Grafting equipment

Abstract

The invention relates to grafting equipment, solves the technical problems that an existing semi-automatic grafting machine is low in production rate, low in abnormal seedling utilization rate and low in scion and stock butt joint accuracy, and effectively improves the scion and stock butt joint accuracy and remarkably improves the abnormal seedling utilization rate by introducing a stalk axial bending correction technology. The equipment comprises a rack, a spike seedling turnover device, a mechanical arm, an end effector, a plug tray conveyor, a rootstock carrying device, a rootstock placing mechanism, a feeding and clamping device and a rootstock cutting mechanism. The rootstock carrying device can carry rootstocks conveyed by the plug tray conveyor to the rootstock placing mechanism, and the rootstock placing mechanism is used for placing the rootstocks; the feeding clamp supplying device provides grafting clamps, and the stock cutting mechanism can cut stock stalks placed on the stock placing mechanism. The method is widely applied to the technical field of gardening vegetable grafting.

Description

Technical Field

[0001] The present invention relates to the technical field of horticultural vegetable grafting, and more particularly, to a grafting device. Background Art

[0002] Grafting seedling raising is to graft the scion of one vegetable onto the rootstock of another vegetable so that they grow together as one. Compared with self-rooted seedling raising, grafting seedling raising not only enhances the ability to resist pests and diseases, but also has advantages such as improving cold tolerance and stress resistance, overcoming continuous cropping obstacles, enhancing nutrient absorption ability, and increasing yield and quality. This is because grafted seedlings usually have more developed roots, can absorb nutrients more efficiently, and have thick stems and broad leaves, with strong photosynthesis ability, thus significantly improving plant growth and fruit quality, and effectively coping with adverse environments such as low temperature and soil degradation.

[0003] Due to the various advantages of grafting seedling raising, this technology has been widely promoted and applied. The market demand for grafted seedlings of solanaceous fruits and vegetables is also increasing. Currently, manual grafting is mainly used for grafting seedling raising. The manual grafting method has limitations. For example, the manual grafting process is time-consuming and laborious, with low efficiency, and it is difficult to meet the needs of large-scale batch production. To solve this problem, automatic grafting technology has emerged. Automatic grafting technology is an advanced technology that precisely cuts and automatically docks seedlings using precision machinery based on grafting agronomic requirements. Through automatic grafting, the grafting efficiency can be significantly improved, ensuring the quality consistency and stability of grafted seedlings, and guaranteeing the standardized and high-quality production of vegetable seedlings.

[0004] The current mainstream automated grafting devices can be divided into two categories according to the seedling supply method: one is a semi-automatic grafting machine that relies on manual seedling supply, and the other is a fully automatic grafting machine based on whole-tray seedling supply of plug trays. The fully automatic model effectively reduces the labor intensity through an integrated seedling supply system, but its technical implementation highly depends on the standardization of seedling morphology, requiring that the grafted seedlings strictly conform to the set parameters in terms of stem diameter, morphology, and the emergence position of the rootstock, and need to be used in conjunction with specific specifications of standardized plug trays. These technical constraints not only significantly increase the equipment procurement and supporting costs, but also affect the grafting qualification rate due to individual differences in seedlings, resulting in the comprehensive benefits of the equipment being difficult to meet the actual needs of large-scale production. In contrast, the semi-automatic grafting machine adopts a flexible seedling supply mechanism, mainly by manually screening and removing seedlings with abnormal morphologies such as bent stems. Although it can adapt to the individual differences between the scion and the rootstock to a certain extent, it also causes some qualified seedlings that could have been used to be discarded or transferred for secondary manual processing, objectively increasing the seedling raising cost. To break through this bottleneck, it is necessary to develop a device that can perform axial deviation correction on bent stems and improve the utilization rate of abnormal seedlings. In addition, the semi-automatic grafting machine still has obvious shortcomings in terms of per capita production efficiency, which also becomes an important factor restricting its popularization and application. In addition, the accuracy of the docking between the scion and the rootstock also needs to be improved.

[0005]

[0005] Several common grafting methods in the grafting and seedling raising technology of solanaceous vegetables include the sticking method, the splitting method and the flat grafting method. Each method has its own advantages and disadvantages. Therefore, it is crucial to select a suitable grafting method according to regional characteristics, crop types and production habits. These factors not only increase the difficulty of meeting various requirements when developing a grafting machine, but also make it difficult for the same type of grafting machine to fully adapt to different production requirements in actual applications. Summary of the Invention

[0006]

[0006] This application aims to solve the technical problems of low productivity of existing semi-automatic grafting machines, insufficient utilization rate of abnormal seedlings, and low docking accuracy between scions and rootstocks, and provides a grafting device with high production efficiency, excellent utilization rate of abnormal seedlings, and high docking accuracy between scions and rootstocks.

[0007]

[0007] The present disclosure provides a grafting device, which is characterized by comprising a frame, a scion seedling turnover device, a robotic arm, an end effector, a plug tray conveyor, a rootstock handling device, a rootstock placement mechanism, a feeding and clamping device, and a rootstock cutting mechanism; The scion seedling turnover device is connected to the frame, the robotic arm is connected to the frame, and the end effector is connected to the robotic arm; the plug tray conveyor is connected to the frame; The rootstock handling device can transport the rootstocks conveyed by the plug tray conveyor to the rootstock placement mechanism; The rootstock placement mechanism can be used to place rootstocks; the feeding and clamping device can provide grafting clips; the rootstock cutting mechanism can cut the stems of the rootstocks placed on the rootstock placement mechanism.

[0008] Preferably, the end effector includes an upper bearing hanger, an upper bracket, a lower bracket, a fixing rod, a lifting cylinder, a lifting plate, a first-stage execution unit, a second-stage execution unit, a third-stage execution unit, and a fourth-stage execution unit. The upper bracket is fixedly connected to the upper bearing hanger. The lower bracket is connected to the upper bracket through the fixing rod. The lifting cylinder is fixedly connected to the upper bracket. The lifting plate is connected to the telescopic rod of the lifting cylinder. The first-stage execution unit includes a slide cylinder, a sliding substrate, a linear bearing connecting plate I, a first linear bearing, a second linear bearing, a first locking push block driving cylinder, a telescopic block, a second upper guide shaft, a first upper guide shaft, a first locking push block, a first finger cylinder for driving the seedling gathering claw, and a first seedling gathering claw. The slide cylinder is provided with a slide, and the slide is fixedly connected to the lifting plate. The linear bearing connecting plate I is fixedly connected to the sliding substrate. The first linear bearing and the second linear bearing are respectively fixedly connected to the linear bearing connecting plate I. The first upper guide shaft passes through the first linear bearing, and the second upper guide shaft passes through the second linear bearing. The sliding substrate is fixedly connected to the cylinder body of the slide cylinder. The first locking push block driving cylinder is fixedly connected to the sliding substrate. The telescopic block is connected to the telescopic rod of the first locking push block driving cylinder. The rear end of the first upper guide shaft is fixedly connected to the telescopic block, and the front end of the first upper guide shaft is fixedly connected to one end of the first locking push block. The rear end of the second upper guide shaft is fixedly connected to the telescopic block, and the front end of the second upper guide shaft is fixedly connected to the other end of the first locking push block. The first finger cylinder for driving the seedling gathering claw is fixedly connected to the sliding substrate. The first seedling gathering claw includes a left claw and a right claw. The left claw is provided with a locking push block receiving hole, and the right claw is provided with a locking push block receiving hole. The left claw and the right claw are respectively connected to the two fingers of the first finger cylinder for driving the seedling gathering claw. The left part of the first locking push block is located in the locking push block receiving hole of the left claw, and the right part of the first locking push block is located in the locking push block receiving hole of the right claw. The second-stage execution unit includes a second finger cylinder for driving the seedling gathering claw, a sliding platform driving cylinder, a sliding platform, a first linear bearing seat, a second linear bearing seat, a fixed seat for the telescopic rod of the sliding platform driving cylinder, and a second seedling gathering claw. The fixed seat for the telescopic rod of the sliding platform driving cylinder is fixedly connected to the lower bracket. The sliding platform driving cylinder is provided with a telescopic rod, and the telescopic rod of the sliding platform driving cylinder is fixedly connected to the fixed seat for the telescopic rod of the sliding platform driving cylinder. The sliding platform is fixedly connected to the sliding platform driving cylinder. The first linear bearing seat and the second linear bearing seat are respectively fixedly connected to both sides of the sliding platform. The second finger cylinder for driving the seedling gathering claw is fixedly connected to the sliding platform. The second seedling gathering claw includes a left side claw and a right side claw. The left side claw is provided with a notch, and the right side claw is provided with a notch. The left side claw and the right side claw of the second seedling gathering claw are respectively connected to the two fingers of the second finger cylinder for driving the seedling gathering claw. The third-level execution unit includes a finger cylinder for driving the third seedling gathering jaw, the third seedling gathering jaw, a cylinder for driving the second locking push block, a guide shaft connecting plate, a first middle guide shaft, a second middle guide shaft, a second linear bearing connecting plate, a third linear bearing, a fourth linear bearing, and a second locking push block. The finger cylinder for driving the third seedling gathering jaw is fixedly connected to the lower bracket. The third seedling gathering jaw includes a left jaw with a locking push block receiving hole and a right jaw with a locking push block receiving hole. The left jaw and the right jaw of the third seedling gathering jaw are respectively connected to the two fingers of the finger cylinder for driving the third seedling gathering jaw. The left part of the second locking push block is located in the locking push block receiving hole of the left jaw of the third seedling gathering jaw, and the right part of the second locking push block is located in the locking push block receiving hole of the right jaw of the third seedling gathering jaw. The cylinder for driving the second locking push block is fixedly connected to the lower bracket. The guide shaft connecting plate is fixedly connected to the telescopic rod of the cylinder for driving the second locking push block. The second linear bearing connecting plate is fixedly connected to the lower bracket. The third linear bearing and the fourth linear bearing are respectively fixedly connected to the second linear bearing connecting plate. The first middle guide shaft passes through the third linear bearing, and the second middle guide shaft passes through the fourth linear bearing. The rear end of the first middle guide shaft is fixedly connected to one end of the guide shaft connecting plate, the front end of the first middle guide shaft is fixedly connected to one end of the second locking push block, the rear end of the second middle guide shaft is fixedly connected to the other end of the guide shaft connecting plate, and the front end of the second middle guide shaft is fixedly connected to the other end of the second locking push block. The second middle guide shaft in the third-level execution unit passes through the first linear bearing seat in the second-level execution unit, and the first middle guide shaft in the third-level execution unit passes through the second linear bearing seat in the second-level execution unit. The fourth-level execution unit includes a double-axis cylinder, a first lower guide shaft, a second lower guide shaft, a third linear bearing seat, a fourth linear bearing seat, a connecting frame for the ear seedling cutting blade, and an ear seedling cutting blade. The double-axis cylinder is fixedly connected to the bottom surface of the lower bracket. The double-axis cylinder is provided with a telescopic block. The third linear bearing seat and the fourth linear bearing seat are respectively fixedly connected to the bottom surface of the lower bracket. The first lower guide shaft passes through the third linear bearing seat, and the second lower guide shaft passes through the fourth linear bearing seat. The connecting frame for the ear seedling cutting blade is fixedly connected to the telescopic block of the double-axis cylinder. The front end of the first lower guide shaft is fixedly connected to the connecting frame for the ear seedling cutting blade, and the front end of the second lower guide shaft is fixedly connected to the connecting frame for the ear seedling cutting blade. The ear seedling cutting blade is connected to the front part of the connecting frame for the ear seedling cutting blade. The front part of the connecting frame for the ear seedling cutting blade is located in the gaps between the left claw and the right claw of the second seedling gathering jaw. The first seedling gathering jaw, the second seedling gathering jaw, and the third seedling gathering jaw are arranged in an upper, middle, and lower orientation. The upper carrying hanger is connected to the robotic arm.

[0009] Preferably, a groove is provided in the middle of the second locking push block and / or the first locking push block.

[0010] Preferably, the shape of the spikelet cutting blade is flat, and the spikelet cutting blade is arranged obliquely; the rootstock cutting mechanism is provided with a cutting blade, and the cutting blade of the rootstock cutting mechanism is flat and arranged obliquely; Preferably, the spikelet cutting blade includes two flat blades forming an included angle; The rootstock cutting mechanism is provided with a cutting blade group, the cutting blade group is provided with a first blade and a second blade, the first blade is flat and located in the horizontal plane, the second blade is flat and located in the vertical direction, and the second blade is located below the first blade; the cutting edge of the second blade is in the front, and the cutting edge of the first blade is in the rear.

[0011] Preferably, the rootstock placing mechanism includes a first fixing seat, a second fixing seat, a first slide rail assembly, a second slide rail assembly, a rootstock supporting plate, a translation driving mechanism and a rootstock placing box. The first slide rail assembly is fixedly connected to the first fixing seat, the second slide rail assembly is fixedly connected to the second fixing seat. One end of the rootstock supporting plate is connected to the slider of the first slide rail assembly, and the other end of the rootstock supporting plate is connected to the slider of the second slide rail assembly. A plurality of rootstock placing boxes are fixedly connected to the rootstock supporting plate, and the plurality of rootstock placing boxes are equally spaced; the translation driving mechanism is used to drive the rootstock supporting plate to translate; The first fixing seat and the second fixing seat are respectively fixedly connected to the frame.

[0012] Preferably, the rootstock handling device includes a lifting mechanism and a seedling grasping mechanism, and the lifting mechanism can make the seedling grasping mechanism lift in the vertical direction; The seedling grasping mechanism includes a variable pitch module and a plurality of manipulators, and the plurality of manipulators are connected to the variable pitch module.

[0013] Preferably, the feeding and clamping device includes a feeding mechanism and a clamping mechanism. The feeding mechanism includes a frame, a material tray, a swing arm and a guide roller. The material tray is connected to the frame through a material tray support, the swing arm is connected to the material tray support, and the guide roller is connected to the swing arm; The clamping supply mechanism includes a pulley positioning plate, a first clamping guide pulley, a second clamping guide pulley, a clamping finger cylinder, a first grafting clip jaw, a clamping fixed finger cylinder, a second grafting clip jaw, a clamping telescopic cylinder, an automatic shearing mechanism, an automatic pliers mechanism, an automatic pliers forward extension linear module, a first Y-axis direction linear module, a second Y-axis direction linear module, a support frame and a bottom plate. The first clamping guide pulley and the second clamping guide pulley are respectively rotatably connected to the pulley positioning plate. The clamping telescopic cylinder is fixedly connected to the pulley positioning plate. The clamping finger cylinder is connected to the telescopic rod of the clamping telescopic cylinder. The first grafting clip jaw is connected to the two fingers of the clamping finger cylinder. The clamping fixed finger cylinder is connected to the pulley positioning plate. The second grafting clip jaw is connected to the two fingers of the clamping fixed finger cylinder. The second grafting clip jaw is located below the first grafting clip jaw. The automatic shearing mechanism is provided with scissors, and the scissors are located below the second grafting clip jaw. The automatic pliers mechanism is provided with pliers. The automatic pliers mechanism is connected to the automatic pliers forward extension linear module. The first Y-axis direction linear module is provided with a first slider and a second slider. The second Y-axis direction linear module is provided with a first slider. The support frame is connected to the first slider of the first Y-axis direction linear module. The automatic shearing mechanism is fixedly connected to the support frame. The pulley positioning plate is fixedly connected to the support frame. The automatic pliers forward extension linear module is fixedly connected to the bottom plate. A part of the bottom plate is fixedly connected to the second slider of the first Y-axis direction linear module, and another part of the bottom plate is fixedly connected to the first slider of the second Y-axis direction linear module. The frame is connected to the frame of the machine.

[0014] Preferably, the rootstock cutting mechanism includes a base, a cylinder, a cutting blade connecting frame and a cutting blade. The cylinder is fixedly connected to the base. The cutting blade connecting frame is connected to the telescopic rod of the cylinder. The cutting blade is connected to the cutting blade connecting frame. The base is fixedly connected to the bottom plate of the clamping supply mechanism.

[0015] Preferably, the spikelet turnover device includes a rotating platform, a finger cylinder positioning plate, a finger cylinder and spikelet clamping jaws. The rotating platform is provided with a rotating part. The finger cylinder positioning plate is connected to the rotating part of the rotating platform. The finger cylinder positioning plate is located in the horizontal plane. A plurality of finger cylinders are fixedly connected to the finger cylinder positioning plate. The spikelet clamping jaws are connected to the finger cylinders. The rotating platform is connected to the frame of the machine.

[0016] Preferably, the end effector includes an upper carrying hanger, an upper bracket, a lower bracket, a fixing rod, a first-stage execution unit, a second-stage execution unit, a third-stage execution unit, and a fourth-stage execution unit. The lower bracket is connected to the upper bracket by the fixing rod. The first-stage execution unit includes a lifting mechanism, a first telescopic mechanism, a second telescopic mechanism, a first locking push block, a first finger cylinder for driving the seedling gathering claw, and a first seedling gathering claw. The first seedling gathering claw includes a left claw and a right claw. The left claw is provided with a locking push block receiving hole, and the right claw is provided with a locking push block receiving hole. The left claw and the right claw are respectively connected to the two fingers of the first finger cylinder for driving the seedling gathering claw. The left part of the first locking push block is located in the locking push block receiving hole of the left claw, and the right part of the first locking push block is located in the locking push block receiving hole of the right claw. The second telescopic mechanism is used to make the first locking push block perform telescopic movement. The first telescopic mechanism is used to make the first locking push block and the first seedling gathering claw perform synchronous telescopic movement. The lifting mechanism is connected to the upper bracket and is used to make the first locking push block and the first seedling gathering claw perform synchronous lifting movement. The second-stage execution unit includes a third telescopic mechanism, a second finger cylinder for driving the seedling gathering claw, and a second seedling gathering claw. The second seedling gathering claw includes a left side claw and a right side claw. The left side claw is provided with a notch, and the right side claw is provided with a notch. The left side claw and the right side claw of the second seedling gathering claw are respectively connected to the two fingers of the second finger cylinder for driving the seedling gathering claw. The third telescopic mechanism is used to make the second seedling gathering claw perform telescopic movement. The third-stage execution unit includes a fourth telescopic mechanism, a third finger cylinder for driving the seedling gathering claw, a third seedling gathering claw, and a second locking push block. The third seedling gathering claw includes a left claw with a locking push block receiving hole and a right claw with a locking push block receiving hole. The left claw and the right claw of the third seedling gathering claw are respectively connected to the two fingers of the third finger cylinder for driving the seedling gathering claw. The left part of the second locking push block is located in the locking push block receiving hole of the left claw of the third seedling gathering claw, and the right part of the second locking push block is located in the locking push block receiving hole of the right claw of the third seedling gathering claw. The third finger cylinder for driving the seedling gathering claw is fixedly connected to the lower bracket. The fourth telescopic mechanism is used to make the second locking push block perform telescopic movement. The fourth-stage execution unit includes a fifth telescopic mechanism, a spike seedling cutting blade connecting frame, and a spike seedling cutting blade. The spike seedling cutting blade is connected to the front part of the spike seedling cutting blade connecting frame. The fifth telescopic mechanism is used to make the spike seedling cutting blade connecting frame perform telescopic movement. The front part of the spike seedling cutting blade connecting frame is located in the notches of the left side claw and the right side claw of the second seedling gathering claw. The first seedling gathering claw, the second seedling gathering claw, and the third seedling gathering claw are arranged in an upper, middle, and lower layout. The upper bracket is fixedly connected to the upper carrying hanger, and the upper carrying hanger is connected to the robotic arm.

[0017] The beneficial effects of the present disclosure are: Reduce the labor intensity of manual intervention, significantly improve the operation efficiency and per capita productivity, meet the requirements of batch production, and have a high level of automation and intelligence.

[0018] It can flexibly switch between different grafting modes and effectively meet the requirements of different grafting processes.

[0019] It can realize the automatic supply of rootstocks, adapt to different specifications of plug trays, meet the diverse needs of different regions, crop varieties and production habits, and ensure the grafting quality and operation stability at the same time.

[0020] The end effector can quickly and reliably obtain scions from the spike seedlings and stably position the upper part of the spike seedling stalks; the end effector has a function of correcting the axial bending of the stalks. During the process of rootstock treatment, the correction function can correct the bending of the stalks to ensure the precise positioning of the rootstock stalks to cooperate with the cutting blades for fast and reliable cutting. The end effector can accurately and quickly dock the scion stalks with the cut rootstock stalks to ensure the efficiency and precision of the grafting process.

[0021] The utilization rate of abnormal seedlings has been greatly improved.

[0022] Realize the automatic and continuous fixed-length supply of grafting clips, automatically surround the upper end of the cut rootstock stalks and the lower end of the scion stalks, and automatically complete the buckling.

[0023] The seedling grasping mechanism can realize variable-distance feeding of rootstocks, increase the spacing between multiple rootstocks and then automatically arrange them in a row, so as to facilitate continuous grafting operations and significantly improve the operation efficiency; when replanting the grafted seedlings, the mechanism can automatically adjust the seedling spacing to match the empty positions of the plug tray, reduce manual intervention, and complete the automatic replanting operation.

[0024] The further features and aspects of the present disclosure will be clearly described in the following description of the specific embodiments with reference to the accompanying drawings. Brief Description of the Drawings

[0025] Figure 1 is an axonometric view of a dual-mode adjustable solanaceous fruit and vegetable grafting machine; Figure 2 is a structural schematic diagram of a spike seedling turnover device; Figure 3 is a structural schematic diagram of an end effector connected to a SCARA four-axis robotic arm; Figure 4 is an axonometric view of the end effector; Figure 5 is Figure 4 the front view of the end effector shown; Figure 6 is Figure 4 the structural schematic diagram of the first-stage execution unit in the end effector shown; Figure 7 is Figure 4 The schematic structural diagram of the second-stage and third-stage execution units in the shown end effector; Figure 8 is Figure 4 The schematic structural diagram of the third-stage and fourth-stage execution units in the shown end effector; Figure 9 is Figure 4 The schematic structural diagram of the fourth-stage execution unit in the shown end effector; Figure 10 is Figure 9 The schematic structural diagram of the ear seed cutting blade installed on the ear seed cutting blade connecting frame in the shown structure; Figure 11 The schematic structural diagram of the ear seed cutting blade for forming a wedge-shaped inclined plane on the scion stem installed on the ear seed cutting blade connecting frame; Figure 12 The working state diagram when the end effector enters the waiting grafting position after the scion is taken; Figure 13 The state diagram after the end effector moves to make the first seedling clamping jaw and the first locking push move the scion backward by a certain distance; Figure 14 The schematic structural diagram of the plug tray conveyor and the rootstock handling device; Figure 15 The schematic structural diagram of the seedling grasping mechanism; Figure 16 The schematic structural diagram of the rootstock placing mechanism; Figure 17 The working state diagram after the rootstock is clamped and handled; Figure 18 The schematic structural diagram of the feeding and clamping device; Figure 19 is Figure 18 The schematic structural diagram of the clamping mechanism in the shown feeding and clamping device; Figure 20 The state diagram of the pliers of the automatic clamping mechanism located below the scissors in the automatic shearing mechanism; Figure 21 The schematic structural diagram of the automatic clamping mechanism installed on the linear module; Figure 22 The schematic structural diagram of a cutting blade of a certain shape connected to a cylinder; Figure 23 The schematic structural diagram of a cutting blade of another shape connected to a cylinder; Figure 24 The state diagram of the first-stage execution unit of the end effector clamping and positioning the ear seedling; Figure 25It is a schematic diagram of the state where the scion and the rootstock are to be grafted; Figure 26 It is a schematic diagram of the state where the end effector realizes three-point positioning of the root of the rootstock stem; Figure 27 It is Figure 26 In the structure shown, it is a partial structure diagram of the positions of the second seedling gathering jaw, the second locking push block, and the third seedling gathering jaw; Figure 28 It is a working state diagram when the scion and the rootstock are butted and clamped; Figure 29 It is Figure 28 In the structure shown, it is a partial structure diagram of the positions of the first seedling gathering jaw, the second seedling gathering jaw, and the third seedling gathering jaw; Figure 30 It is Figure 29 In the structure shown, it is a top view schematic diagram where the grafting clip in the open state surrounds the stem of the rootstock after cutting; Figure 31 It is a schematic diagram of the original state where the grafting clip is not clamped by the pliers; Figure 32 It is a schematic diagram of the state where multiple jaws 803 in the variable pitch module 801 clamp the grafted seedlings; Figure 33 It is a state diagram where the first-level execution unit of the end effector clamps and positions the scion seedlings.

[0026] Explanation of symbols in the figure: 100. Frame; 200. Seedling turnover device, 201. Rotary platform, 201-1. Servo motor, 202. Finger cylinder positioning plate, 203. Finger cylinder, 204. Solenoid valve, 205. Seedling gripper; 300. SCARA four-axis robotic arm; 400. End effector, 401. Upper bearing hanger, 402-1. Upper bracket, 402-2. Lower bracket, 403. Fixed rod, 404. Lifting cylinder, 405. Lifting plate, 406. Slide cylinder, 406-1. Slide, 407. Linear bearing connecting plate one, 408. First linear bearing, 409. Second linear bearing, 410. First locking push block driving cylinder, 411. Telescopic block, 412. Second upper guide shaft, 413. First upper guide shaft, 414. First locking push block, 415. First finger cylinder for driving the seedling gathering gripper, 416. First seedling gathering gripper, 417. Second finger cylinder for driving the seedling gathering gripper, 418. Sliding platform driving cylinder, 418-1. Telescopic rod, 419. Sliding platform, 420. First linear bearing seat, 421. Fixed seat for the telescopic rod of the sliding platform driving cylinder, 422. Sliding substrate, 423. Second seedling gathering gripper, 423-1. Left claw, 423-1-1. Notch, 423-2. Right claw, 423-2-1. Notch, 424. Third finger cylinder for driving the seedling gathering gripper, 425. Third seedling gathering gripper, 425-1. Left claw, 425-1-1. Locking push block receiving hole, 425-2. Right claw, 425-2-1. Locking push block receiving hole, 426. Second locking push block driving cylinder, 427. Guide shaft connecting plate, 428. First middle guide shaft, 429. Second middle guide shaft, 430. Linear bearing connecting plate two, 431. Third linear bearing, 432. Fourth linear bearing, 433. Second locking push block, 433-1. Groove, 434. Double-acting cylinder, 434-1. Telescopic block, 435. First lower guide shaft, 436. Second lower guide shaft, 437. Third linear bearing seat, 438. Fourth linear bearing seat, 439. Seedling cutting blade connecting frame, 440. Seedling cutting blade, 441. Seedling cutting blade, 443. Sensor terminal block, 444. Integrated valve island; 500. Plug tray conveyor; 600. Lifting mechanism, 601. First linear module, 602. Second linear module, 603. Lifting support plate, 700. Rootstock placement mechanism, 701. First fixed seat, 702. Second fixed seat, 703. First slide rail assembly, 704. Second slide rail assembly, 705. Rootstock support plate, 706. Translation driving motor, 707. Rack, 708. Rootstock placement box; 800. Seedling grasping mechanism, 801. Variable pitch module, 801-1. Moving block, 802. Finger cylinder, 803. Gripper; 900. Feeding and clamping device, 901. Frame, 902. Tray, 902-1. Raw material for grafting clips, 903. Swing arm, 904. Guide roller, 905. Pulley positioning plate, 906.The first guide clip pulley, 907. The second guide clip pulley, 908. The clip finger cylinder, 909. The first grafting clip jaw, 910. The fixed finger cylinder for clamping, 911. The second grafting clip jaw, 912. The telescopic cylinder for clamping, 913. The automatic cutting mechanism, 913-1. The scissors, 914. The automatic pliers mechanism, 914-1. The pliers, 915. The linear module for the forward extension of the automatic pliers, 916. The first linear module in the Y-axis direction, 917. The second linear module in the Y-axis direction, 918. The support frame, 919. The bottom plate; 1000. The cutting mechanism for the rootstock, 1001. The base, 1002. The cylinder, 1003. The connecting frame for the cutting blade, 1004. The cutting blade, 1005. The cutting blade group, 1005-1. The first blade, 1005-2. The second blade; 1. The spikelet seedling, 2. The scion, 3. The rootstock plug tray, 4. The rootstock, 4-1. The cut rootstock stem, 5. The grafting clip. Detailed implementation manners

[0027] The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.

[0028] The specific embodiments described below are only the preferred implementation manners of this application, and the protection scope of this application is not limited thereto. For those skilled in the art, based on or according to the principles, concepts, and spirits of this application, some changes or variations can be made, and the technical solutions formed by these changes or variations should all be covered by the protection scope of this application.

[0029] As Figure 1 shown, the dual-mode adjustable solanaceous fruit and vegetable grafting machine includes a frame 100, a spikelet seedling turnover device 200, a SCARA four-axis robotic arm 300, an end effector 400, a plug tray conveyor 500, a lifting mechanism 600, a rootstock placement mechanism 700, a seedling grasping mechanism 800, a feeding and clamping device 900, and a rootstock cutting mechanism 1000. The spikelet seedling turnover device 200 can transfer the spikelet seedlings to the designated workstations. The SCARA four-axis robotic arm 300 is installed on the frame 100, and the SCARA four-axis robotic arm 300 can move the end effector 400 to the designated workstations, such as moving to a position close to the spikelet seedling turnover device 200, or moving to a position close to the rootstock placement mechanism 700. The plug tray conveyor 500 can convey the rootstock plug trays. The lifting mechanism 600 can raise or lower the seedling grasping mechanism 800. The seedling grasping mechanism 800 can grasp the rootstocks on the rootstock plug trays and can also grasp the grafted seedlings. The rootstock placement mechanism 700 can be used to place the rootstocks. The feeding and clamping device 900 can provide the grafting clips. The rootstock cutting mechanism 1000 can cut the stems of the rootstocks.

[0030] As Figure 2As shown, the spike seedling turnover device 200 includes a rotating platform 201, a finger cylinder positioning plate 202, finger cylinders 203, and spike seedling grippers 205. The rotating platform 201 is provided with a rotating part. The finger cylinder positioning plate 202 is connected to the rotating part of the rotating platform 201. The rotating platform 201 is usually provided with a servo motor 201-1 as the power source. When the rotating platform 201 operates, it can drive the finger cylinder positioning plate 202 to rotate. The finger cylinder positioning plate 202 is located in the horizontal plane, and a plurality of finger cylinders 203 are fixedly installed on the finger cylinder positioning plate 202 (8 finger cylinders 203 are shown in the figure, and the 8 finger cylinders 203 are evenly distributed along the circumferential direction). The spike seedling grippers 205 are connected to the finger cylinders 203 (two parts of the spike seedling grippers 205 are respectively connected to two fingers of the finger cylinders 203). The spike seedling grippers 205 can grip the spike seedlings 1, and 8 spike seedling grippers 205 can respectively grip 8 spike seedlings. The solenoid valve 204 is installed on the finger cylinder positioning plate 202. The solenoid valve 204 is used to supply air to the finger cylinders 203, and one solenoid valve corresponds to one finger cylinder. When the finger cylinder positioning plate 202 rotates, the 8 finger cylinders 203 can be displaced. When the finger cylinder positioning plate 202 rotates by a certain angle, each finger cylinder 203 and the spike seedling grippers 205 can be displaced by a certain distance.

[0031] The rotating platform 201 is installed on the frame 100.

[0032] As Figure 3 shown, the end effector 400 is connected to the free end of the SCARA four-axis robotic arm 300, and the upper carrying hanger 401 is connected to the free end of the SCARA four-axis robotic arm 300.

[0033] As Figures 4 - 9As shown, the end effector 400 includes an upper bearing hanger 401, an upper bracket 402-1, a lower bracket 402-2, a fixing rod 403, a lifting cylinder 404, a lifting plate 405, a first-stage execution unit, a second-stage execution unit, a third-stage execution unit, and a fourth-stage execution unit. The upper bracket 402-1 is fixedly connected to the upper bearing hanger 401. The lower bracket 402-2 is fixedly connected to the upper bracket 402-1 through a plurality of fixing rods 403. The lifting cylinder 404 is fixedly installed on the upper bracket 402-1. The lifting plate 405 is connected to the telescopic rod of the lifting cylinder 404. The lifting cylinder 404 can drive the lifting plate 405 to rise or fall in the vertical direction. The first-stage execution unit includes a slide cylinder 406, a sliding substrate 422, a linear bearing connecting plate 407, a first linear bearing 408, a second linear bearing 409, a first locking push block driving cylinder 410, a telescopic block 411, a second upper guide shaft 412, a first upper guide shaft 413, a first locking push block 414, a first finger cylinder for driving the seedling gathering claw 415, and a first seedling gathering claw 416. The slide cylinder 406 is provided with a slide 406-1. The slide 406-1 is fixedly connected to the lifting plate 405. The linear bearing connecting plate 407 is fixedly connected to the sliding substrate 422. The first linear bearing 408 and the second linear bearing 409 are respectively fixedly connected to the linear bearing connecting plate 407. The first upper guide shaft 413 passes through the first linear bearing 408 (the first upper guide shaft 413 can slide in the first linear bearing 408). The second upper guide shaft 412 passes through the second linear bearing 409 (the second upper guide shaft 412 can slide in the second linear bearing 409). The sliding substrate 422 is fixedly connected to the cylinder body of the slide cylinder 406. The first locking push block driving cylinder 410 is fixedly connected to the sliding substrate 422. The telescopic block 411 is connected to the telescopic rod of the first locking push block driving cylinder 410. The rear end of the first upper guide shaft 413 is fixedly connected to the telescopic block 411. The front end of the first upper guide shaft 413 is fixedly connected to one end of the first locking push block 414. The rear end of the second upper guide shaft 412 is fixedly connected to the telescopic block 411. The front end of the second upper guide shaft 412 is fixedly connected to the other end of the first locking push block 414. The first finger cylinder for driving the seedling gathering claw 415 is fixedly connected to the sliding substrate 422. The first seedling gathering claw 416 is connected to the two fingers of the first finger cylinder for driving the seedling gathering claw 415. When the two fingers of the first finger cylinder for driving the seedling gathering claw 415 close, the first seedling gathering claw 416 closes. When the two fingers of the first finger cylinder for driving the seedling gathering claw 415 open, the first seedling gathering claw 416 opens. When the telescopic rod of the first locking push block driving cylinder 410 extends, it drives the telescopic block 411 to move backward, and then the first locking push block 414 moves backward. When the telescopic rod of the first locking push block driving cylinder 410 retracts, the first locking push block 414 moves forward.When the slide cylinder 406 operates, the cylinder block of the slide cylinder 406 moves forward or backward. The cylinder block of the slide cylinder 406 drives the sliding substrate 422 to move forward or backward. The sliding substrate 422 drives the first locking push block driving cylinder 410 and the first finger cylinder 415 for driving the seedling gathering claws to move forward or backward. The forward or backward movement of the first finger cylinder 415 for driving the seedling gathering claws drives the first seedling gathering claws 416 to move forward or backward.

[0034] The second-level execution unit includes a second finger cylinder 417 for driving the seedling gathering claws, a sliding platform driving cylinder 418, a sliding platform 419, a first linear bearing seat 420, a second linear bearing seat, a fixed seat 421 for the telescopic rod of the sliding platform driving cylinder, and a second seedling gathering claw 423. The fixed seat 421 for the telescopic rod of the sliding platform driving cylinder is fixedly connected to the lower bracket 402-2. The sliding platform driving cylinder 418 is provided with a telescopic rod 418-1, and the telescopic rod 418-1 is fixedly connected to the fixed seat 421 for the telescopic rod of the sliding platform driving cylinder. The sliding platform 419 is fixedly connected to the cylinder block of the sliding platform driving cylinder 418. The first linear bearing seat 420 and the second linear bearing seat are respectively fixedly connected to both sides of the sliding platform 419. The second finger cylinder 417 for driving the seedling gathering claws is fixedly installed on the sliding platform 419. The second seedling gathering claw 423 is connected to the two fingers of the second finger cylinder 417 for driving the seedling gathering claws. The opening or closing of the two fingers of the second finger cylinder 417 for driving the seedling gathering claws can cause the second seedling gathering claw 423 to open or close. The second middle guide shaft 429 of the third-level execution unit passes through the first linear bearing seat 420 for sliding fit, and the first middle guide shaft 428 passes through the second linear bearing seat for sliding fit. When the sliding platform driving cylinder 418 operates, the sliding platform 419 can move forward or back and forth (the first linear bearing seat 420 and the second linear bearing seat slide respectively based on the second middle guide shaft 429 and the first middle guide shaft 428). The sliding platform 419 drives the second finger cylinder 417 for driving the seedling gathering claws to move forward or backward, and further causes the entire second seedling gathering claw 423 to move forward or backward.

[0035] The third-level execution unit includes a finger cylinder 424 for driving the third seedling gathering gripper, a third seedling gathering gripper 425, a second locking push block driving cylinder 426, a guide shaft connecting plate 427, a first middle guide shaft 428, a second middle guide shaft 429, a second linear bearing connecting plate 430, a third linear bearing 431, a fourth linear bearing 432, and a second locking push block 433. The finger cylinder 424 for driving the third seedling gathering gripper is fixedly connected to the lower bracket 402-2. The third seedling gathering gripper 425 is connected to the two fingers of the finger cylinder 424 for driving the third seedling gathering gripper. The opening or closing of the two fingers of the finger cylinder 424 for driving the third seedling gathering gripper can cause the third seedling gathering gripper 425 to open or close. The second locking push block driving cylinder 426 is fixedly connected to the lower bracket 402-2. The guide shaft connecting plate 427 is fixedly connected to the telescopic rod of the second locking push block driving cylinder 426. The second linear bearing connecting plate 430 is fixedly connected to the lower bracket 402-2. The third linear bearing 431 and the fourth linear bearing 432 are respectively fixedly connected to the second linear bearing connecting plate 430. The first middle guide shaft 428 passes through the third linear bearing 431 (the first middle guide shaft 428 can slide). The second middle guide shaft 429 passes through the fourth linear bearing 432 (the second middle guide shaft 429 can slide). The rear end of the first middle guide shaft 428 is fixedly connected to one end of the guide shaft connecting plate 427. The front end of the first middle guide shaft 428 is fixedly connected to one end of the second locking push block 433. The rear end of the second middle guide shaft 429 is fixedly connected to the other end of the guide shaft connecting plate 427. The front end of the second middle guide shaft 429 is fixedly connected to the other end of the second locking push block 433. When the telescopic rod of the second locking push block driving cylinder 426 extends to move the guide shaft connecting plate 427 backward, the second locking push block 433 moves backward. When the telescopic rod of the second locking push block driving cylinder 426 retracts, the second locking push block 433 moves forward.

[0036] The fourth-level execution unit is the ear seedling cutting mechanism. The ear seedling cutting mechanism includes a double-axis cylinder 434, a first lower guide shaft 435, a second lower guide shaft 436, a third linear bearing block 437, a fourth linear bearing block 438, an ear seedling cutting blade connecting frame 439, and an ear seedling cutting blade 440. The double-axis cylinder 434 is fixedly installed on the bottom surface of the lower bracket 402-2. The double-axis cylinder 434 is provided with a telescopic block 434-1. The third linear bearing block 437 and the fourth linear bearing block 438 are respectively fixedly connected to the bottom surface of the lower bracket 402-2. The first lower guide shaft 435 passes through the third linear bearing block 437 (the first lower guide shaft 435 can slide in the third linear bearing block 437), and the second lower guide shaft 436 passes through the fourth linear bearing block 438 (the second lower guide shaft 436 can slide in the fourth linear bearing block 438). The ear seedling cutting blade connecting frame 439 is fixedly connected to the telescopic block 434-1. The front end of the first lower guide shaft 435 is fixedly connected to the ear seedling cutting blade connecting frame 439, and the front end of the second lower guide shaft 436 is fixedly connected to the ear seedling cutting blade connecting frame 439. The ear seedling cutting blade 440 is fixedly installed at the front part of the ear seedling cutting blade connecting frame 439, and the ear seedling cutting blade 440 is inclined. When the double-axis cylinder 434 works, the ear seedling cutting blade connecting frame 439 moves forward or backward.

[0037] As can be seen from the figure, the first ear seedling clamping jaw 416, the second ear seedling clamping jaw 423, and the third ear seedling clamping jaw 425 are arranged in the upper, middle, and lower positions.

[0038] Participate Figure 8 , the third ear seedling clamping jaw 425 includes a left claw 425-1 and a right claw 425-2. The left claw 425-1 is provided with a locking push block receiving hole 425-1-1, and the right claw 425-2 is provided with a locking push block receiving hole 425-2-1. The left part of the second locking push block 433 is located in the locking push block receiving hole 425-1-1, and the right part of the second locking push block 433 is located in the locking push block receiving hole 425-2-1. The left claw 425-1 and the right claw 425-2 are respectively connected to the two fingers of the finger cylinder 424 for driving the third ear seedling clamping jaw.

[0039] The structure of the first ear seedling clamping jaw 416 is the same as that of the third ear seedling clamping jaw 425. The first ear seedling clamping jaw 416 includes a left claw and a right claw. Both the left claw and the right claw are provided with locking push block receiving holes. The left part of the first locking push block 414 is located in the locking push block receiving hole of the left claw, and the right part of the first locking push block 414 is located in the locking push block receiving hole of the right claw.

[0040] Such as Figure 12As shown, the second seedling clamping jaw 423 includes a left claw 423-1 and a right claw 423-2. The left claw 423-1 is provided with a notch 423-1-1, and the right claw 423-2 is provided with a notch 423-2-1. The front part of the ear seedling cutting blade connecting frame 439 is located in the notch 423-1-1 and the notch 423-2-1.

[0041] As Figure 12 and Figure 8 shown, a groove 433-1 is provided in the middle of the second locking push block 433. When the second locking push block 433 abuts against the stem of the rootstock, the stem of the rootstock is embedded in the groove 433-1 and is abutted. It should be noted that setting the groove 433-1 is a better structural design. The groove 433-1 may not be provided, and the middle part of the second locking push block 433 can be in any other shape as long as it can abut against the stem of the rootstock.

[0042] The structure of the first locking push block 414 is the same as that of the second locking push block 433, and a groove is provided in the middle of the first locking push block 414. It should be noted that when the first locking push block 414 abuts against the stem of the scion, the stem of the scion is embedded in the groove and is abutted. It should be noted that setting the groove is a better structural design. The groove may not be provided, and the middle part of the first locking push block 414 can be in any other shape as long as it can abut against the stem of the scion.

[0043] Figures 4 - 10 As shown in

[0044] Figure 11 Yes, the structure of the ear seedling cutting blade 440 can form an inclined plane on the scion stem.

[0045] As Figure 5 shown, a sensor terminal block 443 and an integrated valve island 444 can be installed on the upper carrying hanger 401.

[0046] As Figure 14 shown, the plug tray conveyor 500 is installed on the frame 100.

[0047] As Figure 14As shown, the rootstock handling device includes a lifting mechanism 600 and a seedling gripping mechanism 800. The lifting mechanism 600 can move the seedling gripping mechanism 800 up or down in the vertical direction. A specific implementation of the lifting mechanism 600 is as follows: it includes a first linear module 601, a second linear module 602, and a lifting support plate 603. The first linear module 601 and the second linear module 602 are arranged side by side in the vertical direction. One end of the lifting support plate 603 is connected to the slider of the first linear module 601, and the other end of the lifting support plate 603 is connected to the slider of the second linear module 602. The seedling gripping mechanism 800 is installed on the lifting support plate 603. The first linear module 601 and the second linear module 602 are fixedly connected to the frame 100.

[0048] As Figure 15 shown, the seedling gripping mechanism 800 includes a variable pitch module 801, a finger cylinder 802, and a jaw 803. The variable pitch module 801 adopts a conventional structure and is provided with a plurality of movable blocks 801-1 with variable spacing. A plurality of finger cylinders 802 and a plurality of jaws 803 are provided. One jaw 803 corresponds to one finger cylinder 802, and the jaw 803 is connected to the movable block 801-1. One movable block 801-1 corresponds to one jaw 803. When the variable pitch module 801 works, it can make the plurality of finger cylinders 802 be distributed at a certain spacing, that is, make the plurality of jaws 803 be distributed at a certain spacing. The structure composed of the finger cylinder 802 and the jaw 803 is a specific implementation of a manipulator. The variable pitch module 801 is fixedly installed on the lifting support plate 603. The spacing between the plurality of jaws 803 is adjustable, which can meet a plurality of rootstocks with different spacings and meet rootstock plug trays of different specifications.

[0049] As Figure 16As shown, the rootstock placement mechanism 700 includes a first fixed seat 701, a second fixed seat 702, a first slide rail assembly 703, a second slide rail assembly 704, a rootstock pallet 705, a translation drive motor 706, a rack 707, and a rootstock placement box 708. The first slide rail assembly 703 is fixedly installed on the first fixed seat 701, and the second slide rail assembly 704 is fixedly installed on the second fixed seat 702. One end of the rootstock pallet 705 is fixedly connected to the slider of the first slide rail assembly 703, and the other end of the rootstock pallet 705 is fixedly connected to the slider of the second slide rail assembly 704. A plurality of rootstock placement boxes 708 are fixedly installed on the rootstock pallet 705, and the plurality of rootstock placement boxes 708 are equally spaced. The rootstock placement box 708 can adopt a profiling structure, and the placement space of the rootstock placement box 708 matches the root system of the rootstock. The translation drive motor 706 is fixedly installed on the bottom surface of the end of the rootstock pallet 705. The rack 707 is fixedly connected to the second fixed seat 702. The gear is connected to the output shaft of the translation drive motor 706, and the gear meshes with the rack 707. When the translation drive motor 706 operates, the rootstock pallet 705 can translate under the support of the first slide rail assembly 703 and the second slide rail assembly 704. The translation drive motor 706, the rack 707, and the gear are a specific implementation manner of the translation drive mechanism. Those skilled in the art can understand that other specific structures can also be used to achieve the translation of the rootstock pallet 705.

[0050] Reference Figure 14 and Figure 17 , the first fixed seat 701 and the second fixed seat 702 are respectively fixedly installed on the frame 100. The rootstock placement mechanism 700 is close to the lifting mechanism 600.

[0051] As Figures 18 - 21As shown in the figure, the loading and clamping device 900 includes a loading mechanism and a clamping mechanism. The loading mechanism includes a frame 901, a material tray 902, a swing arm 903, and a guide roller 904. The material tray 902 is connected to the frame 901 through a bracket. The swing arm 903 is connected to the bracket, and the guide roller 904 is connected to the swing arm 903. The grafting clip raw material 902-1 on the material tray 902 bypasses the guide roller 904 and is conveyed downward. The clamping mechanism includes a pulley positioning plate 905, a first guide clamping pulley 906, a second guide clamping pulley 907, a clamping finger cylinder 908, a first grafting clip jaw 909, a clamping fixed finger cylinder 910, a second grafting clip jaw 911, a clamping telescopic cylinder 912, an automatic shearing mechanism 913, an automatic pliers mechanism 914, an automatic pliers forward extension linear module 915, a first Y-axis direction linear module 916, a second Y-axis direction linear module 917, a support frame 918, and a bottom plate 919. The first guide clamping pulley 906 and the second guide clamping pulley 907 are respectively rotatably connected to the pulley positioning plate 905. The clamping telescopic cylinder 912 is fixedly installed on the pulley positioning plate 905. The cylinder block of the clamping finger cylinder 908 is connected to the telescopic rod of the clamping telescopic cylinder 912. The first grafting clip jaw 909 is connected to the two fingers of the clamping finger cylinder 908. The cylinder block of the clamping fixed finger cylinder 910 is fixedly connected to the pulley positioning plate 905. The second grafting clip jaw 911 is connected to the two fingers of the clamping fixed finger cylinder 910. The second grafting clip jaw 911 is located below the first grafting clip jaw 909. The automatic shearing mechanism 913 is provided with scissors 913-1, and the automatic shearing mechanism 913 can generally adopt a pneumatic method. The automatic pliers mechanism 914 is provided with pliers 914-1, and the automatic pliers mechanism 914 can adopt a pneumatic method. The scissors 913-1 are located below the second grafting clip jaw 911. In the initial state, the pliers 914-1 are located below the scissors 913-1. The automatic pliers mechanism 914 is connected to the slider of the automatic pliers forward extension linear module 915. The first Y-axis direction linear module 916 is provided with a first slider and a second slider (the first slider is the driving slider, and the second slider is the passive slider). The second Y-axis direction linear module 917 is provided with a first slider (this first slider is the driving slider). The support frame 918 is fixedly connected to the first slider of the first Y-axis direction linear module 916. The automatic shearing mechanism 913 is fixedly installed on the support frame 918. The pulley positioning plate 905 is fixedly connected to the support frame 918. The automatic pliers forward extension linear module 915 is fixedly connected to the bottom plate 919. A part of the bottom plate 919 is fixedly connected to the second slider of the first Y-axis direction linear module 916, and another part of the bottom plate 919 is fixedly connected to the first slider of the second Y-axis direction linear module 917.

[0052] The frame 901 is fixedly connected to the machine frame 100. The grafting clip raw material 902-1 bypasses the first guide clamping pulley 906 and the second guide clamping pulley 907 in sequence.

[0053] As Figure 21 andFigure 22 As shown in the figure, the rootstock cutting mechanism 1000 includes a base 1001, a cylinder 1002, a cutting blade connecting frame 1003, and a cutting blade 1004. The cylinder 1002 is fixedly installed on the base 1001. The cutting blade connecting frame 1003 is connected to the telescopic rod of the cylinder 1002, and the cutting blade 1004 is connected to the cutting blade connecting frame 1003. The base 1001 is fixedly connected to the bottom plate 919. The cutting blade 1004 is planar and inclined.

[0054] The cutting blade 1004 can be replaced. In order to achieve another cutting effect, such as Figure 23 As shown in the figure, a cutting blade group 1005 is adopted. The cutting blade group 1005 includes a first blade 1005-1 and a second blade 1005-2. The first blade 1005-1 is connected to the cutting blade connecting frame 1003, and the second blade 1005-2 is connected to the cutting blade connecting frame 1003. The first blade 1005-1 is planar and located in the horizontal plane, and the second blade 1005-2 is planar and located in the vertical direction. The second blade 1005-2 is located below the first blade 1005-1. The second blade 1005-2 exceeds the edge range of the first blade 1005-1, and the edge of the second blade 1005-2 is in the front, and the edge of the first blade 1005-1 is in the back. When cutting the rootstock stem, the second blade 1005-2 first completes the splitting action in the vertical direction, and then the first blade 1005-1 performs the horizontal cutting in the horizontal direction, so as to achieve a stepped composite cutting effect.

[0055] The working process of the feeding and clamping device 900 is as follows: The feeding and clamping finger cylinder 908 acts to close the first grafting clip jaw 909 to clamp the grafting clip raw material; the clamping fixed finger cylinder 910 acts to open the second grafting clip jaw 911; the telescopic rod of the feeding and clamping telescopic cylinder 912 extends downward by a certain distance to supply a fixed length of the next grafting clip; and so on in a cycle, a small section of grafting clip can be continuously provided; the second grafting clip jaw 911 closes to clamp the grafting clip raw material, realizing a state of coordinated clamping of the two jaws to ensure stable positioning of the grafting clip; the pliers 914-1 directly below the second grafting clip jaw 911 close to precisely clamp a part of the grafting clip raw material, and a part of the clamped grafting clip is opened; the scissors 913-1 perform a cutting action (closing and then opening) to cut off a small section of the grafting clip raw material, and the pliers 914-1 obtain a grafting clip of a certain length (the grafting clip of a certain length is in an open state under the clamping force of the pliers, as Figure 30As shown). Then, the first grafting clip jaw 909 opens; next, the telescopic rod of the clip supply telescopic cylinder 912 retracts to return the first grafting clip jaw 909 to its initial position; next, the first grafting clip jaw 909 closes; next, the second grafting clip jaw 911 opens; next, the telescopic rod of the clip supply telescopic cylinder 912 extends downward by a certain distance to supply a fixed length of the next grafting clip. By repeating this cycle, a small section of grafting clips can be continuously provided.

[0056] The following describes the entire grafting operation process: Step S1, the operator manually feeds the ear seedling turnover device 200, places the ear seedling 1 at the ear seedling jaw 205, and the ear seedling jaw 205 closes to clamp the ear seedling 1.

[0057] Step S2, the rotary platform 201 operates to rotate the finger cylinder positioning plate 202 by a certain angle, so that the ear seedling jaw 205 transfers the ear seedling 1 to the scion picking and using position.

[0058] Step S3, the end effector operates on the ear seedling 1 located at the scion picking and using position. Refer to Figure 24 , both the third ear seedling gathering jaw 425 and the second ear seedling gathering jaw 423 are in the open state. The finger cylinder 415 for driving the first ear seedling gathering jaw acts to first close the first ear seedling gathering jaw 416 to gather and hold the stem of the ear seedling 1 (correct the deviation of the stem bent in the left and right directions to ensure that the stem is in the vertical direction); next, the telescopic rod of the first locking push block driving cylinder 410 retracts, causing the first locking push block 414 to move forward. The middle part of the first locking push block 414 abuts against the stem of the ear seedling (the stem of the ear seedling is embedded in the groove in the middle of the first locking push block 414 and is abutted), correcting the deviation of the ear seedling stem bent in the front and back directions to ensure that the stem is in the vertical direction and achieving three-point positioning; next, the fourth-level execution unit acts, the double-axis cylinder 434 operates to move the scion cutting blade connecting frame 439 forward, the scion cutting blade connecting frame 439 drives the scion cutting blade 440 forward, and then the scion cutting blade 440 cuts the upper part of the ear seedling stem, and the upper part of the ear seedling stem is cut off; next, the telescopic rod of the lifting cylinder 404 retracts, causing the first locking push block 414 and the first ear seedling gathering jaw 416 to move upward by a certain distance; next, the fourth-level execution unit acts, the double-axis cylinder 434 operates to move the scion cutting blade connecting frame 439 backward, and the scion cutting blade 440 moves backward and retracts. At this time, the first ear seedling gathering jaw 416 and the first locking push block 414 jointly obtain a scion 2, as shown in Figure 3 、 Figure 5 、 Figure 6 shown. Since the shape of the scion cutting blade 440 is flat and inclined, the lower end surface of the stem of the scion 2 is an inclined surface.

[0059] It should be noted that the following method can be adopted: before the finger cylinder 415 for driving the first seedling gathering jaw actuates to close the first seedling gathering jaw 416 first, the third seedling gathering jaw 425 is in the orientation as shown in Figure 24 and in the open state, while the second seedling gathering jaw 423 is not in the orientation as shown in Figure 24 but in the retracted position (as shown in Figure 33 ) when the telescopic rod of the sliding platform driving cylinder 418 retracts for avoidance. Then, in the following step S4, the telescopic rod of the sliding platform driving cylinder 418 extends to make the second seedling gathering jaw 423 extend forward to the position as shown in Figure 4 .

[0060] Step S4: The SCARA four-axis robotic arm 300 actuates to move with the end effector, and the end effector moves away from the scion picking work position. Refer to Figure 1 and Figure 3 . During the process of the end effector moving away from the scion picking work position, the slide cylinder 406 operates to make the first seedling gathering jaw 416 and the first locking push block 414 translate backward, and the first seedling gathering jaw 416 and the first locking push block 414 then drive the scion 2 to translate backward a certain distance, as shown in Figure 13 . Further, the SCARA four-axis robotic arm 300 actuates to move with the end effector to the grafting work position.

[0061] Step S5: The spikelet and seedling turnover device 200 rotates a certain angle to transfer the remaining spikelet base after cutting to the waste work position, and then the corresponding finger cylinder actuates to open the spikelet and seedling jaw, and the remaining spikelet base freely drops and freely falls into the collection device.

[0062] Step S6: Upper stock operation.

[0063] Step S601: Refer to Figure 14 . After the operator has completed the positioning and loading of the stock plug tray 3 in advance (the plug tray specifications include 5, 6, or 7 plants per row), place the stock plug tray 3 on the plug tray conveyor 500.

[0064] Step S602: The variable pitch module 801 operates to evenly distribute multiple jaws 803 so that they match the plug holes, and the initial state of the jaws 803 is the open state.

[0065] Step S603: The first linear module 601 and the second linear module 602 operate to lower the lifting support plate 603, and the lifting support plate 603 drives the variable pitch module 801 to lower, and the variable pitch module 801 is in the initial position.

[0066] Step S604, the plug tray conveyor 500 operates to move the rootstock plug tray 3 to directly below the seedling grabbing mechanism 800. The stems of a row of rootstocks in the rootstock plug tray 3 are positioned between the two claws of the jaw 803 (the stem of one rootstock enters between the two claws of one jaw 803, and the stems of multiple rootstocks enter between the two claws of multiple jaws 803 respectively).

[0067] Step S605, multiple jaws 803 close to clamp the stems of a row of rootstocks on the plug tray conveyor 500.

[0068] Step S606, the lifting support plate 603 rises, and multiple jaws 803 take out a row of rootstocks from the rootstock plug tray 3, achieving equidistant grasping of the entire row of rootstocks, as Figure 15 shown.

[0069] Step S607, the pitch-changing module 801 operates to increase the distance between multiple jaws 803, performing equiproportional expansion to match the distance between multiple rootstocks with the distance between the rootstock placement boxes 708 on the rootstock support plate 705.

[0070] Step S608, the translation drive motor 706 in the rootstock placement mechanism 700 operates to move the rootstock support plate 705 from the initial position to directly below the pitch-changing module 801, as Figure 17 shown. The rootstock placement box 708 is directly below the rootstock 4, and one rootstock placement box corresponds to one rootstock.

[0071] Step S609, open the jaws 803, and the rootstock 4 freely drops into the rootstock placement box 708.

[0072] Step S610, the translation drive motor 706 in the rootstock placement mechanism 700 operates to return the rootstock support plate 705 to the initial position. At this time, the rootstock in the rootstock placement box 708 is located at the grafting station.

[0073] Step S611, return the pitch-changing module 801 to the initial position for avoidance.

[0074] Step S7, refer to Figure 25 , the end effector starts collaborative clamping work at the grafting station to stably clamp the stem of the rootstock.

[0075] The end effector is placed close to a rootstock on the rootstock support plate 705 in the rootstock placement mechanism. The finger cylinder 424 for driving the third seedling gathering jaw is actuated to first close the third seedling gathering jaw 425, thereby gathering and holding the stem of the rootstock (correcting the deviation of the stem bent in the left and right directions to ensure that the stem is in the vertical direction). Next, the cylinder 426 for driving the second locking push block is actuated to move the second locking push block 433 forward. The middle part of the second locking push block 433 abuts against the stem of the rootstock (the stem of the rootstock is embedded in the groove 433-1 and is abutted), completing the correction of the rootstock stem bent in the front and back directions, ensuring that the rootstock stem is in the vertical direction, and achieving three-point positioning. Next, the second seedling gathering jaw 423 closes to gather and hold the upper part of the rootstock stem, realizing the rigid constraint on the upper part of the rootstock stem, as Figure 26 and Figure 27 shown, thus forming a double-segment stable clamping system.

[0076] In step S8, the initial position of the cutting blade 1004 is aligned with the upper part of the rootstock stem, and at the same time, the initial position of the second grafting clip jaw 911 is directly above the pliers 914-1. The telescopic rod of the cylinder 1002 extends, causing the cutting blade 1004 to move forward. The cutting blade 1004 cuts the upper part of the rootstock stem (the cutting blade 1004 cuts the stem at the gap between the upper and lower ends of the second seedling gathering jaw 423), as Figure 27 shown, a small piece is cut off from the upper part of the rootstock stem. Since the cutting blade 1004 is flat and inclined, the end face of the upper part of the rootstock stem after cutting is an inclined plane, forming a cut surface that matches the inclined cut surface of the scion. Next, the telescopic rod of the cylinder 1002 retracts, and the cutting blade 1004 retracts. It can be seen that the end effector can stably and reliably position the stem of the rootstock to cooperate with the cutting blade to quickly and reliably cut the stem of the rootstock.

[0077] In step S9, the second seedling gathering jaw 423 opens. Next, the slide cylinder 406 of the end effector operates to move the first seedling gathering jaw 416 and the first locking push block 414 forward horizontally. The first seedling gathering jaw 416 and the first locking push block 414 move the scion 2 forward. The scion 2 is located above the cut rootstock. Next, the second seedling gathering jaw 423 closes. The upper end of the second seedling gathering jaw 423 gathers and holds the stem of the scion 2, and the lower end of the second seedling gathering jaw 423 gathers and holds the stem of the cut rootstock.

[0078] In step S10, the first grafting clip jaw 909, the second grafting clip jaw 911, the clip feeding telescopic cylinder 912, the automatic shearing mechanism 913, and the automatic pliers mechanism 914 are linked, so that the pliers 914-1 clamp and obtain a small section of the grafting clip.

[0079] Step S11, the second linear module 917 in the Y-axis direction operates to translate the bottom plate 919 by a certain distance. The bottom plate 919 drives the automatic clamp mechanism 914 to translate to a position where the pliers 914-1 are aligned with the upper part of the cut rootstock stem. At this time, the cutting blade 1004 moves to the next grafting station, preparing to operate on the next rootstock.

[0080] Step S12, the automatic clamp forward linear module 915 operates to move the automatic clamp mechanism 914 forward. The pliers 914-1 drive a small section of grafting clip forward, and the small section of grafting clip 5 surrounds the upper end of the cut rootstock stem and the lower end of the scion 2 stem, as Figure 29 and 31 shown.

[0081] Step S13, the lifting cylinder 404 operates to move the first seedling gathering jaw 416 and the first locking push block 414 downward along the Z-axis direction with the scion 2, so that the lower end face of the scion 2 stem fits with the upper end face of the cut rootstock stem, as Figure 28 and 29 shown.

[0082] Step S14, release the pliers 914-1, and the grafting clip 5 is buckled at the connection of the scion 2 stem and the cut rootstock stem to complete the grafting task and form a grafted seedling; next, the automatic clamp forward linear module 915 operates to move the automatic clamp mechanism 914 backward, and the pliers 914-1 retract.

[0083] Step S15, move the first locking push block 414 backward to retract, open the first seedling gathering jaw 416, open the second seedling gathering jaw 423, move the second locking push block 433 backward to retract, and open the third seedling gathering jaw 425.

[0084] Step S16, the first linear module 916 in the Y-axis direction operates to move the support frame 918. The support frame 918 drives the pulley positioning plate 905, the clip supply telescopic cylinder 912, the clip supply finger cylinder 908, the clip fixed finger cylinder 910, and the automatic cutting mechanism 913 to move, so that the second grafting clip jaw 911 is located directly above the pliers 914-1. Realize the process of following the pliers 914-1.

[0085] Step S17, the SCARA four-axis robotic arm 300 operates to move the end effector to a position close to the scion seedling turnover device 200, preparing to operate on the next scion seedling.

[0086] When there are grafted seedlings that have completed grafting in all the rootstock placement boxes 708 on the rootstock pallet 705, the following replanting operation is carried out: Step 1), the first linear module 601 and the second linear module 602 operate to move the lifting support plate 603. The lifting support plate 603 drives the variable pitch module 801 to move, so that the variable pitch module 801 moves to a position where multiple clamping jaws 803 are aligned with the stems of the grafted seedlings on the horizontal plane, the spacing between the multiple clamping jaws 803 matches the spacing between the multiple grafted seedlings, and the clamping jaws 803 are in an open state.

[0087] Step 2), the translation drive motor 706 in the rootstock placement mechanism 700 operates to move the rootstock support plate 705 below the multiple clamping jaws 803 in the variable pitch module 801. At this time, the stems of the grafted seedlings enter between the two claws of the clamping jaws 803 (specifically, the stem part below the grafting clip).

[0088] Step 3), close the multiple clamping jaws 803 to clamp the grafted seedlings, as Figure 32 shown.

[0089] Step 4), raise the lifting support plate 603 by a certain distance, so that the grafted seedlings are separated from the rootstock placement box 708.

[0090] Step 5), the translation drive motor 706 in the rootstock placement mechanism 700 operates to return the rootstock support plate 705 to its initial position.

[0091] Step 6), lower the lifting support plate 603. The multiple clamping jaws 803 drive a row of grafted seedlings to move downward. During the process of lowering the lifting support plate 603, the variable pitch module 801 operates to make the spacing between the multiple clamping jaws 803 match the spacing of the vacancies in the rootstock plug tray 3 until a row of grafted seedlings is placed in the vacancies of the rootstock plug tray 3.

[0092] Step 7), open the multiple clamping jaws 803.

[0093] Step 8), raise the lifting support plate 603 to move the variable pitch module 801 to a position ready to operate on the next row of rootstocks in the rootstock plug tray 3.

[0094] It should be noted that for the rootstock operation in step S6, the specific process can also be as follows: Step (1), after the operator has completed the positioning and loading of the rootstock plug tray 3 in advance (the plug tray specifications include 5, 6, or 7 plants per row), place the rootstock plug tray 3 on the plug tray conveyor 500.

[0095] Step (2), the variable pitch module 801 operates to evenly distribute the multiple clamping jaws 803. The initial state of the clamping jaws 803 is an open state, and the variable pitch module 801 is in the initial position.

[0096] Step (3), the plug tray conveyor 500 operates to move the rootstock plug tray 3 to directly below the seedling grabbing mechanism 800.

[0097] In step (4), the first linear module 601 and the second linear module 602 operate to lower the lifting support plate 603, and the lifting support plate 603 drives the variable pitch module 801 to descend, so that the two claws of the gripper 803 are located on both sides of the stem of the rootstock in the rootstock plug tray 3, with one gripper corresponding to one stem of the rootstock.

[0098] In step (5), multiple grippers 803 close to clamp the stems of a row of rootstocks on the plug tray conveyor 500.

[0099] In step (6), the lifting support plate 603 rises, and multiple grippers 803 take out a row of rootstocks from the rootstock plug tray 3, realizing equidistant grasping of the whole row of rootstocks.

[0100] In step (7), the variable pitch module 801 operates to increase the spacing between multiple grippers 803, and perform equi-proportion expansion to make the spacing between multiple rootstocks match the spacing of the rootstock placement boxes 708 on the rootstock support plate 705.

[0101] In step (8), the translation drive motor 706 in the rootstock placement mechanism 700 operates to move the rootstock support plate 705 from the initial position to directly below the variable pitch module 801. The rootstock placement box 708 is located directly below the rootstock 4, with one rootstock placement box corresponding to one rootstock.

[0102] In step (9), the gripper 803 is opened, and the rootstock 4 freely drops into the rootstock placement box 708.

[0103] In step (10), the translation drive motor 706 in the rootstock placement mechanism 700 operates to return the rootstock support plate 705 to the initial position. At this time, the rootstock in the rootstock placement box 708 is located at the grafting station to be processed.

[0104] In step (11), the variable pitch module 801 returns to the initial position, in the avoidance position, to prepare for grasping the next row of rootstocks.

[0105] In the case of the above upper rootstock operation of steps (1)-(11), step 8) of the subsequent replanting process is carried out as follows: the lifting support plate 603 is raised, and the variable pitch module 801 is returned to the initial position to prepare for operating on the next row of rootstocks in the rootstock plug tray 3.

[0106] In the above grafting operation process, due to the use of the scion cutting blade 440 and the cutting blade 1004, the butt joint grafting method is realized. If the scion cutting blade 440 is replaced with the scion cutting blade 441 by replacing the scion cutting blade connecting frame 439, as Figure 11As shown, the spikelet cutting blade 441 consists of two planar blades forming an included angle; and the cutting blade 1004 is replaced with a cutting blade set 1005, which includes a first blade 1005-1 and a second blade 1005-2. The edge of the second blade 1005-2 extends beyond the edge range of the first blade 1005-1, with the edge of the second blade 1005-2 in the front and the edge of the first blade 1005-1 in the back; then the split grafting method can be achieved (specifically, the second blade 1005-2 first splits the stem along the axial direction, and then the first blade 1005-1 removes a small piece from the upper part along the radial direction to form the upper structure of the rootstock stem that meets the requirements of split grafting). It can be seen that by replacing different types of spikelet cutting blades and rootstock stem cutting blades, the requirements of different grafting processes can be effectively met.

[0107] For the spikelet cutting blade, a complete set of spikelet cutting blade connecting brackets 439 and spikelet cutting blades 440 can be replaced, so as to realize the installation and use of spikelet cutting blades with different inclination angles; correspondingly, the inclination angle of the cutting blade 1004 is adjusted for matching.

[0108] Driven by the robotic arm, the whole end effector can move along the Z-axis direction, thereby adjusting the positions of the first seedling gathering jaw 416 and the first locking push block 414 in the Z-axis direction. In the process of obtaining the scion, by adjusting the positions of the first seedling gathering jaw 416 and the first locking push block 414 in the Z-axis direction, the positioning position of the spikelet is adjusted, and then the cutting position of the spikelet stem is adjusted, so that scions with different stem lengths can be obtained according to different actual needs.

[0109] The processes of correcting and positioning the scion, correcting and positioning the stem of the rootstock, and fitting the lower end face of the scion 2 stem with the upper end face of the cut rootstock stem are completed by the same set of mechanisms, that is, by the end effector, which is beneficial to quickly and accurately implement the fitting process.

[0110] It should be noted that a robotic arm with other structures can also be used to replace the SCARA four-axis robotic arm.

Claims

1. A grafting device, characterized in that: It includes a frame, a seedling turnover device, a mechanical arm, an end effector, a plug tray conveyor, a rootstock handling device, a rootstock placing mechanism, a feeding and clamping device and a rootstock cutting mechanism; The seedling turnover device is connected to the frame, the mechanical arm is connected to the frame, the end effector is connected to the mechanical arm; the plug tray conveyor is connected to the frame; The stock transport device can transport the stock transported by the plug tray conveyor to the stock placement mechanism; The stock placement mechanism can be used to place the stock; the feeding and clamping device can provide grafting clamps; and the stock cutting mechanism can cut the stem of the stock placed on the stock placement mechanism.

2. The grafting device according to claim 1, characterized in that: The end actuator comprises an upper load-bearing hanger, an upper bracket, a lower bracket, a fixed rod, a lifting cylinder, a lifting plate, a first-level actuator unit, a second-level actuator unit, a third-level actuator unit and a fourth-level actuator unit, the upper bracket is fixedly connected to the upper load-bearing hanger, the lower bracket is connected to the upper bracket by a fixed rod, the lifting cylinder is fixedly connected to the upper bracket, and the lifting plate is connected to the telescopic rod of the lifting cylinder; the first-level actuator unit comprises a slide cylinder, a sliding base plate, a linear bearing connecting plate 1, a first linear bearing, a second linear bearing, a first locking push block driving cylinder, a telescopic block, a second upper guide shaft, a first upper guide shaft, a first locking push block, a first seedling gathering clamp driving finger cylinder and a first seedling gathering clamp, the slide cylinder is provided with a slide, the slide is fixedly connected to the lifting plate, the linear bearing connecting plate 1 is fixedly connected to the sliding base plate, the first linear bearing and the second linear bearing are respectively fixedly connected to the linear bearing connecting plate 1, and the first upper guide shaft passes through the first straight The cam is connected with the cylinder body of the sliding table cylinder, the first locking push block driving cylinder is fixedly connected with the sliding table cylinder, the telescopic block is connected with the telescopic rod of the first locking push block driving cylinder, the rear end of the first upper guide shaft is fixedly connected with the telescopic block, the front end of the first upper guide shaft is fixedly connected with one end of the first locking push block, the rear end of the second upper guide shaft is fixedly connected with the telescopic block, and the front end of the second upper guide shaft is fixedly connected with the other end of the first locking push block, the first seedling gathering clamping claw driving finger cylinder is fixedly connected with the sliding base plate, the first seedling gathering clamping claw includes a left claw and a right claw, the left claw is provided with a locking push block accommodating hole, the right claw is provided with a locking push block accommodating hole, the left claw and the right claw are respectively connected with two fingers of the first seedling gathering clamping claw driving finger cylinder, the left part of the first locking push block is located in the locking push block accommodating hole of the left claw, and the right part of the first locking push block is located in the locking push block accommodating hole of the right claw; The second-level execution unit includes a second seedling gathering clamping claw driving finger cylinder, a sliding platform driving cylinder, a sliding platform, a first linear bearing seat, a second linear bearing seat, a sliding platform driving cylinder telescopic rod fixing seat and a second seedling gathering clamping claw, the sliding platform driving cylinder telescopic rod fixing seat is fixedly connected to the lower bracket, the sliding platform driving cylinder is provided with a telescopic rod, the telescopic rod of the sliding platform driving cylinder is fixedly connected to the telescopic rod fixing seat of the sliding platform driving cylinder, the sliding platform is fixedly connected to the sliding platform driving cylinder, the first linear bearing seat and the second linear bearing seat are respectively fixedly connected to the two sides of the sliding platform, the second seedling gathering clamping claw driving finger cylinder is fixedly connected to the sliding platform, the second seedling gathering clamping claw includes a left claw and a right claw, the left claw is provided with a notch, the right claw is provided with a notch, the left claw and the right claw of the second seedling gathering clamping claw are respectively connected to the two fingers of the second seedling gathering clamping claw driving finger cylinder; The third-level execution unit includes a third seedling gathering clamping jaw driving finger cylinder, a third seedling gathering clamping jaw, a second locking push block driving cylinder, a guide shaft connecting plate, a first middle guide shaft, a second middle guide shaft, a second linear bearing connecting plate, a third linear bearing, a fourth linear bearing and a second locking push block, and the third seedling gathering clamping jaw driving finger cylinder is fixedly connected to the lower bracket; the third seedling gathering clamping jaw includes a left claw having a locking push block accommodating hole and a right claw having a locking push block accommodating hole, the left claw and the right claw of the third seedling gathering clamping jaw are respectively connected to two fingers of the third seedling gathering clamping jaw driving finger cylinder, the left part of the second locking push block is located in the locking push block accommodating hole of the left claw of the third seedling gathering clamping jaw, and the right part of the second locking push block is located at the right claw of the third seedling gathering clamping jaw. the locking push block accommodating hole; the second locking push block driving cylinder is fixedly connected to the lower bracket, the guide shaft connecting plate is fixedly connected to the telescopic rod of the second locking push block driving cylinder, the linear bearing connecting plate 2 is fixedly connected to the lower bracket, the third linear bearing and the fourth linear bearing are respectively fixedly connected to the linear bearing connecting plate 2, the first middle guide shaft passes through the third linear bearing, the second middle guide shaft passes through the fourth linear bearing, the rear end of the first middle guide shaft is fixedly connected to one end of the guide shaft connecting plate, the front end of the first middle guide shaft is fixedly connected to one end of the second locking push block, the rear end of the second middle guide shaft is fixedly connected to the other end of the guide shaft connecting plate, and the front end of the second middle guide shaft is fixedly connected to the other end of the second locking push block; The second middle guide shaft in the third-level execution unit passes through the first linear bearing seat in the second-level execution unit, and the first middle guide shaft in the third-level execution unit passes through the second linear bearing seat in the second-level execution unit; The fourth-level execution unit includes a double-axis cylinder, a first lower guide shaft, a second lower guide shaft, a third linear bearing seat, a fourth linear bearing seat, an ear seedling cutting blade connecting frame and an ear seedling cutting blade, the double-axis cylinder is fixedly connected to the bottom surface of the lower bracket, the double-axis cylinder is provided with a telescopic block, the third linear bearing seat and the fourth linear bearing seat are respectively fixedly connected to the bottom surface of the lower bracket, the first lower guide shaft passes through the third linear bearing seat, the second lower guide shaft passes through the fourth linear bearing seat, the ear seedling cutting blade connecting frame is fixedly connected to the telescopic block of the double-axis cylinder, the front end of the first lower guide shaft is fixedly connected to the ear seedling cutting blade connecting frame, the front end of the second lower guide shaft is fixedly connected to the ear seedling cutting blade connecting frame, and the ear seedling cutting blade is connected to the front part of the ear seedling cutting blade connecting frame; the front part of the ear seedling cutting blade connecting frame is located in the gap between the left claw and the right claw of the second seedling clamping claw; The first seedling gathering clamp, the second seedling gathering clamp and the third seedling gathering clamp are arranged in upper, middle and lower directions; The upper bearing hanger is connected to the mechanical arm.

3. The grafting device according to claim 2, characterized in that: A groove is provided in the middle of the second locking push block and / or the first locking push block.

4. The grafting device according to claim 2, characterized in that: The shape of the seedling cutting blade is planar and arranged obliquely; the stock cutting mechanism is provided with a cutting blade, and the cutting blade of the stock cutting mechanism is planar and arranged obliquely.

5. The grafting device according to claim 2, characterized in that: The seedling cutting blade comprises two planar blades forming an angle; The stock cutting mechanism is provided with a cutting blade group, and the cutting blade group is provided with a first blade and a second blade, the first blade is planar and located in a horizontal plane, the second blade is planar and located in a vertical direction, and the second blade is located below the first blade; the cutting edge of the second blade is in front, and the cutting edge of the first blade is in the back.

6. The grafting device according to claim 1, characterized in that: The stock placement mechanism includes a first fixed seat, a second fixed seat, a first slide rail assembly, a second slide rail assembly, a stock support plate, a translation drive mechanism and a stock placement box, the first slide rail assembly is fixedly connected to the first fixed seat, the second slide rail assembly is fixedly connected to the second fixed seat, one end of the stock support plate is connected to the slider of the first slide rail assembly, the other end of the stock support plate is connected to the slider of the second slide rail assembly, a plurality of stock placement boxes are fixedly connected to the stock support plate, and the plurality of stock placement boxes are distributed at equal intervals; the translation drive mechanism is used to drive the stock support plate to translate; The first fixing seat and the second fixing seat are respectively fixedly connected to the frame.

7. The grafting device according to claim 1, characterized in that: The stock handling device comprises a lifting mechanism and a seedling grabbing mechanism, wherein the lifting mechanism can lift the seedling grabbing mechanism in a vertical direction; The seedling grasping mechanism comprises a variable distance module and a plurality of manipulators, and the plurality of manipulators are connected to the variable distance module.

8. The grafting device according to claim 1, characterized in that: The feeding and clamping device comprises a feeding mechanism and a clamping mechanism, wherein the feeding mechanism comprises a frame, a material tray, a swing arm and a material guide roller, wherein the material tray is connected to the frame through a material tray bracket, the swing arm is connected to the material tray bracket, and the material guide roller is connected to the swing arm; The clamp supply mechanism includes a pulley positioning plate, a first clamp guide pulley, a second clamp guide pulley, a clamp supply finger cylinder, a first grafting clamp claw, a clamp fixing finger cylinder, a second grafting clamp claw, a clamp supply telescopic cylinder, an automatic shearing mechanism, an automatic clamp mechanism, an automatic clamp forward extension linear module, a first Y-axis linear module, a second Y-axis linear module, a support frame and a base plate. The first clamp guide pulley and the second clamp guide pulley are respectively rotatably connected to the pulley positioning plate, the clamp supply telescopic cylinder is fixedly connected to the pulley positioning plate, the clamp supply finger cylinder is connected to the telescopic rod of the clamp supply telescopic cylinder, the first grafting clamp claw is connected to two fingers of the clamp supply finger cylinder, the clamp fixing finger cylinder is connected to the pulley positioning plate, the second grafting clamp claw is connected to two fingers of the clamp fixing finger cylinder, and the The second grafting clamp jaw is located below the first grafting clamp jaw; the automatic shearing mechanism is provided with scissors, and the scissors are located below the second grafting clamp jaw; the automatic clamp mechanism is provided with pliers; the automatic clamp mechanism is connected to the automatic clamp forward extension linear module; the first Y-axis linear module is provided with a first slider and a second slider, and the second Y-axis linear module is provided with a first slider; the support frame is connected to the first slider of the first Y-axis linear module, the automatic shearing mechanism is fixedly connected to the support frame, and the pulley positioning plate is fixedly connected to the support frame; the automatic clamp forward extension linear module is fixedly connected to the bottom plate; a part of the bottom plate is fixedly connected to the second slider of the first Y-axis linear module, and another part of the bottom plate is fixedly connected to the first slider of the second Y-axis linear module; The frame is connected to the rack.

9. The grafting device according to claim 8, characterized in that The stock cutting mechanism comprises a base, a cylinder, a cutting blade connecting frame and a cutting blade, wherein the cylinder is fixedly connected to the base, the cutting blade connecting frame is connected to the telescopic rod of the cylinder, the cutting blade is connected to the cutting blade connecting frame, and the base is fixedly connected to the bottom plate of the clamping mechanism.

10. The grafting device according to claim 1, characterized in that: The seedling turnover device includes a rotating platform, a finger cylinder positioning plate, a finger cylinder and a seedling clamp, the rotating platform is provided with a rotating part, the finger cylinder positioning plate is connected to the rotating part of the rotating platform, the finger cylinder positioning plate is located in a horizontal plane, a plurality of finger cylinders are fixedly connected to the finger cylinder positioning plate, and the seedling clamp is connected to the finger cylinder; The rotating platform is connected to the frame.

11. The grafting device according to claim 1, characterized in that: The end effector comprises an upper bearing hanger, an upper bracket, a lower bracket, a fixing rod, a first-level execution unit, a second-level execution unit, a third-level execution unit and a fourth-level execution unit, wherein the lower bracket is connected to the upper bracket by a fixing rod; the first-level execution unit comprises a lifting mechanism, a first telescopic mechanism, a second telescopic mechanism, a first locking push block, a finger cylinder for driving the first seedling-gathering clamp and a first seedling-gathering clamp, wherein the first seedling-gathering clamp comprises a left claw and a right claw, wherein the left claw is provided with a locking push block accommodating hole, and the right claw is provided with a locking push block accommodating hole, The left claw and the right claw are respectively connected to the two fingers of the finger cylinder for driving the first seedling gathering clamp, the left part of the first locking push block is located in the locking push block accommodating hole of the left claw, and the right part of the first locking push block is located in the locking push block accommodating hole of the right claw; the second telescopic mechanism is used to make the first locking push block telescopic; the first telescopic mechanism is used to make the first locking push block and the first seedling gathering clamp synchronously telescopic; the lifting mechanism is connected to the upper bracket, and the lifting mechanism is used to make the first locking push block and the first seedling gathering clamp synchronously lift and lower; The second-stage execution unit includes a third telescopic mechanism, a second seedling gathering jaw driving finger cylinder and a second seedling gathering jaw, the second seedling gathering jaw includes a left claw and a right claw, the left claw is provided with a notch, the right claw is provided with a notch, the left claw and the right claw of the second seedling gathering jaw are respectively connected to two fingers of the second seedling gathering jaw driving finger cylinder, and the third telescopic mechanism is used to make the second seedling gathering jaw telescopic movement; The third-level execution unit includes a fourth telescopic mechanism, a third seedling gathering clamping jaw driving finger cylinder, a third seedling gathering clamping jaw and a second locking push block, the third seedling gathering clamping jaw includes a left claw with a locking push block accommodating hole and a right claw with a locking push block accommodating hole, the left claw and the right claw of the third seedling gathering clamping jaw are respectively connected with two fingers of the third seedling gathering clamping jaw driving finger cylinder, the left part of the second locking push block is located in the locking push block accommodating hole of the left claw of the third seedling gathering clamping jaw, and the right part of the second locking push block is located in the locking push block accommodating hole of the right claw of the third seedling gathering clamping jaw, the third seedling gathering clamping jaw driving finger cylinder is fixedly connected to the lower bracket, and the fourth telescopic mechanism is used to make the second locking push block telescopic movement; The fourth-level execution unit includes a fifth telescopic mechanism, an ear seedling cutting blade connecting frame and an ear seedling cutting blade, wherein the ear seedling cutting blade is connected to the front portion of the ear seedling cutting blade connecting frame, and the fifth telescopic mechanism is used to enable the ear seedling cutting blade connecting frame to telescopically move, and the front portion of the ear seedling cutting blade connecting frame is located in the gap between the left claw and the right claw of the second seedling gathering clamping claw; The first seedling gathering clamp, the second seedling gathering clamp and the third seedling gathering clamp are arranged in upper, middle and lower directions; The upper bracket is fixedly connected to the upper bearing hanger, and the upper bearing hanger is connected to the mechanical arm.

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