Multi-station automatic grafting machine

Abstract

The application discloses a kind of multi-station automatic grafting machine, including robot clamping part, first gripper is provided on robot clamping part for clamping and transporting seedling, rootstock cutting part, mobile assembly for holding and moving seedling and cutting unit for cutting seedling stem are included in rootstock cutting part, and rootstock is cut off by cutting unit, and the root part is held by mobile assembly after moving, seedling cutting part, and seedling cutting part is symmetrically arranged with rootstock cutting part.The application provides a kind of multi-station automatic grafting machine, makes the cutting of grafting unified, can be closely fitted between the two, improve the survival rate after grafting, can work simultaneously, and then improve grafting efficiency, reduce grafting cost.

Description

Technical Field

[0001] This invention relates to the field of grafting technology, and in particular to a multi-station automated grafting machine. Background Technology

[0002] Traditional seedling grafting typically involves manually cutting the roots and seedlings, then wrapping and fixing the cut parts with a film. The grafting process is done manually, which is time-consuming. In addition, the cutting positions are not uniform, and there are cases where the joints cannot fit tightly, which affects the survival rate of the grafted seedlings.

[0003] Existing mechanical grafting machines, such as those described in patent CN102823438B, are generally single-station operations, which makes it impossible to perform rapid grafting in large-scale grafting operations. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a multi-station automated grafting machine.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a multi-station automated grafting machine, comprising a robot clamping part, wherein the robot clamping part is provided with a first gripper for clamping and transporting seedlings; a root cutting part, wherein the root cutting part includes a moving component for clamping and moving the seedlings and a cutting unit for cutting the seedling stems, wherein after the root is cut by the cutting unit, the root is retained and moved by the moving component; a seedling cutting part, wherein the seedling cutting part and the root cutting part are symmetrically arranged for cutting the seedlings and retaining the seedlings; the moving components of the root cutting part and the seedling cutting part move towards each other, thereby combining the remaining root after cutting with the seedling; and a fixing part, wherein the fixing part is used to fix the combined position of the root and the seedling, thereby connecting the root and the seedling together.

[0006] Its beneficial effect is that the automated cutting ensures the consistency of the cuts on the roots and the seedlings, allowing them to fit tightly together after assembly, thereby improving the survival rate of seedlings after transplanting.

[0007] In the above scheme, preferably, the robot clamping part is provided with a set, one set for clamping and transporting seedlings in conjunction with the seedling cutting part, and the other set for clamping and transporting rootstocks in conjunction with the rootstock cutting part.

[0008] In the above scheme, preferably, the moving component includes a first track group and a second gripper. The second gripper is used to hold the seedling and is disposed on the first track group. The first track group is used to drive the second gripper to move.

[0009] In the above scheme, preferably, the cutting unit includes a cutting blade and a first lifting member. The cutting blade is disposed on the first lifting member and is driven to move up and down by the first lifting member to cut the seedlings held by the second gripper.

[0010] In the above scheme, preferably, the angle between the cutting blade and the jaws of the second gripper is greater than 10 degrees and less than 70 degrees, so that the cut on the seedling stem is inclined after cutting.

[0011] In the above scheme, preferably, the cutting unit further includes a third gripper, which is disposed on the first lifting member and located on one side of the cutting blade. When the cutting blade is cutting, the second gripper and the third gripper are respectively located on both sides of the cutting blade.

[0012] In the above scheme, preferably, the cutting blade can vibrate at high frequency.

[0013] In the above scheme, preferably, the fixing part includes a gripping unit and a feeding assembly. The feeding assembly is used to feed the gripping unit with a package for fastening. The gripping unit moves the package to the junction of the seedling stem root and the seedling, and the package fastens the junction.

[0014] In the above-mentioned scheme, preferably, a transfer unit is also included, which removes the combined seedlings after the fixing part is tightened from the grafting machine.

[0015] In the above scheme, preferably, multiple sets of second grippers are evenly arranged on the first track group on the root cutting part and the seedling cutting part, and the two are arranged symmetrically to each other, and multiple sets of cutting units are provided in conjunction with the second grippers.

[0016] Its beneficial effect is that multiple workstations can work simultaneously, thereby improving the efficiency of the equipment and making it suitable for large-scale operations.

[0017] The beneficial effects of this invention are: This invention provides a multi-station automated grafting machine, which makes the cutting of grafting uniform, and the two can fit tightly together, improving the survival rate after grafting. At the same time, it can work multiple jobs at the same time, thereby improving grafting efficiency and reducing grafting costs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the present invention.

[0019] Figure 2 This is a top view of the present invention.

[0020] Figure 3 This is a schematic diagram of the robot of the present invention.

[0021] Figure 4 This is a schematic diagram of the moving component and cutting unit of the present invention.

[0022] Figure 5 This is a schematic diagram of the moving unit of the present invention.

[0023] Figure 6This is a schematic diagram of the fixing part after alignment in this invention.

[0024] Figure 7 This is a cross-sectional view of the package of the present invention.

[0025] Figure 8 This is a partial enlarged view of the package of the present invention.

[0026] Figure 9 This is a magnified view of a portion of the package after it has expanded according to the present invention.

[0027] Figure 10 This is a schematic diagram of the package in Example 2. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Example 1

[0029] See Figures 1-7 A multi-station automated grafting machine includes a robot gripping unit 1 and a root cutting unit 2, a seedling cutting unit 3, a fixing unit 4, a transfer unit 5, a wrapping component 6, and a frame body, all mounted on the machine body. The robot gripping unit 1 has a 5-axis robot and a first gripper 11 mounted on the robot, used to remove seedlings from a conveyor belt or storage tray and move them into the equipment. The 5-axis robot is fixedly mounted on the ground and is provided in two sets, one set supplying seedlings to the root cutting unit 2 and the other set supplying seedlings to the seedling cutting unit 3.

[0030] The root cutting section 2 and the seedling cutting section 3 have identical components and are symmetrically arranged. The root cutting section 2 includes a moving component 21 and a cutting unit 22. The moving component 21 includes a first track group 211. A connector is mounted on the first track group 211. Four sets of second grippers 212 are evenly arranged on the connector by bolts. The gripping openings of the second grippers 212 are arranged facing upwards to facilitate the exchange of gripping with the first grippers 11 in the robot gripping section 1. The number of first grippers 11 on the robot gripping section 1 is the same as the number of second grippers 212, and the spacing is also the same. The first grippers 11 clamp and move the seedling into the gripping opening of the second grippers 212. The second grippers 212 clamp, and the first grippers 11 release, thus completing the first step of automatic seedling loading.

[0031] The first track group 211 consists of two linear modules mounted on the main frame, and the connecting piece is fixedly connected to the moving block of the two linear modules by bolts, providing a stable support force to the connecting piece and ensuring that the linear module does not shake when it moves the connecting piece.

[0032] The cutting unit 22 includes a cutting blade 221, a first lifting member 222, and a third gripper 223. The first lifting member 222 is fixedly mounted on the main 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 blade 221 and the third gripper 223 are mounted on the fixing plate. When the first lifting member 222 moves upward, it drives the cutting blade 221 and the third gripper 223 to move upward. The cutting blade 221 is an ultrasonic vibrating blade, which can generate high-frequency vibration after being started. Therefore, it can easily cut the seedling after contacting it.

[0033] Because an ultrasonic vibrating blade is used, only the second gripper 212 needs to hold the seedling stem in place. As the first lifting component 222 extends upward, the cutting blade 221 contacts the seedling stem to perform the cutting operation. During the upward movement, the third gripper 223 is in an open state. After the ultrasonic vibrating blade completes the cutting, the third gripper 223 retracts and clamps, holding the cut seedling stem. After the first lifting component 222 descends to its position, the third gripper 223 releases, and the cut-off seedling stem falls downward. The function of the third gripper 223 is to hold the seedling stem after the cutting blade 221 cuts it, preventing the seedling stem from falling randomly at the moment of cutting. Due to the lifting force of the cutting blade on the seedling stem and the vibration force of the cutting blade itself, the seedling stem may fall randomly and accidentally land on the instrument below, causing unnecessary operational errors.

[0034] The cutting edge of the cutting blade 221 forms an angle greater than 20 degrees and less than 70 degrees with the direction of the seedling stem, thus making the cut of the seedling stem inclined. The angle of the cutting edge can be adjusted according to the different diameters of the seedling stem to ensure that the length of the cut is appropriate. The adjustment method here can be manual. If automatic adjustment is required, a rotating unit is set below the cutting blade 221. When the seedling type or batch is input at the central control terminal of the equipment, the diameter of the seedling is also input. The central control terminal then controls the rotating unit to rotate according to the input value, so that the cutting blade 221 is at different angles, thereby ensuring that the cut is appropriate and used to adapt to the length of the wrapping part of the fixing part 4. The rotating unit can be an electrically controlled angle steering component such as a servo motor.

[0035] The seedling cutting section 3 and the root cutting section 2 are symmetrically arranged. After the second claw 212 of the seedling cutting section 3 cuts, the remaining part is the seedling part, and after the second claw 212 of the root cutting section 2 cuts, the remaining part is the root part. The cuts of the root part and the seedling part match each other. After the cutting is completed, the first track group 211 on both moves towards each other to connect the cuts of the root part and the seedling part, thereby completing the combination.

[0036] The transfer unit 5 includes a second track 51, a second lifting component 52, and a fourth gripper 53. The second track 51 is mounted above the first track group 211 and is perpendicular to the first track group 211. The second track 51 is a straight module. The second lifting component 52 is bolted to the sliding block of the second track 51. Four sets of fourth grippers 53 are evenly arranged on the lifting head of the second lifting component 52, and the jaws of the fourth grippers 53 are set downward. At the same time, the second lifting component 52 also extends downward. The spacing of the four sets of fourth grippers 53 is the same as the spacing of the second gripper 212.

[0037] The fixing part includes a gripping unit and a feeding assembly. In this embodiment, the gripping unit is integrated on the fourth gripper 53. The fourth gripper 53 in the moving unit 5 acts as the gripping unit. The feeding assembly can be a belt conveyor. When it is a belt conveyor, the package is positioned and placed on the belt conveyor by the robot arm. The second track 51 controls the fourth gripper 53 to move above the package. The second lifting member 52 extends downward. The fourth gripper 53 reaches down to grip the package placed on the belt conveyor. After gripping, the second lifting member 52 retracts. The second track 51 controls the fourth gripper 53 to move above the first track group 211. At this time, the second lifting member 52 extends downward, so that the fourth gripper 53 is on the same plane as the second gripper 212 on the seedling cutting part 3 and the root cutting part 2, 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.

[0038] The package 6 includes a rigid sleeve 61, inside which is provided an elastic soft membrane layer 62. The elastic soft membrane layer 62 is annular, and its two ends are respectively sealed to the two ends of the inner wall of the rigid sleeve 61, thereby leaving a gap layer between the rigid sleeve 61 and the elastic soft membrane layer 62. A nutrient solution pack 63 is annularly provided in the middle of the elastic soft membrane layer 62. An injection port 64 is provided on the rigid sleeve 61, which leads to the gap layer. The package 6 is polygonal in shape for easy positioning on the conveyor belt, preferably square. An injection head is provided on the clamping plate of the fourth gripper 53. When the fourth gripper 53 grips the package 6, the injection head on the clamping plate is inserted into the injection port 64 of the package 6.

[0039] The nutrient solution pack 63 is filled with concentrated nutrient solution required for plant grafting. At the same time, the wrapping layer of the nutrient solution pack 63 is supported by a water-soluble film. The sap secreted at the cutting point of the seedling can dissolve the wrapping layer. Therefore, when the nutrient solution pack 63 comes into contact with the sap, the internal nutrient solution will flow out and act on the cutting point.

[0040] When the center of the package 6 is aligned with the center of the stem on the seedling cutting section 3 and the root cutting section 2 by the fourth gripper 53, the first track group 211 on the seedling cutting section 3 and the root cutting section 2 begins to move towards each other. The inner hole of the package 6 is larger than the diameter of the seedling stem. When the seedling cutting section 3 and the root cutting section 2 move towards each other, the cutting positions of the seedling and the root are inserted into the central through hole of the package 6, and their inclined surfaces are tightly fitted together. At this time, liquid polyurethane is injected into the injection port 64 of the injection head. The foam material, namely the expanding agent or foaming agent, is injected as liquid polyurethane foam material. After it expands and solidifies in the gap layer, the elastic soft film layer 62 is tightly attached to the outer wall of the seedling stem inserted into the wrapping component 6. It is then secured by the expanded foam layer. This expansion and securing allows the elastic soft film layer 62 to be tightly attached to the seedling and the root. It can also secure the two regardless of the difference in diameter between the root and the seedling stem, thus adapting to the grafting and securing of roots and seedlings with different diameters.

[0041] When the elastic soft film layer 62 is pressed tightly against the surface of the seedling, the nutrient solution pack 63 is first pressed onto the seedling and pressed against the cutting position. After the seedling is cut, sap will flow out from the cut surface. The surface of the nutrient solution pack 63 will dissolve and form a hole after touching the sap, 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.

[0042] After the fixing part expands and tightens, the combined seedling and root are fixed by the fixing part. At this time, the second clamp 212 is released, thereby causing the combined seedling stem to disengage from the seedling cutting part 3 and the root cutting part 2, and is only clamped by the fourth clamp 53. The second lifting part 52 retracts upward, and the second track 51 moves the combined seedling stem to the transfer assembly line.

[0043] Its working principle or usage method is as follows:

[0044] The two robotic gripping parts 1 respectively move the seedlings used for root cutting to the root cutting part 2 and the seedling cutting part 3, and the first gripper 11 transfers the seedlings to the second gripper 212 for clamping.

[0045] The first lifting component 222 is activated, which in turn drives the cutting blade 221 to cut the seedling stem. The seedling cutting part 3 and the root cutting part 2 are simultaneously subjected to high-frequency vibration cutting. After the cutting is completed, the discarded part is held by the third gripper 223. After the first lifting component 222 descends, the third gripper 223 is released, and the discarded part automatically falls downwards.

[0046] The package is positioned sequentially on the conveyor belt by a robotic arm. The second track 51 controls the fourth gripper 53 to move above the package. The second lifting member 52 extends downward, and the fourth gripper 53 reaches down to grab the package placed on the conveyor belt. After the grabbing is completed, the second lifting member 52 retracts, and the second track 51 controls the fourth gripper 53 to move above the first track group 211. At this time, the second lifting member 52 extends downward, so that the fourth gripper 53 is on the same plane as the second gripper 212 on the seedling cutting part 3 and the root cutting part 2, 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.

[0047] At this time, the first track group 211 on the seedling cutting part 3 and the root cutting part 2 begins to move towards each other. The cutting positions of the seedling and the root are inserted into the central through hole of the wrapping 6, and the two inclined surfaces are tightly attached. 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, thereby making the elastic soft film layer 62 tightly attached to the outer wall of the seedling and the root inserted into the wrapping 6, and is secured by the expanded foam layer.

[0048] When the elastic soft film layer 62 is pressed tightly against the surface of the seedling, the nutrient solution pack 63 is pressed firmly onto the seedling and pressed against the cutting position. After the seedling is cut, sap will flow out from the cut surface. When the surface of the nutrient solution pack 63 comes into contact with the sap, it dissolves and forms a hole. Then the internal nutrient solution flows out from the hole and flows onto the cut surface, providing nutritional support for the grafting of the seedling and roots and improving the survival rate of the grafted seedling.

[0049] After the fixing part expands and tightens, the combined seedling and root are fixed by the fixing part. At this time, the second clamp 212 is released, thereby causing the combined seedling stem to disengage from the seedling cutting part 3 and the root cutting part 2, and is only clamped by the fourth clamp 53. The second lifting part 52 retracts upward, and the second track 51 moves the combined seedling stem to the transfer assembly line. Example 2

[0050] See Figures 1-9 This embodiment makes the following further improvements based on embodiment 1: Specifically, a cell-wall breaking component 65 is slidably disposed on the injection port 64. One end of the cell-wall breaking component is located inside the injection port 64, and the other end extends into the nutrient solution pack 63. When the liquid polyurethane foam material is injected, it pushes the cell-wall breaking component 65 down and presses it onto the seedling stem. The lower end of the cell-wall breaking component 65 is provided with spikes. Therefore, when it is pressed onto the seedling stem, the spikes pierce the outer layer of the nutrient solution pack 63, allowing the internal nutrient solution to flow onto the cutting surface of the seedling stem. This further ensures that the nutrient solution in the nutrient solution pack 63 can flow onto the cutting surface after it expands and solidifies. Example 3

[0051] See Figures 1-6and Figure 10 The difference between this and Example 1 lies in the structure of the package and the fourth gripper 53; otherwise, they are the same.

[0052] The package is a heat-fusion tube with spikes on its inner wall. A nutrient solution pack 63 is laid around the center of the inner wall of the heat-fusion tube. A hot air gun is mounted on the fourth clamp 53, with the nozzle aimed at the heat-fusion tube held on the fourth clamp 53. The first track group 211 on the seedling cutting section 3 and the root cutting section 2 begins to move towards each other. After the cutting positions of the seedling and the root are inserted into the central through hole of the package, the hot air gun is activated to heat the heat-fusion tube. The heat-fusion tube shrinks after being heated and fits tightly against the joint between the seedling and the root, thus connecting the seedling and the root. During the shrinking and pressing process, the spikes on the inner wall of the heat-fusion tube puncture the nutrient solution pack 63 and press it against the seedling wall, allowing the internal nutrient solution to flow out and into the cutting surface, providing nutritional support for the grafting of the seedling and the root, and improving the survival rate of the grafted seedling.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate 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 by: The robot clamping part (1) is provided with a first clamping jaw (11) for clamping and transporting seedling trees; The root cutting part (2) cuts the seedling trees to retain the roots, and the roots are clamped and moved by the moving assembly (21); The seedling cutting part (3) cuts the seedling trees to retain the seedlings, and the seedlings are clamped and moved by the moving assembly (21); The transfer unit (5) is used to clamp and move the wrapping piece (6) to the position where the root cutting part (2) and the seedling cutting part (3) are combined after cutting, and the cut parts of the roots and the seedlings are inserted into the wrapping piece (6) for combination, and the wrapping piece (6) fastens the two together; The wrapping piece (6) is also provided with a nutrient liquid bag (63), which is broken when the wrapping piece (6) fastens the roots and the seedlings, and the nutrient liquid invades the cutting surface; The wrapping piece (6) can be provided with an elastic soft film layer (62) on the inner wall, and the nutrient liquid bag (63) is attached to the outside of the elastic soft film layer (62), and an expanding agent is injected between the wrapping piece (6) and the elastic soft film layer (62), and the elastic soft film layer (62) is deformed and pressed on the outer layer of the roots and the seedlings; The hard sleeve (61) is provided with an injection port (64), and the injection port (64) is slidably provided with a wall breaking piece (65), one end of the wall breaking piece (65) is located in the injection port (64), and the other end extends into the nutrient liquid bag (63), when the liquid polyurethane foam material is injected, the wall breaking piece (65) is pushed down to press on the seedling stem, and the lower end of the wall breaking piece (65) is provided with a sharp spike, so that when it is pressed on the seedling stem, the sharp spike pierces the outer layer of the nutrient liquid bag (63); The transfer unit (5) includes a fourth clamping jaw (53) for clamping the wrapping piece (6), and the fourth clamping jaw (53) is provided with an injection head, which is inserted into the wrapping piece (6) when the wrapping piece (6) is clamped, and the injection head injects the expanding agent into the wrapping piece (6) after the roots and the seedlings are inserted into the wrapping piece (6).

2. A multi-station automated grafting machine according to claim 1, characterized in that: The moving assembly (21) includes a first track group (211) and a second clamping jaw (212), the second clamping jaw (212) is used to clamp the seedling stem, and is arranged on the first track group (211), and the first track group (211) is used to drive the second clamping jaw (212) to move.

3. A multi-station automated grafting machine according to claim 2, characterized in that: The root cutting part (2) and the seedling cutting part (3) each include a cutting unit (22), the cutting unit (22) includes a cutting knife (221) and a first lifting piece (222), the cutting knife (221) is arranged on the first lifting piece (222) and is driven by the first lifting piece (222) to move up and down, and is used to cut the seedling trees clamped by the second clamping jaw (212).

4. A multi-station automated grafting machine according to claim 3, 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 cut on the seedling stem is inclined.

5. A multi-station automated grafting machine according to claim 3, characterized in that: The cutting unit (22) further comprises a third clamping jaw (223) arranged on the first lifting member (222) and located at one side of the cutting knife (221), and the second clamping jaw (212) and the third clamping jaw (223) are respectively located at two sides of the cutting knife (221) when the cutting knife (221) cuts.

6. A multi-station automated grafting machine according to claim 3, characterized in that: The cutting knife (221) can perform high-frequency vibration.

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