedling part, and what remains after the second clamping jaw 212 of the root cutting part 2 cuts is the root part, and the incisions of the root part and the seedling part match each other. After the cutting is completed, the first track groups 211 on the two move toward each other, and the incisions of the root part and the seedling part are connected with each other to complete the combination.

[0035] The transfer unit 5 includes a second rail 51, a second lifting member 52 and a fourth clamp 53. The second rail 51 is mounted above the first rail group 211 and is perpendicular to the first rail group 211. The second rail 51 is a linear module. The second lifting member 52 is set on the sliding block of the second rail 51 by bolts. Four groups of fourth clamps 53 are evenly arranged on the lifting head of the second lifting member 52, and the jaws of the fourth clamp 53 are set downward. At the same time, the second lifting member 52 also extends downward. The spacing between the four groups of fourth clamps 53 is consistent with the spacing between the second clamps 212.

[0036] The fixed part includes a grabbing unit and a feeding assembly. In this embodiment, the grabbing unit is integrated on the fourth clamp 53, and the fourth clamp 53 in the mobile unit 5 acts as a grabbing unit. The feeding assembly can be a belt conveyor. When it is a belt conveyor, the packages are positioned and placed on the belt conveyor in sequence by a manipulator, and the second track 51 controls the fourth clamp 53 to move above the package, and the second lifting member 52 extends downward, and the fourth clamp 53 reaches down to clamp the package placed on the belt conveyor. After clamping is completed, the second lifting member 52 retracts, and the second track 51 controls the fourth clamp 53 to move above the first track group 211. At this time, the second lifting member 52 extends downward, placing the fourth clamp 53 and the second clamp 212 on the seedling cutting part 3 and the root cutting part 2 on the same plane, and the center of the package is aligned with the center of the rod on the seedling cutting part 3 and the root cutting part 2.

[0037] The wrapping piece 6 includes a hard sleeve 61, and an elastic soft film layer 62 is arranged inside the hard sleeve 61. The elastic soft film layer 62 is ring-shaped, and both ends of the elastic soft film layer 62 are respectively sealed and connected to the two ends of the inner wall of the hard sleeve 61, so that a gap layer is left between the hard sleeve 61 and the elastic soft film layer 62. A nutrient solution bag 63 is arranged in the middle position of the elastic soft film layer 62, and an injection port 64 is arranged on the hard sleeve 61. The injection port 64 leads to the gap layer. The shape of the wrapping piece 6 is polygonal, which is convenient for positioning on the belt conveyor, and is preferably square. An injection head is arranged on the splint of the fourth clamp 53. When the fourth clamp 53 clamps the wrapping piece 6, the injection head on the splint is inserted into the injection port 64 of the wrapping piece 6.

[0038] The nutrient solution bag 63 is filled with concentrated nutrient solution required for plant grafting. At the same time, the wrapping layer of the nutrient solution bag 63 is supported by a water-soluble film. The juice secreted from the cut part of the seedling can dissolve the wrapping layer. Then, when the nutrient solution bag 63 touches the juice, the internal nutrient solution will flow outward and act on the cut part.

[0039] When the center of the fourth clamping jaw 53 is aligned with the center of the rod on the seedling cutting part 3 and the root cutting part 2, the first track group 211 on the seedling cutting part 3 and the root cutting part 2 begins to move toward each other, and the inner hole of the wrapping member 6 is larger than the diameter of the seedling rod. When the seedling cutting part 3 and the root cutting part 2 move toward each other, the cutting position of the seedling part and the cutting position of the root are inserted into the central through hole of the wrapping member 6, and the inclined surfaces of the two are tightly fitted. At this time, liquid polyurethane is injected into the injection port 64 of the injection head. The foam material, that is, the expansion agent, the blowing agent, after the liquid polyurethane foam material is injected, foams, expands and solidifies in the gap layer, so that the elastic soft film layer 62 fits tightly on the outer wall of the seedling stem inserted into the wrapping member 6 by the seedling and the root, and is fastened by the expanded foam layer. By expanding and fastening, the elastic soft film layer 62 fits tightly on the seedling and the root, and when the diameters of the root and the seedling stem are different, the two can be fastened, thereby adapting to the grafting and fastening of roots and seedlings with different diameters.

[0040] When the elastic soft membrane layer 62 is pressed tightly against the surface of the seedling stem, the nutrient solution bag 63 is first pressed against the seedling stem and pressed on the cutting position. After the seedling stem is cut, juice will flow out on the cut surface. The surface layer of the nutrient solution bag 63 will dissolve after touching the juice to form a hole, and then the internal nutrient solution will flow out from the hole and flow onto the cut surface, providing nutritional support for the grafting of the seedling and the root.

[0041] After the fixing part is expanded and tightened, the combined seedling part and the root are fixed by the fixing part. At this time, the second clamp 212 is released, so that the combined seedling stem is disconnected from the seedling cutting part 3 and the root cutting part 2, and is only clamped by the fourth clamp 53. The second lifting member 52 retracts upward, and the second track 51 moves the combined seedling stem to the transfer assembly line.

[0042] Its working principle or usage is as follows: The two robot clamping parts 1 respectively move the seedlings for root cutting to the root cutting part 2, and move the seedlings for seedling cutting to the seedling cutting part 3, and the first clamping jaw 11 is transferred to the second clamping jaw 212 for clamping.

[0043] Start the first lifting member 222, which in turn drives the cutting knife 221 to cut the seedling stem, and the seedling cutting part 3 and the root cutting part 2 perform high-frequency vibration cutting at the same time. After the cutting is completed, the abandoned part is clamped by the third clamp 223. After the first lifting member 222 descends, the third clamp 223 is released, and the abandoned part automatically falls downward.

[0044] The packages are positioned on the conveyor belt in sequence by the manipulator, the second track 51 controls the fourth clamp 53 to move above the packages, the second lifting member 52 extends downward, the fourth clamp 53 reaches down to clamp the packages placed on the conveyor belt, after clamping is completed, the second lifting member 52 retracts, the second track 51 controls the fourth clamp 53 to move above the first track group 211, at this time the second lifting member 52 extends downward, placing the fourth clamp 53 and the second clamp 212 on the seedling cutting part 3 and the root cutting part 2 on the same plane, and the center of the package is aligned with the center of the rod on the seedling cutting part 3 and the root cutting part 2.

[0045] At this time, the first track group 211 on the seedling cutting part 3 and the root cutting part 2 begins to move toward each other, the seedling cutting position and the root cutting position are inserted into the central through hole of the wrapping piece 6, and the inclined surfaces of the two are tightly fitted. At this time, liquid polyurethane foam material is injected into the injection port 64 of the injection head. After the liquid polyurethane foam material is injected, it foams, expands and solidifies in the gap layer, so that the elastic soft film layer 62 is tightly fitted on the outer wall of the seedling stem inserted into the wrapping piece 6 by the seedling part and the root, and is fastened by the expanded foaming layer.

[0046] When the elastic soft membrane layer 62 is pressed tightly against the surface of the seedling stem, the nutrient solution bag 63 is pressed against the seedling stem in advance and pressed on the cutting position. After the seedling stem is cut, juice will flow out on the cut surface. The surface layer of the nutrient solution bag 63 will dissolve after touching the juice to form a hole, and then the internal nutrient solution will flow out from the hole and flow onto the cut surface, providing nutritional support for the grafting of the seedling and the root, thereby improving the survival rate of the grafted seedlings.

[0047] After the fixing part is expanded and tightened, the combined seedling part and the root are fixed by the fixing part. At this time, the second clamp 212 is released, so that the combined seedling stem is disconnected from the seedling cutting part 3 and the root cutting part 2, and is only clamped by the fourth clamp 53. The second lifting member 52 retracts upward, and the second track 51 moves the combined seedling stem to the transfer assembly line. Example 2

[0048] See also Figure 1-Figure 9 This embodiment makes the following further improvements on the basis of embodiment 1: specifically, a wall-breaking member 65 is slidably provided on the injection port 64, one end of the wall-breaking member is located in the injection port 64, and the other end extends into the nutrient solution bag 63. When the liquid polyurethane foam material is injected, the wall-breaking member 65 is pushed down and pressed against the seedling stem. The lower end of the wall-breaking member 65 is provided with spikes. Therefore, when it is pressed against the seedling stem, the spikes pierce the outer layer of the nutrient solution bag 63, causing the internal nutrient solution to flow onto the cut surface of the seedling stem, thereby further ensuring that the nutrient solution in the nutrient solution bag 63 can flow onto the cut surface after expansion and tightening. Example 3

[0049] See also Figure 1-Figure 6and Fig.10 , compared with Example 1, the difference lies in the structure of the wrapping piece and the fourth clamping jaw 53, and the rest are the same.

[0050] The wrapping piece is a hot-melt tube, and spikes are arranged on the inner wall of the hot-melt tube. At the same time, a nutrient solution bag 63 is laid around the middle position of the inner wall of the hot-melt tube. The fourth clamp 53 is provided with a hot air gun, and the muzzle is aimed at the hot-melt tube clamped on the fourth clamp 53. After the first track group 211 on the seedling cutting part 3 and the root cutting part 2 start to move toward each other, and the cutting position of the seedling and the cutting position of the root are inserted into the central through hole of the wrapping piece, the hot air gun starts to heat the hot-melt tube. After the hot-melt tube is heated, it shrinks and adheres tightly to the joint between the seedling and the root, thereby connecting the seedling and the root. The spikes on the inner wall of the hot-melt tube pierce the nutrient solution bag 63 and press it on the wall of the seedling stem during the shrinkage and compression process, thereby causing the internal nutrient solution to flow out and flow into the cutting surface, providing nutritional support for the grafting of the seedling and the root, and improving the survival rate of the grafted seedlings.

[0051] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-station automated grafting machine, characterized in that: The robot comprises a robot clamping part (1), on which a first clamping claw (11) is provided for clamping and transporting seedlings; A root cutting unit (2), wherein the root cutting unit (2) cuts the seedlings and retains the roots, and is moved after being clamped by the moving component (21); A seedling cutting section (3), wherein the seedling cutting section (3) cuts the seedlings and retains the seedlings, and is moved after being clamped by the moving assembly (21); The transfer unit (5) is used to clamp and move the wrapping member (6) to a position where the root cutting portion (2) and the seedling cutting portion (3) are combined after cutting, and the remaining root and seedling cutting portions after cutting are inserted into the wrapping member (6) for combination, and the wrapping member (6) fastens the two together; A nutrient solution bag (63) is also provided in the wrapping member (6), and when the wrapping member (6) fastens the root and the seedling, the nutrient solution bag (63) ruptures, and the nutrient solution intrudes into the cut surface.

2. A multi-station automatic grafting machine according to claim 1, characterized in that: The wrapping member (6) may be provided with an elastic soft film layer (62) surrounding the inner wall, the nutrient solution bag (63) is attached to the outer side of the elastic soft film layer (62), an expansion agent is injected between the wrapping member (6) and the elastic soft film layer (62), and the elastic soft film layer (62) is deformed and pressed against the outer layer of the root and the seedling.

3. A multi-station automatic grafting machine according to claim 2, characterized in that: The transfer unit (5) comprises a fourth clamping jaw (53) for clamping the wrapping piece (6); an injection head is arranged on the fourth clamping jaw (53); when the wrapping piece (6) is clamped, the injection head is inserted into the wrapping piece (6), and is inserted into the wrapping piece (6) at the root and the seedling, and the injection head injects a swelling agent into the wrapping piece (6).

4. The multi-station automatic grafting machine according to claim 1, characterized in that: The moving assembly (21) comprises a first track group (211) and a second clamping jaw (212); the second clamping jaw (212) is used for clamping the seedling stem and is arranged on the first track group (211); the first track group (211) is used for driving the second clamping jaw (212) to move.

5. A multi-station automatic grafting machine according to claim 4, characterized in that: The root cutting part (2) and the seedling cutting part (3) both comprise a cutting unit (22), the cutting unit (22) comprising a cutting knife (221) and a first lifting member (222), the cutting knife (221) being arranged on the first lifting member (222) and driven by the first lifting member (222) to move up and down, and being used for cutting the seedlings clamped by the second clamping claw (212).

6. A multi-station automatic grafting machine according to claim 5, characterized in that: The angle between the cutting edge of the cutting knife (221) and the jaw direction of the second clamping jaw (212) is greater than 10 degrees and less than 70 degrees, so that the incision on the seedling stem after cutting is inclined.

7. The multi-station automatic grafting machine according to claim 5, characterized in that: The cutting unit (22) further comprises a third clamping jaw (223), which is arranged on the first lifting member (222) and located on one side of the cutting knife (221); when the cutting knife (221) is cutting, the second clamping jaw (212) and the third clamping jaw (223) are respectively located on both sides of the cutting knife (221).

8. The multi-station automatic grafting machine according to claim 5, characterized in that: The cutting knife (221) is capable of high-frequency vibration.

9. The multi-station automatic grafting machine according to claim 1, characterized in that: The wrapping layer of the nutrient solution bag (63) is a water-soluble film, the internal nutrient solution is a concentrated nutrient solution, and the juice secreted from the cut parts of the roots and the seedlings can dissolve the wrapping layer.

10. The multi-station automatic grafting machine according to claim 1, characterized in that: The wrapping member (6) may be a hot melt tube with spikes on the inner wall. The transfer unit (5) is provided with a hot air gun for shrinking the hot melt tube. The root and the seedling are inserted into the wrapping member (6). The hot melt tube shrinks to fasten the two together, and the spikes pierce the nutrient solution bag (63).

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