A grafting device

Abstract

The present invention relates to a grafting device, which solves the technical problems of low productivity of existing semi-automatic grafting machines, insufficient utilization of abnormal seedlings, and low accuracy in docking between scions and rootstocks. By introducing the stem axial bending correction technology, the docking accuracy between scions and rootstocks is effectively improved, and the utilization rate of abnormal seedlings is significantly improved. The device includes a frame, a scion turnover device, a robotic arm, an end effector, a plug tray conveyor, a rootstock transport device, a rootstock placement mechanism, a loading and clamping device, and a rootstock cutting mechanism. The rootstock transport device can transport the rootstock transported by the plug tray conveyor to the rootstock placement mechanism, which is used to place the rootstock; the loading and clamping device provides a grafting clamp, and the rootstock cutting mechanism can cut the rootstock stem placed on the rootstock placement mechanism. The present invention is widely used in the field of horticultural vegetable grafting technology.

Description

Technical Field

[0001] The invention relates to the technical field of garden vegetable grafting, in particular to a grafting device. Background Art

[0002] Grafted seedlings are grown by grafting the scion of one vegetable onto the rootstock of another, allowing them to grow together as a whole. Compared to self-rooted seedlings, grafted seedlings not only enhance disease and pest resistance, but also improve cold and stress tolerance, overcome continuous cropping problems, enhance nutrient absorption, and improve yield and quality. This is because grafted seedlings typically have more developed root systems that absorb nutrients more efficiently, and they also have sturdy stems, broad leaves, and strong photosynthetic capacity, significantly improving plant growth and fruit quality while effectively coping with adverse environmental conditions such as low temperatures and soil degradation.

[0003] Due to its many advantages, grafting has been widely promoted and applied. Market demand for grafted seedlings of nightshade vegetables is also growing. Currently, manual grafting is the primary method for grafting seedlings, but this method has limitations. For example, the grafting process is time-consuming, labor-intensive, and inefficient, making it difficult to meet the needs of large-scale mass production. To address this issue, automated grafting technology has emerged. Based on the agronomic requirements of grafting, automated grafting utilizes precision machinery to precisely cut and automatically dock seedlings. Automated grafting significantly improves grafting efficiency, ensures consistent and stable quality of grafted seedlings, and guarantees standardized, high-quality production of vegetable seedlings.

[0004] Current mainstream automated grafting equipment can be divided into two categories based on seedling supply method: semi-automatic grafting machines that rely on manual seedling supply, and fully automatic grafting machines that use trays for seedling supply. Fully automatic machines effectively reduce labor intensity through an integrated seedling supply system, but their technical implementation relies heavily on standardized seedling morphology. These machines require that grafted seedlings meet strict specifications for stem diameter, morphology, and rootstock emergence position, and must be used with standardized trays of specific specifications. These technical constraints not only significantly increase equipment procurement and supporting costs, but also affect the grafting pass rate due to individual seedling variations, making the overall efficiency of the equipment difficult to meet the actual needs of large-scale production. In contrast, semi-automatic grafting machines use a flexible seedling supply mechanism, primarily relying on manual screening to remove seedlings with morphological abnormalities such as bent stems. While this can accommodate individual differences between scions and rootstocks to a certain extent, it also results in some otherwise acceptable seedlings being discarded or requiring manual reprocessing, which objectively increases seedling production costs. To overcome this bottleneck, it is necessary to develop a device that can axially correct bent stems to improve the utilization rate of abnormal seedlings. Furthermore, semi-automatic grafting machines still have significant shortcomings in per capita productivity, which is a major factor restricting their widespread application. Furthermore, the accuracy of scion-rootstock docking needs to be improved.

[0005] Common grafting methods used in solanaceous vegetable seedling cultivation include cleft grafting, cleft grafting, and flat grafting. Each method has its own advantages and disadvantages, making it crucial to select the appropriate grafting method based on regional characteristics, crop type, and production practices. These factors not only increase the difficulty of developing grafting machines to meet diverse requirements, but also make it difficult for the same type of grafting machine to fully adapt to different production requirements in practice. Summary of the Invention

[0006] In order to solve the technical problems of low productivity, insufficient utilization of abnormal seedlings, and low accuracy in docking between scion and rootstock of existing semi-automatic grafting machines, this application provides a grafting device with high production efficiency, excellent utilization of abnormal seedlings, and high accuracy in docking between scion and rootstock.

[0007] The present disclosure provides a grafting device, characterized in that it includes a frame, a seedling turnover device, a robotic arm, an end effector, a plug tray conveyor, a rootstock transport device, a rootstock placement mechanism, a material feeding and clamping device, and a rootstock cutting mechanism;

[0008] 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;

[0009] The rootstock transport device can transport the rootstocks transported by the plug tray conveyor to the rootstock placement mechanism;

[0010] The rootstock placing mechanism can be used for placing the rootstock; the loading and clamping device can provide the grafting clamp; and the rootstock cutting mechanism can cut the stem of the rootstock placed on the rootstock placing mechanism.

[0011] The lifting mechanism is installed in the cylinder, the lower limit of which is that the cylinder pressure is high, the limit of which is higher than the limit of the piston rod, the piston rod of the piston rod is connected to the up-down knob of the piston rod, the piston rod of the piston rod is connected to the piston rod of the piston rod. The cam is connected to the sliding plate of the sliding plate by the first and second control blocks, and the cam is connected to the sliding plate by the second control block.

[0012] The second-stage execution unit includes a finger cylinder for driving the second seedling gathering clamping claw, 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 sliding platform driving cylinder telescopic rod fixing seat, 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 finger cylinder for driving the second seedling gathering clamping claw 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, and 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;

[0013] The third-stage execution unit includes a finger cylinder for driving the third seedling gathering clamp, a third seedling gathering clamp, 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 finger cylinder for driving the third seedling gathering clamp is fixedly connected to the lower bracket; the third seedling gathering clamp 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 clamp are respectively connected to the two fingers of the third seedling gathering clamp 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 clamp, and the right part of the second locking push block is located in the locking push block accommodating hole of the third seedling gathering clamp The locking push block of the right claw is accommodated in the 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 second is fixedly connected to the lower bracket, the third linear bearing and the fourth linear bearing are fixedly connected to the linear bearing connecting plate second respectively, 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;

[0014] The second middle guide shaft in the third-stage execution unit passes through the first linear bearing seat in the second-stage execution unit, and the first middle guide shaft in the third-stage execution unit passes through the second linear bearing seat in the second-stage execution unit;

[0015] 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 of seedling cutting blade connecting frame and an ear of seedling cutting blade. The double-axis cylinder is fixedly connected to the bottom surface of the lower bracket, and 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 ear of 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 of seedling cutting blade connecting frame, and the front end of the second lower guide shaft is fixedly connected to the ear of seedling cutting blade connecting frame. The ear of seedling cutting blade is connected to the front of the ear of seedling cutting blade connecting frame; the front part of the ear of seedling cutting blade connecting frame is located in the gap between the left claw and the right claw of the second seedling clamping claw;

[0016] The first seedling gathering clamp, the second seedling gathering clamp and the third seedling gathering clamp are arranged in the upper, middle and lower directions;

[0017] The upper bearing hanger is connected to the mechanical arm.

[0018] Preferably, a groove is provided in the middle of the second locking push block and / or the first locking push block.

[0019] Preferably, the shape of the seedling cutting blade is planar, and the seedling cutting blade is 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;

[0020] Preferably, the seedling cutting blade comprises two planar blades forming an angle;

[0021] The stock cutting mechanism is provided with a cutting blade group, which includes 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.

[0022] Preferably, 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;

[0023] The first fixing seat and the second fixing seat are respectively fixedly connected to the frame.

[0024] Preferably, the stock handling device includes a lifting mechanism and a seedling grabbing mechanism, and the lifting mechanism can lift the seedling grabbing mechanism in a vertical direction;

[0025] The seedling grabbing mechanism includes a variable distance module and a plurality of manipulators, and the plurality of manipulators are connected to the variable distance module.

[0026] 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 material guide roller, 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;

[0027] The clamping mechanism includes a pulley positioning plate, a first guide clamping pulley, a second guide clamping pulley, a clamping finger cylinder, a first grafting clamp claw, a clamping fixed finger cylinder, a second grafting clamp claw, a clamping telescopic cylinder, an automatic shearing mechanism, an automatic clamping mechanism, an automatic clamping forward linear module, a first Y-axis linear module, a second Y-axis linear module, a support frame and a base plate. The first guide clamping pulley and the second guide clamping 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 clamp claw is connected to the two fingers of the clamping finger cylinder, the clamping fixed finger cylinder is connected to the pulley positioning plate, and the second grafting clamp claw is connected to the two fingers of the clamping fixed finger cylinder 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 clamping mechanism is provided with pliers; the automatic clamping 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 base plate; a part of the base plate is fixedly connected to the second slider of the first Y-axis linear module, and the other part of the base plate is fixedly connected to the first slider of the second Y-axis linear module;

[0028] The frame is connected to the rack.

[0029] Preferably, the stock 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, and the base is fixedly connected to the bottom plate of the clamping mechanism.

[0030] Preferably, 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 portion, the finger cylinder positioning plate is connected to the rotating portion 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;

[0031] The rotating platform is connected to the frame.

[0032] The lifting mechanism is connected with the upper support frame, the lower support frame, the lower support frame and the fixing mechanism, and the lifting mechanism is connected with the upper support frame, the lower support frame and the fixing mechanism, and the lifting mechanism is connected with the upper support frame, the lower support frame and the fixing mechanism, and the lifting mechanism is connected with the upper support frame, the lower support frame and the fixing mechanism, and the lifting mechanism is connected with the upper support frame, the upper support frame and the fixing mechanism,

[0033] The second-stage execution unit includes a third telescopic mechanism, a finger cylinder for driving the second seedling-gathering clamp, and a second seedling-gathering clamp. The second seedling-gathering clamp includes a left claw and a right claw. The left claw is provided with a notch, and the right claw is provided with a notch. The left claw and the right claw of the second seedling-gathering clamp are respectively connected to two fingers of the second seedling-gathering clamp driving finger cylinder. The third telescopic mechanism is used to make the second seedling-gathering clamp telescopic.

[0034] The third-stage 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 to the 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;

[0035] The fourth-level execution unit includes a fifth telescopic mechanism, a seedling cutting blade connecting frame and a seedling cutting blade, the seedling cutting blade is connected to the front portion of the seedling cutting blade connecting frame, the fifth telescopic mechanism is used to make the seedling cutting blade connecting frame telescopic movement, and the front portion of the seedling cutting blade connecting frame is located in the gap between the left claw and the right claw of the second seedling gathering clamping jaw;

[0036] The first seedling gathering clamp, the second seedling gathering clamp and the third seedling gathering clamp are arranged in the upper, middle and lower directions;

[0037] The upper bracket is fixedly connected to the upper bearing hanger, and the upper bearing hanger is connected to the mechanical arm.

[0038] The beneficial effects of the present disclosure are:

[0039] It reduces the labor intensity of manual intervention, significantly improves operating efficiency and per capita productivity, meets the needs of mass production, and has a high level of automation and intelligence.

[0040] It can realize flexible switching of different grafting modes and effectively meet the needs of different grafting processes.

[0041] It can realize the automatic supply of rootstock seedlings and adapt to different sizes of plug trays to meet the diverse needs of different regions, crop types and production habits, while ensuring the quality of grafting and operation stability.

[0042] The end effector quickly and reliably removes the scion from the seedling and stably positions the upper portion of the stem. It also features a stem axial bend correction function. During rootstock processing, this correction function corrects stem curvature, ensuring precise positioning of the rootstock stem for fast and reliable cutting with the cutting blade. The end effector precisely and quickly aligns the scion stem with the cut rootstock stem, ensuring an efficient and accurate grafting process.

[0043] The utilization rate of abnormal seedlings has been greatly improved.

[0044] The grafting clamps are automatically and continuously supplied with fixed lengths, automatically surround the upper end of the cut rootstock stem and the lower end of the scion stem, and automatically complete the buckling.

[0045] The seedling grabbing mechanism can realize variable spacing of rootstocks and automatically arrange multiple rootstocks in a row after increasing the spacing between them, thus facilitating continuous grafting operations and significantly improving work efficiency. When replanting the grafted seedlings, the mechanism can automatically adjust the spacing between the seedlings to match the empty spaces in the hole tray, reducing manual intervention and completing the automatic replanting operation.

[0046] 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

[0047] Figure 1 It is an axonometric drawing of a dual-mode adjustable Solanaceae fruit and vegetable grafting machine;

[0048] Figure 2 It is a structural schematic diagram of the seedling turnover device;

[0049] Figure 3 This is a schematic diagram of the structure where the end effector is connected to the SCARA four-axis robotic arm;

[0050] Figure 4 is the axonometric view of the end effector;

[0051] Figure 5 yes Figure 4 a front view of the end effector shown;

[0052] Figure 6 yes Figure 4 A schematic structural diagram of the first-stage execution unit in the end effector shown;

[0053] Figure 7 yes Figure 4 A schematic diagram of the structure of the second and third stage execution units in the end effector shown;

[0054] Figure 8 yes Figure 4 A schematic diagram of the structure of the third and fourth stage execution units in the end effector shown;

[0055] Figure 9 yes Figure 4 A schematic structural diagram of the fourth-level execution unit in the end effector shown;

[0056] Figure 10 yes Figure 9 In the structure shown, the seedling cutting blade is installed on the seedling cutting blade connecting frame;

[0057] Figure 11 This is a structural schematic diagram of a scion cutting blade for forming a wedge-shaped slope on a scion stem being mounted on a scion cutting blade connecting frame;

[0058] Figure 12 This is a working state diagram of the end effector when the scion is taken and enters the grafting position;

[0059] Figure 13 This is the state diagram after the end effector moves the first seedling-gathering clamp and the first locking pusher to move the scion backward a certain distance;

[0060] Figure 14 It is a schematic diagram of the structure of the plug tray conveyor and the rootstock handling device;

[0061] Figure 15 It is a structural diagram of the seedling grabbing mechanism;

[0062] Figure 16 It is a structural diagram of the rootstock placement mechanism;

[0063] Figure 17 This is a working state diagram of the rootstock after clamping and carrying;

[0064] Figure 18 It is a structural diagram of the feeding and clamping device;

[0065] Figure 19 yes Figure 18The schematic diagram of the structure of the clamping mechanism in the feeding and clamping device shown;

[0066] Figure 20 This is a diagram showing the state where the pliers of the automatic pliers mechanism are located below the scissors in the automatic shearing mechanism;

[0067] Figure 21 This is a structural diagram of the automatic clamp mechanism installed on the linear module;

[0068] Figure 22 It is a schematic diagram of the structure of a cutting blade of a certain shape connected to a cylinder;

[0069] Figure 23 It is a schematic diagram of the structure of another shape of cutting blade connected to the cylinder;

[0070] Figure 24 This is the state diagram of the first-level execution unit of the end effector clamping and positioning the seedling;

[0071] Figure 25 This is a schematic diagram of the scion and rootstock ready for grafting;

[0072] Figure 26 This is a schematic diagram of the state in which the end effector realizes three-point positioning of the root of the rootstock stem;

[0073] Figure 27 yes Figure 26 In the structure shown, a partial structural diagram of the positions of the second seedling gathering clamp, the second locking push block and the third seedling gathering clamp;

[0074] Figure 28 This is a working state diagram of the scion and rootstock when they are docked and clamped;

[0075] Figure 29 yes Figure 28 In the structure shown, a partial structural diagram of the positions of the first seedling gathering clamp, the second seedling gathering clamp and the third seedling gathering clamp;

[0076] Figure 30 yes Figure 29 In the illustrated structure, the grafting clamp in the open state surrounds the stem of the cut rootstock, as seen from above;

[0077] Figure 31 This is a schematic diagram of the original state of the grafting clip not being clamped by the pliers;

[0078] Figure 32 This is a schematic diagram of the state in which multiple clamping claws 803 in the variable distance module 801 clamp the grafted seedlings;

[0079] Figure 33 This is a state diagram of the first-level execution unit of the end effector clamping and positioning the seedlings.

[0080] Explanation of symbols in the figure:

[0081] 100. Rack; 200. Seedling turnover device, 201. Rotating 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 load hanger, 402-1. Upper bracket, 402-2. Lower bracket, 403. Fixing rod, 404. Lifting cylinder, 405. Lifting plate, 406. 6. Slide cylinder, 406-1. Slide, 407. Linear bearing connecting plate 1, 408. First linear bearing, 409. Second linear bearing, 410. First locking push block drive cylinder, 411. Telescopic block, 412. Second upper guide shaft, 413. First upper guide shaft, 414. First locking push block, 415. First seedling gripper drive finger cylinder, 416. First seedling gripper, 417. Second seedling gripper drive finger cylinder, 418. Sliding platform drive cylinder, 418-1. Telescopic rod, 419. Sliding platform, 420. First linear bearing seat, 421. Sliding platform drive cylinder telescopic rod fixing seat, 422. Sliding base plate, 423. Second seedling gathering clamp, 423-1. Left claw, 423-1-1. Notch, 423-2. Right claw, 423-2-1. Notch, 424. Finger cylinder for driving the third seedling gathering clamp, 425. Third seedling gathering clamp, 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 drive cylinder, 427. Guide shaft connecting plate, 428. First middle guide shaft, 429. Second middle guide shaft, 430. Linear bearing connecting plate 2, 431. Third linear bearing, 432. Fourth linear bearing, 433. Second locking push block, 433-1. Groove, 434. Dual-axis 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. Stock placement mechanism, 701. First fixed seat, 702. Second fixed seat, 703. First slide rail assembly, 70 4. Second slide rail assembly, 705. Stock support plate, 706. Translation drive motor, 707. Rack, 708. Stock placement box; 800. Seedling grasping mechanism, 801. Pitch-variable module, 801-1. Moving block, 802. Finger cylinder, 803. Clamp; 900. Loading and clamping device, 901. Frame, 902. Material tray, 902-1. Grafting clamp material, 903. Swing arm, 904. Material guide roller, 905. Pulley positioning plate, 906.First guide pulley, 907. Second guide pulley, 908. Clamping finger cylinder, 909. First grafting clamp jaw, 910. Clamping finger cylinder, 911. Second grafting clamp jaw, 912. Clamping telescopic cylinder, 913. Automatic shearing mechanism, 913-1. Scissors, 914. Automatic clamp mechanism, 914-1. Pliers, 915. Automatic clamp extension linear module, 916. First Y-axis linear module, 917. Second Y-axis linear module, 918. Support frame, 919. Base plate; 1000. Stock cutting mechanism, 1001. Base, 1002. Cylinder, 1003. Cutting blade connecting frame, 1004. Cutting blade, 1005. Cutting blade assembly, 1005-1. First blade, 1005-2. Second blade; 1. Seedling, 2. Scion, 3. Stock seedling tray, 4. Stock, 4-1. Cut stock stem, 5. Grafting clamp. DETAILED DESCRIPTION

[0082] The present invention will be further described in detail below with reference to the accompanying drawings using specific embodiments.

[0083] The specific embodiments described below are merely preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto. Those skilled in the art may make some modifications or variations based on or in accordance with the principles, concepts, and spirit of the present application, and the technical solutions formed by such modifications or variations shall be included within the scope of protection of the present application.

[0084] like Figure 1 As shown, the dual-mode adjustable Solanaceae fruit and vegetable grafting machine includes a frame 100, a 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 loading and clamping device 900, and a rootstock cutting mechanism 1000. The seedling turnover device 200 can transfer the seedlings to a designated workstation. The SCARA four-axis robotic arm 300 is mounted on the frame 100 and can move the end effector 400 to a designated workstation, such as a position close to the seedling turnover device 200, such as a position close to the rootstock placement mechanism 700. The plug tray conveyor 500 can transport the rootstock seedling tray. The lifting mechanism 600 can raise or lower the seedling grasping mechanism 800. The seedling grabbing mechanism 800 can grab the rootstock on the rootstock seedling tray and can also grab the grafted seedling. The rootstock placement mechanism 700 can be used to place the rootstock. The feeding and clamping device 900 can provide grafting clamps. The rootstock cutting mechanism 1000 can cut the stem of the rootstock.

[0085] like Figure 2As shown, the seedling turnover device 200 includes a rotating platform 201, a finger cylinder positioning plate 202, a finger cylinder 203, and a seedling clamp 205. The rotating platform 201 is provided with a rotating portion, and the finger cylinder positioning plate 202 is connected to the rotating portion of the rotating platform 201. The rotating platform 201 is usually equipped with a servo motor 201-1 as a power source. When the rotating platform 201 is working, it can drive the finger cylinder positioning plate 202 to rotate. The finger cylinder positioning plate 202 is located on a horizontal plane, and a plurality of finger cylinders 203 are fixedly mounted on the finger cylinder positioning plate 202 (eight finger cylinders 203 are shown in the figure, and the eight finger cylinders 203 are evenly distributed along the circumference). The seedling clamp 205 is connected to the finger cylinder 203 (the two parts of the seedling clamp 205 are respectively connected to the two fingers of the finger cylinder 203). The seedling clamp 205 can clamp the seedling 1, and the eight seedling clamps 205 can each clamp eight seedlings. Solenoid valves 204 are mounted on finger cylinder positioning plate 202 and supply air to finger cylinders 203. One solenoid valve corresponds to each finger cylinder. Rotating finger cylinder positioning plate 202 displaces the eight finger cylinders 203. Rotating finger cylinder positioning plate 202 a certain angle displaces each finger cylinder 203 and the seedling gripper 205 by a certain distance.

[0086] The rotating platform 201 is installed on the frame 100 .

[0087] like Figure 3 As shown, the end effector 400 is connected to the free end of the SCARA four-axis robot arm 300 , and the upper supporting hanger 401 is connected to the free end of the SCARA four-axis robot arm 300 .

[0088] like Figure 4-Figure 9As shown, the end effector 400 includes an upper load-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-level execution unit, a second-level execution unit, a third-level execution unit, and a fourth-level execution unit. The upper bracket 402-1 is fixedly connected to the upper load-bearing hanger 401, and 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, and 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. Down; the first-level execution unit includes a slide cylinder 406, a sliding base plate 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 seedling gathering clamp driving finger cylinder 415, and a first seedling gathering clamp 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 base plate 422, the first linear bearing 408, the second linear bearing 409 are respectively 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 base plate 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 base plate 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, and the first upper guide The front end of the 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, and 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 seedling-gathering clamping jaw driving finger cylinder 415 is fixedly connected to the sliding base 422. The first seedling-gathering clamping jaw 416 is connected to the two fingers of the first seedling-gathering clamping jaw driving finger cylinder 415. When the two fingers of the first seedling-gathering clamping jaw driving finger cylinder 415 are closed, the first seedling-gathering clamping jaw 416 is closed. When the two fingers of the first seedling-gathering clamping jaw driving finger cylinder 415 are opened, the first seedling-gathering clamping jaw 416 is opened. When the telescopic rod of the first locking push block driving cylinder 410 is extended, the telescopic block 411 is driven backward, thereby moving the first locking push block 414 backward. When the telescopic rod of the first locking push block driving cylinder 410 is retracted, the first locking push block 414 is moved forward.When the slide cylinder 406 is in motion, the cylinder body of the slide cylinder 406 moves forward or backward, and the cylinder body of the slide cylinder 406 drives the sliding base plate 422 to move forward or backward. The sliding base plate 422 drives the first locking push block driving cylinder 410 and the first seedling gathering clamp driving finger cylinder 415 to move forward or backward. The first seedling gathering clamp driving finger cylinder 415 moves forward or backward, driving the first seedling gathering clamp 416 to move forward or backward.

[0089] The second-level execution unit includes a second seedling gathering clamp driving finger cylinder 417, a sliding platform driving cylinder 418, a sliding platform 419, a first linear bearing seat 420, a second linear bearing seat, a sliding platform driving cylinder telescopic rod fixing seat 421, and a second seedling gathering clamp 423. The sliding platform driving cylinder telescopic rod fixing seat 421 is fixedly connected to the lower bracket 402-2. The sliding platform driving cylinder 418 is provided with a telescopic rod 418-1. The telescopic rod 418-1 is fixedly connected to the sliding platform driving cylinder telescopic rod fixing seat 421. The sliding platform 419 is fixedly connected to the cylinder body 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 seedling gathering clamp 423 is connected to the two fingers of the second seedling gathering clamp driving finger cylinder 417. The opening or closing of the two fingers of the second seedling-gathering jaw driving finger cylinder 417 can open or close the second seedling-gathering jaw 423. The second middle guide shaft 429 of the third-level execution unit slides through the first linear bearing seat 420, and the first middle guide shaft 428 slides through the second linear bearing seat. The movement of the sliding platform driving cylinder 418 can move the sliding platform 419 forward or backward (the first linear bearing seat 420 and the second linear bearing seat slide with the second middle guide shaft 429 and the first middle guide shaft 428 as the reference, respectively). The sliding platform 419 drives the second seedling-gathering jaw driving finger cylinder 417 to move forward or rightward, thereby moving the second seedling-gathering jaw 423 as a whole forward or backward.

[0090] The third-stage execution unit includes a third seedling gathering clamp driving finger cylinder 424, a third seedling gathering clamp 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 linear bearing connecting plate 2 430, a third linear bearing 431, a fourth linear bearing 432, and a second locking push block 433. The third seedling gathering clamp driving finger cylinder 424 is fixedly connected to the lower bracket 402-2, and the third seedling gathering clamp 425 is connected to two fingers of the third seedling gathering clamp driving finger cylinder 424. When the two fingers of the third seedling gathering clamp driving finger cylinder 424 are opened or closed, the third seedling gathering clamp 425 can be opened or closed. The second locking push block driving cylinder 426 is fixedly connected to the lower bracket 402-2. The telescopic rod of the cylinder 426 is fixedly connected, the linear bearing connecting plate 2 430 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 linear bearing connecting plate 2 430, 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, and 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.

[0091] The fourth-level execution unit is the seedling cutting mechanism, which includes a double-axis cylinder 434, a first lower guide shaft 435, a second lower guide shaft 436, a third linear bearing seat 437, a fourth linear bearing seat 438, a seedling cutting blade connecting frame 439, and a seedling cutting blade 440. The double-axis cylinder 434 is fixedly mounted 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 seat 437 and the fourth linear bearing seat 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 seat 437 (the first lower The guide shaft 435 is capable of sliding in the third linear bearing seat 437), the second lower guide shaft 436 passes through the fourth linear bearing seat 438 (the second lower guide shaft 436 is capable of sliding in the fourth linear bearing seat 438), the 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 seedling cutting blade connecting frame 439, and the front end of the second lower guide shaft 436 is fixedly connected to the seedling cutting blade connecting frame 439. The seedling cutting blade 440 is fixedly mounted on the front of the seedling cutting blade connecting frame 439, and the seedling cutting blade 440 is arranged at an angle. When the dual-axis cylinder 434 is working, the seedling cutting blade connecting frame 439 moves forward or backward.

[0092] As can be seen from the figure, the first seedling gathering jaw 416, the second seedling gathering jaw 423, and the third seedling gathering jaw 425 are arranged in the upper, middle, and lower directions.

[0093] join Figure 8 The third seedling-gathering jaw 425 includes a left jaw 425-1 and a right jaw 425-2. The left jaw 425-1 is provided with a locking push block receiving hole 425-1-1, and the right jaw 425-2 is provided with a locking push block receiving hole 425-2-1. The left portion of the second locking push block 433 is located in the locking push block receiving hole 425-1-1, and the right portion of the second locking push block 433 is located in the locking push block receiving hole 425-2-1. The left jaw 425-1 and the right jaw 425-2 are respectively connected to the two fingers of the finger cylinder 424 used to drive the third seedling-gathering jaw.

[0094] The structure of the first seedling gathering clamp 416 is the same as that of the third seedling gathering clamp 425. The first seedling gathering clamp 416 includes a left claw and a right claw. Both the left claw and the right claw are provided with a locking push block accommodating hole. The left part of the first locking push block 414 is located in the locking push block accommodating hole of the left claw, and the right part of the first locking push block 414 is located in the locking push block accommodating hole of the right claw.

[0095] like Figure 12As shown, the second seedling gathering claw 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 seedling cutting blade connecting frame 439 is located in the notch 423-1-1 and the notch 423-2-1.

[0096] like Figure 12 and Figure 8 As shown, the middle portion of the second locking push block 433 is provided with a groove 433-1. 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 abutted. It should be noted that the provision of the groove 433-1 is a preferred structural design. The groove 433-1 may also be omitted. The middle portion of the second locking push block 433 may be in any other shape as long as it can abut against the stem of the rootstock.

[0097] The structure of the first locking push block 414 is identical to that of the second locking push block 433. 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 the stem of the scion, the stem of the scion is embedded in the groove and abutted. It should be noted that the provision of a groove is a preferred structural design; however, it is also possible to omit the groove. The middle portion of the first locking push block 414 can be any other shape as long as it can abut the stem of the scion.

[0098] Figures 4-10 As shown in FIG, the structure of the scion cutting blade 440 can form a bevel on the scion stem.

[0099] Figure 11 Schematic diagram of the structure of the scion cutting blade 441 installed on the scion cutting blade connecting frame 439. The structure of the scion cutting blade 441 can form a wedge-shaped inclined surface on the scion stem.

[0100] like Figure 5 As shown, a sensor terminal block 443 and an integrated valve island 444 can be installed on the upper supporting hanger 401 .

[0101] like Figure 14 As shown, the tray conveyor 500 is mounted on the frame 100 .

[0102] like Figure 14As shown, the stock handling device includes a lifting mechanism 600 and a seedling grasping mechanism 800. The lifting mechanism 600 can raise or lower the seedling grasping mechanism 800 in a 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 grasping mechanism 800 is mounted on the lifting support plate 603. The first linear module 601 and the second linear module 602 are fixedly connected to the frame 100.

[0103] like Figure 15 As shown, the seedling grasping mechanism 800 includes a variable distance module 801, a finger cylinder 802, and a clamp 803. The variable distance module 801 adopts a conventional structure, and the variable distance module 801 is provided with a plurality of movable blocks 801-1 with variable spacing. A plurality of finger cylinders 802 and a plurality of clamps 803 are provided, one clamp 803 corresponds to one finger cylinder 802, and the clamp 803 is connected to the movable block 801-1, and one movable block 801-1 corresponds to one clamp 803. The variable distance module 801 can make the plurality of finger cylinders 802 distributed at a certain spacing, that is, make the plurality of clamps 803 distributed at a certain spacing. The structure composed of the finger cylinder 802 and the clamp 803 is a specific implementation method of the manipulator. The variable distance module 801 is fixedly mounted on the lifting support plate 603. The spacing of the plurality of clamps 803 is adjustable, which can meet the needs of multiple stock with different spacings and stock seedling trays of different specifications.

[0104] like Figure 16As shown, the stock placement mechanism 700 includes a first fixed base 701, a second fixed base 702, a first slide rail assembly 703, a second slide rail assembly 704, a stock supporting plate 705, a translation drive motor 706, a rack 707, and a stock placement box 708. The first slide rail assembly 703 is fixedly mounted on the first fixed base 701, the second slide rail assembly 704 is fixedly mounted on the second fixed base 702, one end of the stock supporting plate 705 is fixedly connected to the slider of the first slide rail assembly 703, and the other end of the stock supporting plate 705 is fixedly connected to the slider of the second slide rail assembly 704. A number of stock placement boxes 708 are fixedly mounted on the stock supporting plate 705, and the number of stock placement boxes 708 are evenly spaced. The stock placement box 708 can adopt a contoured structure, and the placement space of the stock placement box 708 matches the root system of the stock. The translation drive motor 706 is fixedly mounted on the bottom surface of the end of the stock support plate 705, the rack 707 is fixedly connected to the second fixed base 702, the gear is connected to the output shaft of the translation drive motor 706, and the gear is engaged with the rack 707. When the translation drive motor 706 is working, the stock support plate 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 of the translation drive mechanism. Those skilled in the art will understand that other specific structures can also be used to achieve the translation of the stock support plate 705.

[0105] refer to Figure 14 and Figure 17 The first fixing seat 701 and the second fixing seat 702 are respectively fixedly mounted on the frame 100. The stock placement mechanism 700 is close to the lifting mechanism 600.

[0106] like Figures 18-21As shown, the material 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 material guide roller 904. The material tray 902 is connected to the frame 901 via a bracket, the swing arm 903 is connected to the bracket, and the material guide roller 904 is connected to the swing arm 903. The grafting material 902-1 on the material tray 902 is transported downward around the material guide roller 904. 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 clamp jaw 909, a clamp fixing finger cylinder 910, a second grafting clamp jaw 911, a clamping telescopic cylinder 912, an automatic shearing mechanism 913, an automatic clamping mechanism 914, an automatic clamping 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 base 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, and the clamping finger cylinder 908 is The cylinder body is connected to the telescopic rod of the clamping telescopic cylinder 912. The first grafting clamp jaw 909 is connected to the two fingers of the clamping finger cylinder 908. The cylinder body of the clamping finger cylinder 910 is fixedly connected to the pulley positioning plate 905. The second grafting clamp jaw 911 is connected to the two fingers of the clamping finger cylinder 910. The second grafting clamp jaw 911 is located below the first grafting clamp jaw 909. The automatic shearing mechanism 913 includes a scissors 913-1, which can generally be pneumatically operated. The automatic clamping mechanism 914 includes a pliers 914-1, which can also be pneumatically operated. The scissors 913-1 are located below the second grafting clamp jaw 911. In the initial state, the pliers 914-1 are located below the scissors 913-1. The automatic clamping mechanism 914 is connected to the slider of the automatic clamp extension linear module 915. The first Y-axis linear module 916 is provided with a first slider and a second slider (the first slider is an active slider, and the second slider is a passive slider). The second Y-axis linear module 917 is provided with a first slider (the first slider is an active slider). The support frame 918 is fixedly connected to the first slider of the first Y-axis linear module 916, the automatic shearing mechanism 913 is fixedly mounted on the support frame 918, and the pulley positioning plate 905 is fixedly connected to the support frame 918. The automatic clamp extension linear module 915 is fixedly connected to the base plate 919. A portion of the base plate 919 is fixedly connected to the second slider of the first Y-axis linear module 916, and another portion of the base plate 919 is fixedly connected to the first slider of the second Y-axis linear module 917.

[0107] The frame 901 is fixedly connected to the rack 100. The grafting clamp raw material 902-1 passes through the first guide clamp pulley 906 and the second guide clamp pulley 907 in sequence.

[0108] like Figure 21 and Figure 22 As shown, the stock 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 mounted 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 flat and arranged at an angle.

[0109] The cutting blade 1004 can be replaced to achieve another cutting effect, such as Figure 23 As shown, a cutting blade assembly 1005 is used, and the cutting blade assembly 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 flat and located in the horizontal plane, and the second blade 1005-2 is flat 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 cutting edge range of the first blade 1005-1, with the cutting edge of the second blade 1005-2 in front and the cutting edge of the first blade 1005-1 in the back. When cutting the rootstock stem, the second blade 1005-2 first completes the vertical splitting action, and then the first blade 1005-1 implements the horizontal crosscutting, thereby achieving a stepped composite cutting effect.

[0110] The working process of the feeding and clamping device 900 is as follows: the clamping finger cylinder 908 is actuated to close the first grafting clamp jaw 909 to clamp the grafting clamp raw material; the clamping fixing finger cylinder 910 is actuated to open the second grafting clamp jaw 911; the telescopic rod of the clamping telescopic cylinder 912 is extended downward by a certain distance to supply the next grafting clamp of fixed length; this cycle can continuously provide a small section of grafting clamp; the second grafting clamp jaw 911 is closed to clamp the grafting clamp raw material, realizing the coordinated clamping state of the double jaws to ensure that the grafting clamp is firmly positioned; the pliers 914-1 located directly below the second grafting clamp jaw 911 is closed, accurately clamping a part of the grafting clamp raw material, and the clamped grafting clamp part is opened; the scissors 913-1 performs a shearing action (closed and then opened) to cut off a small section of the grafting clamp raw material, and the pliers 914-1 obtains a grafting clamp of a certain length (the grafting clamp of a certain length is in an open state under the clamping force of the pliers, such as Figure 30(as shown). Then, the first grafting clamp jaw 909 opens; next, the telescopic rod of the clamp supply telescopic cylinder 912 retracts, returning the first grafting clamp jaw 909 to its initial position; next, the first grafting clamp jaw 909 closes; next, the second grafting clamp jaw 911 opens; next, the telescopic rod of the clamp supply telescopic cylinder 912 extends downward a certain distance to supply the next grafting clamp of a fixed length. This cycle continuously provides a short length of grafting clamps.

[0111] The following describes the entire grafting process:

[0112] In step S1 , the operator manually loads the seedling turnover device 200 , places the seedling 1 on the seedling clamp 205 , and the seedling clamp 205 closes to clamp the seedling 1 .

[0113] Step S2: the rotating platform 201 works to rotate the finger cylinder positioning plate 202 to a certain angle, so that the scion clamping claw 205 can transfer the scion 1 to the scion taking station.

[0114] Step S3, the end effector operates the scion 1 located at the scion taking station, referring to Figure 24 The third seedling-gathering clamp 425 and the second seedling-gathering clamp 423 are both in the open state, and the first seedling-gathering clamp drives the finger cylinder 415 to move the first seedling-gathering clamp 416 to close first, thereby gathering the stem of the seedling 1 (correcting the stem bent in the left and right directions to ensure that the stem is in the vertical direction); next, the first locking push block drives the telescopic rod of the cylinder 410 to retract, thereby moving the first locking push block 414 forward, and the middle part of the first locking push block 414 abuts against the stem of the seedling (the stem of the seedling is embedded in the groove in the middle of the first locking push block 414 and abutted), correcting the stem of the seedling bent in the front and rear directions to ensure that the stem is in the vertical direction , achieving three-point positioning; next, the fourth-level execution unit is actuated, the dual-axis cylinder 434 works to move the seedling cutting blade connecting frame 439 forward, and the seedling cutting blade connecting frame 439 moves forward with the seedling cutting blade 440, and then the seedling cutting blade 440 cuts the upper part of the seedling stem, and the upper part of the seedling stem is cut off; next, the telescopic rod of the lifting cylinder 404 retracts to move the first locking push block 414 and the first seedling gathering claw 416 upward a certain distance; next, the fourth-level execution unit is actuated, the dual-axis cylinder 434 works to move the seedling cutting blade connecting frame 439 backward, and the seedling cutting blade 440 moves backward and withdraws. At this time, the first seedling gathering claw 416 and the first locking push block 414 jointly obtain a scion 2, such as Figure 3 、 Figure 5 、 Figure 6 As shown. Since the shape of the spikelet cutting blade 440 is a plane and is arranged obliquely, the lower end surface of the spikelet 2 stem is an inclined surface.

[0115] It should be noted that this method can be used: before the first seedling clamping claw drives the finger cylinder 415 to close the first seedling clamping claw 416, the third seedling clamping claw 425 is in a state as follows: Figure 24 and is in the open state, while the second seedling clamping claw 423 is not in Figure 24 The orientation shown is in the withdrawn position (eg, Figure 33 As shown), avoid, then in the following step S4, the sliding platform drives the telescopic rod of the cylinder 418 to extend so that the second seedling clamping claw 423 extends forward to Figure 4 Position shown.

[0116] Step S4, the SCARA four-axis robot arm 300 moves with the end effector, and the end effector moves away from the scion taking station, referring to Figure 1 and Figure 3 When the end effector moves away from the scion taking station, the slide cylinder 406 works to make the first seedling clamping claw 416 and the first locking push block 414 move backward, and the first seedling clamping claw 416 and the first locking push block 414 move the scion 2 backward for a certain distance. Figure 13 Further, the SCARA four-axis robot arm 300 moves with the end effector to the workstation to be grafted.

[0117] In step S5, the seedling turnover device 200 rotates a certain angle to transfer the seedling base residues formed after cutting to the waste station, and then the corresponding finger cylinder moves to open the seedling clamps, and the seedling base residues fall freely and fall freely into the collection device.

[0118] Step S6, stock mounting operation.

[0119] Step S601, reference Figure 14 After the operator completes the positioning and loading of the rootstock seedling tray 3 in advance (the specifications of the tray include 5, 6 or 7 plants / row), the rootstock seedling tray 3 is placed on the tray conveyor 500.

[0120] In step S602 , the pitch-changing module 801 operates to distribute the plurality of clamping jaws 803 at equal intervals so as to match the hole positions of the cell tray. The initial state of the clamping jaws 803 is an open state.

[0121] In step S603 , the first linear module 601 and the second linear module 602 work to lower the lifting support plate 603 , and the lifting support plate 603 lowers the variable pitch module 801 , and the variable pitch module 801 is located at the initial position.

[0122] In step S604, the hole tray conveyor 500 works to move the rootstock hole seedling tray 3 to the bottom of the seedling grasping mechanism 800, and the stems of a row of rootstocks in the rootstock hole seedling tray 3 are located between the two claws of the clamp 803 (the stem of one rootstock enters between the two claws of one clamp 803, and the stems of multiple rootstocks enter between the two claws of multiple clamps 803 respectively).

[0123] In step S605 , the plurality of clamps 803 are closed to clamp the stems of a row of rootstocks on the plug tray conveyor 500 .

[0124] Step S606, the lifting support plate 603 rises, and the plurality of clamping claws 803 take out a row of stock from the stock hole seedling tray 3, so as to achieve equidistant grabbing of the entire row of stock. Figure 15 shown.

[0125] In step S607 , the distance changing module 801 works to increase the spacing between the plurality of clamps 803 , and performs proportional expansion, so that the spacing between the plurality of stock stocks matches the spacing between the stock placement boxes 708 on the stock support plate 705 .

[0126] Step S608, the translation drive motor 706 in the stock placement mechanism 700 operates to move the stock support plate 705 from the initial position to the position directly below the variable distance module 801, as shown in FIG. Figure 17 The stock placement box 708 is located just below the stock 4, with one stock placement box corresponding to one stock.

[0127] In step S609 , the clamping jaws 803 are opened, and the rootstock 4 falls freely into the rootstock placement box 708 .

[0128] In step S610, the translation drive motor 706 in the stock placement mechanism 700 operates to return the stock support plate 705 to the initial position. At this time, the stock in the stock placement box 708 is located at the waiting grafting station.

[0129] Step S611: Return the pitch-changing module 801 to the initial position for avoidance.

[0130] Step S7, reference Figure 25 , the end effector starts the collaborative clamping work at the grafting station to stably clamp the stem of the rootstock.

[0131] The end effector is close to a stock on the stock support plate 705 in the stock placement mechanism, and the third seedling-gathering clamp drives the finger cylinder 424 to make the third seedling-gathering clamp 425 close first to hug the stem of the stock (correct the stem bent in the left and right directions to ensure that the stem is in the vertical direction); next, the second locking push block drives the cylinder 426 to move the second locking push block 433 forward, and the middle part of the second locking push block 433 abuts against the stem of the stock (the stem of the stock is embedded in the groove 433-1 and abutted), completing the correction of the stem of the stock bent in the front and rear directions, ensuring that the stem of the stock is in the vertical direction, and realizing three-point positioning; next, the second seedling-gathering clamp 423 closes to hug the upper part of the stock stem to achieve rigid constraint on the upper part of the stock stem, such as Figure 26 and Figure 27 As shown, this forms a dual-section stable clamping system.

[0132] Step S8, the initial position of the cutting blade 1004 is aligned with the upper part of the rootstock stem, and the initial position of the second grafting clamp jaw 911 is located directly above the clamp 914-1. The telescopic rod of the cylinder 1002 is extended to move the cutting blade 1004 forward, and the cutting blade 1004 cuts the upper part of the rootstock stem (the cutting blade 1004 cuts the stem located in the gap between the upper and lower ends of the second grafting clamp jaw 423). Figure 27 As shown, a small portion of the upper portion of the stock stem is cut off. Since the cutting blade 1004 is flat and tilted, the end surface of the upper portion of the stock stem is inclined after cutting, forming a cut surface that matches the inclined surface of the scion cut. Next, the telescopic rod of the cylinder 1002 is retracted, and the cutting blade 1004 is withdrawn. It can be seen that the end effector can stably and reliably position the stock stem to cooperate with the cutting blade to achieve fast and reliable cutting of the stock stem.

[0133] In step S9, the second seedling gathering jaw 423 opens; next, the slide cylinder 406 of the end actuator works to make the first seedling gathering jaw 416 and the first locking push block 414 move forward, and the first seedling gathering jaw 416 and the first locking push block 414 move forward with the scion 2, and the scion 2 is located above the cut stock; next, the second seedling gathering jaw 423 closes, and the upper end of the second seedling gathering jaw 423 hugs the stem of the scion 2, and the lower end of the second seedling gathering jaw 423 hugs the stem of the cut stock.

[0134] In step S10, the first grafting clamp jaw 909, the second grafting clamp jaw 911, the clamping telescopic cylinder 912, the automatic shearing mechanism 913, and the automatic clamping mechanism 914 are linked together, so that the clamp 914-1 clamps and obtains a small section of the grafting clamp.

[0135] In step S11, the second Y-axis linear module 917 moves the base plate 919 a certain distance, and the base plate 919 moves with the automatic clamp mechanism 914 to a position where the clamp 914-1 is aligned with the upper part of the cut stock stem. At this time, the cutting blade 1004 moves to the next grafting station and is ready to operate on the next stock.

[0136] Step S12, the automatic clamp forward extension linear module 915 moves the automatic clamp mechanism 914 forward, the clamp 914-1 moves forward with a small section of the grafting clamp, and the small section of the grafting clamp 5 surrounds the upper end of the cut stock stem and the lower end of the scion 2 stem, as shown in FIG. Figure 29 and 31 shown.

[0137] In step S13, the lifting cylinder 404 is actuated to move the first seedling clamping claw 416 and the first locking push block 414 downward along the Z axis with the scion 2, thereby making the lower end surface of the stem of the scion 2 fit with the upper end surface of the stem of the cut stock, as shown in FIG. Figure 28 and 29 shown.

[0138] In step S14, the pliers 914-1 are loosened, and the grafting clamp 5 is fastened to the connection between the stem of the scion 2 and the stem of the cut stock, completing the grafting task and forming a grafted seedling; next, the automatic pliers forward extension linear module 915 is actuated to move the automatic pliers mechanism 914 backward, and the pliers 914-1 are withdrawn.

[0139] In step S15, the first locking push block 414 is moved backward and withdrawn, the first seedling gathering jaw 416 is opened, the second seedling gathering jaw 423 is opened, the second locking push block 433 is moved backward and withdrawn, and the third seedling gathering jaw 425 is opened.

[0140] In step S16, the first Y-axis linear module 916 is actuated to move the support frame 918, which in turn drives the pulley positioning plate 905, the clamping supply and extension cylinder 912, the clamping finger cylinder 908, the clamping fixed finger cylinder 910, and the automatic shearing mechanism 913 to move, positioning the second grafting clamp jaw 911 directly above the forceps 914-1. This allows the jaws to follow the forceps 914-1.

[0141] In step S17, the SCARA four-axis robot arm 300 moves with the end effector to a position close to the seedling turnover device 200, ready to operate the next seedling.

[0142] When all the stock placement boxes 708 on the stock support plate 705 have grafted seedlings, the following replanting operation is performed:

[0143] In step 1, the first linear module 601 and the second linear module 602 work to move the lifting support plate 603, and the lifting support plate 603 moves with the variable pitch module 801, so that the variable pitch module 801 moves to a position where the multiple clamps 803 are aligned with the stems of the grafted seedlings in the horizontal plane, so that the spacing between the multiple clamps 803 matches the spacing between the multiple grafted seedlings, and the clamps 803 are in an open state.

[0144] In step 2, the translation drive motor 706 in the stock placement mechanism 700 works to move the stock support plate 705 to the bottom of the multiple clamps 803 in the variable pitch module 801. At this time, the stem of the grafted seedling enters between the two claws of the clamp 803 (specifically the stem part below the grafting clamp).

[0145] Step 3) closing the plurality of clamping jaws 803 to clamp the grafted seedling. Figure 32 shown.

[0146] Step 4) the lifting support plate 603 is raised a certain distance, so that the grafted seedling is separated from the rootstock placement box 708.

[0147] Step 5) The translation drive motor 706 in the stock placement mechanism 700 operates to return the stock support plate 705 to its initial position.

[0148] In step 6, the lifting support plate 603 is lowered, and the multiple clamps 803 move downward with a row of grafted seedlings. During the lowering process of the lifting support plate 603, the variable pitch module 801 works to match the spacing of the multiple clamps 803 with the spacing of the empty spaces in the rootstock seedling tray 3 until a row of grafted seedlings is placed in the empty spaces in the rootstock seedling tray 3.

[0149] Step 7) Open the multiple clamping jaws 803.

[0150] In step 8, the lifting support plate 603 is raised, and the variable distance module 801 is moved to a position ready to operate the next row of stock in the stock seedling tray 3.

[0151] It should be noted that, for the stock operation in step S6, the specific process may also be as follows:

[0152] In step (1), after the operator completes the positioning and loading of the rootstock seedling tray 3 in advance (the specifications of the tray include 5, 6 or 7 plants / row), the rootstock seedling tray 3 is placed on the tray conveyor 500.

[0153] In step (2), the pitch-changing module 801 works so that the plurality of clamping jaws 803 are distributed at equal intervals. The initial state of the clamping jaws 803 is an open state, and the pitch-changing module 801 is located at an initial position.

[0154] In step (3), the hole tray conveyor 500 operates to move the rootstock hole seedling tray 3 to the bottom of the seedling grabbing mechanism 800 .

[0155] In step (4), the first linear module 601 and the second linear module 602 work to lower the lifting support plate 603, and the lifting support plate 603 lowers with the variable distance module 801, so that the two claws of the clamp 803 are located on both sides of the stem of the rootstock in the rootstock seedling tray 3, and one clamp corresponds to the stem of one rootstock.

[0156] In step (5), the plurality of clamps 803 are closed to clamp the stems of a row of rootstocks on the plug tray conveyor 500 .

[0157] In step (6), the lifting support plate 603 rises, and the plurality of clamping claws 803 take out a row of rootstocks from the rootstock hole seedling tray 3, thereby achieving equidistant grabbing of the entire row of rootstocks.

[0158] In step (7), the pitch-changing module 801 works to increase the spacing between the plurality of clamps 803 and to expand them in proportion, so that the spacing between the plurality of stock stocks matches the spacing between the stock placement boxes 708 on the stock support plate 705 .

[0159] In step (8), the translation drive motor 706 in the stock placement mechanism 700 operates to move the stock support plate 705 from the initial position to directly below the variable distance module 801. The stock placement box 708 is located directly below the stock 4, and one stock placement box corresponds to one stock.

[0160] In step (9), the clamping jaws 803 are opened, and the rootstock 4 falls freely into the rootstock placement box 708.

[0161] In step (10), the translation drive motor 706 in the stock placement mechanism 700 operates to return the stock support plate 705 to the initial position. At this time, the stock in the stock placement box 708 is located at the grafting station.

[0162] Step (11) returns the pitch-changing module 801 to its initial position, in a avoidance position, and prepares for grabbing the next row of stock.

[0163] When the stock placement operation of steps (1) to (11) is implemented, the subsequent step 8) of the replanting process is carried out as follows: the lifting support plate 603 is raised, and the variable distance module 801 is returned to the initial position to prepare for the operation of the next row of stock in the stock seedling tray 3.

[0164] In the above grafting operation, the grafting method is implemented by using the cutting blade 440 and the cutting blade 1004. If the cutting blade 440 is replaced with the cutting blade 441 by replacing the cutting blade connecting frame 439, Figure 11As shown, the seedling cutting blade 441 includes two planar blades forming an angle; and the cutting blade 1004 is replaced with a cutting blade group 1005, the cutting blade group 1005 includes a first blade 1005-1 and a second blade 1005-2, the second blade 1005-2 exceeds the edge range of the first blade 1005-1, the edge of the second blade 1005-2 is in front, and the edge of the first blade 1005-1 is in the back; then the cleft grafting method can be realized (specifically, the second blade 1005-2 first splits the stem in the axial direction, and the first blade 1005-1 then removes a small piece of the upper part in the radial direction to form a stock stem upper end structure that meets the cleft grafting). It can be seen that by replacing different types of seedling cutting blades and stock stem cutting blades, the needs of different grafting processes can be effectively met.

[0165] For the seedling cutting blade, a whole set of seedling cutting blade connecting frame 439 and seedling cutting blade 440 can be replaced to realize the installation and use of seedling cutting blades with different inclination angles; accordingly, the inclination angle of the cutting blade 1004 is adjusted to match.

[0166] Driven by the robotic arm, the end effector as a whole can move along the Z-axis direction, thereby adjusting the positions of the first seedling gathering clamp 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 clamp 416 and the first locking push block 414 in the Z-axis direction, the position of the seedling positioning is adjusted, and then the cutting position of the seedling stem is adjusted, so that scions with different stem lengths can be obtained according to different actual needs.

[0167] The process of correcting and positioning the scion, correcting and positioning the stock's stem, and bonding the lower end face of the scion's stem with the upper end face of the cut stock's stem are completed by the same set of mechanisms, that is, by the end effector, which is conducive to the rapid and accurate implementation of the bonding process.

[0168] It should be noted that a robotic arm with other structures may also be used instead of the SCARA four-axis robotic arm.

Claims

1. A grafting device, characterized in that: It includes a frame, a seedling turnover device, a robotic arm, an end effector, a plug tray conveyor, a rootstock handling device, a rootstock placement mechanism, a material 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, and 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; the stock cutting mechanism can cut the stem of the stock placed on the stock placement mechanism; The lifting mechanism is a bottom end of a lifting mechanism, and a bottom end of a lifting mechanism is installed in the lifting mechanism, and a lifting mechanism is installed in the lifting mechanism of the lifting mechanism. The cam is connected to the sliding plate of the sliding plate, and the front end of the first guide shaft is fixedly connected to the telescopic block, and the front end of the second guide shaft is fixedly connected to one end of the first locking push block, and the rear end of the second 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 second-stage execution unit includes a finger cylinder for driving the second seedling gathering clamping claw, 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 sliding platform driving cylinder telescopic rod fixing seat, 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 finger cylinder for driving the second seedling gathering clamping claw 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, and the right claw is provided with a notch, and 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 finger cylinder for driving the third seedling gathering clamp, a third seedling gathering clamp, 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 finger cylinder for driving the third seedling gathering clamp is fixedly connected to the lower bracket; the third seedling gathering clamp includes a left claw with a locking push block accommodating hole and a right claw with a locking push block accommodating hole, and the left claw and the right claw of the third seedling gathering clamp are respectively connected to the two fingers of the third seedling gathering clamp driving finger cylinder, and 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 clamp, and the right part of the second locking push block is located at the right claw of the third seedling gathering clamp The locking push block accommodating hole of the locking push block; 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 second 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 second, 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, a seedling cutting blade connecting frame and a 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 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 seedling cutting blade connecting frame, the front end of the second lower guide shaft is fixedly connected to the seedling cutting blade connecting frame, the seedling cutting blade is connected to the front of the seedling cutting blade connecting frame; the front of the seedling cutting blade connecting frame is located in the gap between the left claw and the right claw of the second seedling clamping jaw; 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.

2. The grafting device according to claim 1, characterized in that A groove is provided in the middle of the second locking push block and / or the first locking push block.

3. The grafting device according to claim 1, 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.

4. The grafting device according to claim 1, characterized in that The seedling cutting blade includes two planar blades forming an angle; The stock cutting mechanism is provided with a cutting blade group, which includes 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.

5. 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 supporting 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 supporting plate is connected to the slider of the first slide rail assembly, the other end of the stock supporting plate is connected to the slider of the second slide rail assembly, a plurality of stock placement boxes are fixedly connected to the stock supporting plate, and the plurality of stock placement boxes are distributed at equal intervals; the translation drive mechanism is used to drive the stock supporting plate to translate; The first fixing seat and the second fixing seat are respectively fixedly connected to the frame.

6. The grafting device according to claim 1, characterized in that The stock handling device includes 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 includes a variable distance module and a plurality of manipulators, and the plurality of manipulators are connected to the variable distance module.

7. The grafting device according to claim 1, characterized in that 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 material guide roller. 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 clamping mechanism includes a pulley positioning plate, a first guide clamping pulley, a second guide clamping pulley, a clamping finger cylinder, a first grafting clamp claw, a clamping fixed finger cylinder, a second grafting clamp claw, a clamping telescopic cylinder, an automatic shearing mechanism, an automatic clamping mechanism, an automatic clamping forward linear module, a first Y-axis linear module, a second Y-axis linear module, a support frame and a base plate. The first guide clamping pulley and the second guide clamping 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 clamp claw 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 clamp claw is connected to the two fingers of the clamping fixed 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 base plate; a part of the base plate is fixedly connected to the second slider of the first Y-axis linear module, and the other part of the base plate is fixedly connected to the first slider of the second Y-axis linear module; The frame is connected to the rack.

8. The grafting device according to claim 7, characterized in that The stock 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, and the base is fixedly connected to the bottom plate of the clamping mechanism.

9. 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 portion, the finger cylinder positioning plate is connected to the rotating portion 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.

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