An end effector

Abstract

The present invention relates to an end effector, which solves the technical problems of low accuracy in the docking of scions and rootstocks and insufficient utilization rate of abnormal seedlings in existing automatic grafting machines. It includes an upper bracket, a lower bracket, a fixed rod, a first-stage execution unit, a second-stage execution unit, a third-stage execution unit, and a fourth-stage execution unit. The first-stage execution unit includes a lifting mechanism, a first telescopic mechanism, a second telescopic mechanism, a first locking push block, a first finger cylinder for driving the seedling gathering claw, and a first seedling gathering claw. The second-stage execution unit includes a third telescopic mechanism, a second finger cylinder for driving the seedling gathering claw, and a second seedling gathering claw. The third-stage execution unit includes a fourth telescopic mechanism, a third finger cylinder for driving the seedling gathering claw, a third seedling gathering claw, and a second locking push block. The fourth-stage execution unit includes a fifth telescopic mechanism, a connecting frame for the ear seedling cutting blade, and an ear seedling cutting blade. The present invention is widely applied to the technical field of horticultural vegetable grafting technology.

Description

Technical Field

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

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

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

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

[0005] Several grafting methods commonly used in grafting seedling technology for Solanaceae vegetables include stick grafting, cleft grafting and flat grafting. Each method has its own advantages and disadvantages, so it is crucial to choose the right grafting method based on regional characteristics, crop types and production habits. These factors not only increase the difficulty of meeting multiple requirements when developing grafting machines, but also make it difficult for the same type of grafting machine to fully adapt to different production requirements in actual applications. Summary of the invention

[0006] In order to solve the technical problems of low accuracy in docking between scion and rootstock and insufficient utilization rate of abnormal seedlings in existing automatic grafting machines, the present application provides an end effector with high accuracy in docking between scion and rootstock.

[0007] The present invention provides an end actuator, comprising an upper bracket, a lower bracket, a fixed rod, a first-level actuator unit, a second-level actuator unit, a third-level actuator unit and a fourth-level actuator unit, wherein the lower bracket is connected to the upper bracket by a fixed rod; the first-level actuator unit comprises a lifting mechanism, a first telescopic mechanism, a second telescopic mechanism, a first locking push block, a first seedling gathering clamping claw driving finger cylinder and a first seedling gathering clamping claw. The first seedling gathering clamping claw comprises a left claw and a right claw, the left claw is provided with a locking push block accommodating hole, the right claw is provided with a locking push block accommodating hole, the left claw and the right claw are respectively connected with two fingers of the first seedling gathering clamping claw driving finger cylinder, the left part of the first locking push block is located in the locking push block accommodating hole of the left claw, and the right part of the first locking push block is located in the locking push block accommodating hole of the right claw; the second telescopic mechanism is used to make the first locking push block telescopic movement, and the first telescopic mechanism is used to make the first locking push block and the first seedling gathering clamping claw synchronously telescopic movement; the lifting mechanism is connected to the upper bracket, and the lifting mechanism is used to make the first locking push block and the first seedling gathering clamping claw synchronously lift and lower movement;

[0008] The second-level 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 finger cylinder for driving the second seedling gathering clamp. The third telescopic mechanism is used to make the second seedling gathering clamp telescopic movement.

[0009] The third-level execution unit includes a fourth telescopic mechanism, a finger cylinder for driving the third seedling gathering claw, the third seedling gathering claw, and a second locking push block. The third seedling gathering claw includes a left claw with a locking push block receiving hole and a right claw with a locking push block receiving hole. The left claw and the right claw of the third seedling gathering claw are respectively connected to the two fingers of the finger cylinder for driving the third seedling gathering claw. The left part of the second locking push block is located in the locking push block receiving hole of the left claw of the third seedling gathering claw, and the right part of the second locking push block is located in the locking push block receiving hole of the right claw of the third seedling gathering claw. The finger cylinder for driving the third seedling gathering claw is fixedly connected to the lower bracket, and the fourth telescopic mechanism is used to make the second locking push block move telescopically;

[0010] The fourth-level execution unit includes a fifth telescopic mechanism, a spike seedling cutting blade connecting frame, and a spike seedling cutting blade. The spike seedling cutting blade is connected to the front part of the spike seedling cutting blade connecting frame. The fifth telescopic mechanism is used to make the spike seedling cutting blade connecting frame move telescopically. The front part of the spike seedling cutting blade connecting frame is located in the notches of the left claw and the right claw of the second seedling gathering claw;

[0011] The first seedling gathering claw, the second seedling gathering claw, and the third seedling gathering claw are arranged in an upper, middle, and lower orientation layout.

[0012] Preferably, the lifting mechanism includes a lifting cylinder and a lifting plate. The lifting plate is connected to the telescopic rod of the lifting cylinder, and the lifting cylinder is fixedly connected to the upper bracket; the first telescopic mechanism includes a slide cylinder and a sliding substrate. The sliding substrate is fixedly connected to the cylinder body of the slide cylinder. The slide cylinder is provided with a slide, and the slide is fixedly connected to the lifting plate; the finger cylinder for driving the first seedling gathering claw is fixedly connected to the sliding substrate; the second telescopic mechanism includes a first locking push block driving cylinder, a telescopic block, a second upper guide shaft, a first upper guide shaft, a linear bearing connecting plate one, a first linear bearing, and a second linear bearing. The first linear bearing and the second linear bearing are respectively fixedly connected to the linear bearing connecting plate one. The first upper guide shaft passes through the first linear bearing, and the second upper guide shaft passes through the second linear bearing. The telescopic block is connected to the telescopic rod of the first locking push block driving cylinder. The rear end of the first upper guide shaft is fixedly connected to the telescopic block, and the rear end of the second upper guide shaft is fixedly connected to the telescopic block. The linear bearing connecting plate one is fixedly connected to the sliding substrate of the first telescopic mechanism. The first locking push block driving cylinder is fixedly connected to the sliding substrate of the first telescopic mechanism. The front end of the first upper guide shaft is fixedly connected to one end of the first locking push block, and the front end of the second upper guide shaft is fixedly connected to the other end of the first locking push block;

[0013] The third telescopic mechanism includes a sliding platform driving cylinder, a sliding platform, a first linear bearing seat, a second linear bearing seat, and a fixed seat for the telescopic rod of the sliding platform driving cylinder. The fixed seat for the telescopic rod of the sliding platform driving cylinder is fixedly connected to the lower bracket. The sliding platform driving cylinder is provided with a telescopic rod, and the telescopic rod of the sliding platform driving cylinder is fixedly connected to the fixed seat for the telescopic rod of the sliding platform driving cylinder. The sliding platform is fixedly connected to the sliding platform driving cylinder. The first linear bearing seat and the second linear bearing seat are respectively fixedly connected to both sides of the sliding platform. The finger cylinder for driving the second seedling gathering claw is fixedly connected to the sliding platform;

[0014] The fourth telescopic mechanism includes 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, and a fourth linear bearing. 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 second linear bearing connecting plate is fixedly connected to the lower bracket. The third linear bearing and the fourth linear bearing are respectively fixedly connected to the second linear bearing connecting plate. The first middle guide shaft passes through the third linear bearing, and the second middle guide shaft passes through the fourth linear bearing. The rear end of the first middle guide shaft is fixedly connected to one end of the guide shaft connecting plate, the front end of the first middle guide shaft is fixedly connected to one end of the second locking push block, the rear end of the second middle guide shaft is fixedly connected to the other end of the guide shaft connecting plate, and the front end of the second middle guide shaft is fixedly connected to the other end of the second locking push block;

[0015] In the third-stage execution unit, the second middle guide shaft of the fourth telescopic mechanism passes through the first linear bearing seat of the third telescopic mechanism in the second-stage execution unit, and the first middle guide shaft of the fourth telescopic mechanism in the third-stage execution unit passes through the second linear bearing seat of the third telescopic mechanism in the second-stage execution unit;

[0016] The fifth telescopic mechanism includes a double-axis cylinder, a first lower guide shaft, a second lower guide shaft, a third linear bearing seat, and a fourth linear bearing seat. The double-axis cylinder is fixedly connected to the bottom surface of the lower bracket. The double-axis cylinder is provided with a telescopic block. The third linear bearing seat and the fourth linear bearing seat are respectively fixedly connected to the bottom surface of the lower bracket. The first lower guide shaft passes through the third linear bearing seat, and the second lower guide shaft passes through the fourth linear bearing seat. The connecting frame of the ear seed cutting blade is fixedly connected to the telescopic block of the double-axis cylinder. The front end of the first lower guide shaft is fixedly connected to the connecting frame of the ear seed cutting blade, and the front end of the second lower guide shaft is fixedly connected to the connecting frame of the ear seed cutting blade.

[0017] Preferably, a groove is provided in the middle of the second locking push block and / or the first locking push block.

[0018] Preferably, the shape of the ear seed cutting blade is flat, and the ear seed cutting blade is arranged obliquely;

[0019] Preferably, the spikelet cutting blade includes two planar blades forming an included angle.

[0020] Preferably, the end effector further includes an upper carrying hanger, and the upper bracket is fixedly connected to the upper carrying hanger.

[0021] The present disclosure also provides a grafting device, which is characterized by comprising a frame, a spikelet turnover device, a robotic arm, an end effector, a plug tray conveyor, a rootstock handling device, a rootstock placement mechanism, a feeding and clamping device, and a rootstock cutting mechanism;

[0022] The spikelet turnover device is connected to the frame, the robotic arm is connected to the frame, and the end effector is connected to the robotic arm; the plug tray conveyor is connected to the frame;

[0023] The rootstock handling device can transport the rootstocks conveyed by the plug tray conveyor to the rootstock placement mechanism;

[0024] The rootstock placement mechanism can be used to place the rootstocks; the feeding and clamping device can provide grafting clips; the rootstock cutting mechanism can cut the stalks of the rootstocks placed on the rootstock placement mechanism.

[0025] The beneficial effects of the present disclosure are:

[0026] The end effector can quickly and reliably obtain scions from spikelets and stably position the upper part of the spikelet stalks; the end effector has a function of correcting the axial bending of the stalks. During the rootstock treatment process, the correction function can correct the bending of the stalks to ensure the precise positioning of the rootstock stalks, so as to cooperate with the cutting blade for quick and reliable cutting. The end effector can accurately and quickly dock the stalk of the scion with the stalk of the cut rootstock to ensure the high efficiency and precision of the grafting process.

[0027] The utilization rate of abnormal seedlings is greatly improved.

[0028] By replacing different types of spikelet cutting blades, flexible switching between different grafting modes can be achieved, effectively meeting the requirements of different grafting processes.

[0029] By replacing a set of spikelet cutting blade connecting frames and spikelet cutting blades, the installation and use of spikelet cutting blades with different inclination angles can be realized, and the cutting angle for spikelets can be adjusted.

[0030] The operation efficiency and per capita productivity are significantly improved, meeting the requirements of batch production, and having a high level of automation and intelligence. The labor intensity of manual intervention is reduced.

[0031] Further features and aspects of the present disclosure will be clearly recorded in the following description of the specific embodiments with reference to the accompanying drawings. Description of the Drawings

[0032] Figure 1Is an axonometric view of a dual-mode adjustable solanaceous fruit and vegetable grafting machine;

[0033] Figure 2 Is a structural schematic diagram of the spike seedling turnover device;

[0034] Figure 3 Is a structural schematic diagram of the end effector connected to the SCARA four-axis robotic arm;

[0035] Figure 4 Is an axonometric view of the end effector;

[0036] Figure 5 Is Figure 4 The front view of the end effector shown;

[0037] Figure 6 Is Figure 4 In the end effector shown, the structural schematic diagram of the first-stage execution unit;

[0038] Figure 7 Is Figure 4 In the end effector shown, the structural schematic diagrams of the second-stage and third-stage execution units;

[0039] Figure 8 Is Figure 4 In the end effector shown, the structural schematic diagrams of the third-stage and fourth-stage execution units;

[0040] Figure 9 Is Figure 4 In the end effector shown, the structural schematic diagram of the fourth-stage execution unit;

[0041] Figure 10 Is Figure 9 In the structure shown, the structural schematic diagram of the spike seedling cutting blade installed on the spike seedling cutting blade connecting frame;

[0042] Figure 11 Is the structural schematic diagram of the spike seedling cutting blade for forming a wedge-shaped inclined plane on the scion stem installed on the spike seedling cutting blade connecting frame;

[0043] Figure 12 Is the working state diagram when the end effector enters the waiting grafting position after the scion is taken;

[0044] Figure 13 Is the state diagram after the end effector moves to make the first seedling clamping jaw and the first locking push move the scion backward by a certain distance;

[0045] Figure 14 Is the structural schematic diagram of the plug tray conveyor and the rootstock handling device;

[0046] Figure 15 Is the structural schematic diagram of the seedling grasping mechanism;

[0047] Figure 16 It is a schematic structural diagram of the rootstock placement mechanism;

[0048] Figure 17 It is a working state diagram after the rootstock is clamped and transported;

[0049] Figure 18 It is a schematic structural diagram of the loading and clamping device;

[0050] Figure 19 It is Figure 18 A schematic structural diagram of the clamping mechanism in the shown loading and clamping device;

[0051] Figure 20 It is a state diagram of the pliers of the automatic clamping mechanism located below the scissors in the automatic shearing mechanism;

[0052] Figure 21 It is a schematic structural diagram of the automatic clamping mechanism installed on the linear module;

[0053] Figure 22 It is a schematic structural diagram of a cutting blade of a certain shape connected to a cylinder;

[0054] Figure 23 It is a schematic structural diagram of a cutting blade of another shape connected to a cylinder;

[0055] Figure 24 It is a state diagram of the first-stage execution unit of the end effector clamping and positioning the ear seedlings;

[0056] Figure 25 It is a schematic diagram of the state of the scion and the rootstock waiting for grafting;

[0057] Figure 26 It is a schematic state diagram of the end effector achieving three-point positioning of the root of the rootstock stem;

[0058] Figure 27 It is Figure 26 In the shown structure, a partial structural diagram of the positions of the second seedling-clamping jaw, the second locking push block, and the third seedling-clamping jaw;

[0059] Figure 28 It is a working state diagram when the scion and the rootstock are docked and clamped;

[0060] Figure 29 It is Figure 28 In the shown structure, a partial structural diagram of the positions of the first seedling-clamping jaw, the second seedling-clamping jaw, and the third seedling-clamping jaw;

[0061] Figure 30 It is Figure 29 In the shown structure, a top-down schematic view of the grafting clip in the open state surrounding the cut rootstock stem;

[0062] Figure 31 It is a schematic diagram of the original state where the grafting clip is not clamped by the pliers;

[0063] Figure 32 It is a schematic diagram of the state where multiple jaws 803 in the variable pitch module 801 clamp the grafted seedlings;

[0064] Figure 33 It is a state diagram of the first - stage execution unit of the end effector clamping and positioning the ear seedlings.

[0065] Explanation of symbols in the figure:

[0066] 100. Rack; 200. Seedling turnover device, 201. Rotary platform, 201-1. Servo motor, 202. Finger cylinder positioning plate, 203. Finger cylinder, 204. Solenoid valve, 205. Seedling gripper; 300. SCARA four-axis robotic arm; 400. End effector, 401. Upper bearing hanger, 402-1. Upper bracket, 402-2. Lower bracket, 403. Fixed rod, 404. Lifting cylinder, 405. Lifting plate, 406. Slide cylinder, 406-1. Slide, 407. Linear bearing connecting plate one, 408. First linear bearing, 409. Second linear bearing, 410. First locking push block driving cylinder, 411. Telescopic block, 412. Second upper guide shaft, 413. First upper guide shaft, 414. First locking push block, 415. First finger cylinder for driving the seedling gathering gripper, 416. First seedling gathering gripper, 417. Second finger cylinder for driving the seedling gathering gripper, 418. Sliding platform driving cylinder, 418-1. Telescopic rod, 419. Sliding platform, 420. First linear bearing seat, 421. Fixed seat for the telescopic rod of the sliding platform driving cylinder, 422. Sliding substrate, 423. Second seedling gathering gripper, 423-1. Left claw, 423-1-1. Notch, 423-2. Right claw, 423-2-1. Notch, 424. Third finger cylinder for driving the seedling gathering gripper, 425. Third seedling gathering gripper, 425-1. Left claw, 425-1-1. Locking push block receiving hole, 425-2. Right claw, 425-2-1. Locking push block receiving hole, 426. Second locking push block driving cylinder, 427. Guide shaft connecting plate, 428. First middle guide shaft, 429. Second middle guide shaft, 430. Linear bearing connecting plate two, 431. Third linear bearing, 432. Fourth linear bearing, 433. Second locking push block, 433-1. Groove, 434. Double-acting cylinder, 434-1. Telescopic block, 435. First lower guide shaft, 436. Second lower guide shaft, 437. Third linear bearing seat, 438. Fourth linear bearing seat, 439. Seedling cutting blade connecting frame, 440. Seedling cutting blade, 441. Seedling cutting blade, 443. Sensor terminal block, 444. Integrated valve island; 500. Plug tray conveyor; 600. Lifting mechanism, 601. First linear module, 602. Second linear module, 603. Lifting support plate, 700. Rootstock placement mechanism, 701. First fixed seat, 702. Second fixed seat, 703. First slide rail assembly, 704. Second slide rail assembly, 705. Rootstock support plate, 706. Translation driving motor, 707. Rack, 708. Rootstock placement box; 800. Seedling grasping mechanism, 801. Variable pitch module, 801-1. Moving block, 802. Finger cylinder, 803. Gripper; 900. Feeding and clamping device, 901. Frame, 902. Tray, 902-1. Raw material of grafting clip, 903. Swing arm, 904. Guide roller, 905. Pulley positioning plate, 906.The first guide clip pulley, 907. The second guide clip pulley, 908. The clip finger cylinder, 909. The first grafting clip jaw, 910. The fixed finger cylinder for clamping, 911. The second grafting clip jaw, 912. The telescopic cylinder for clamping, 913. The automatic cutting mechanism, 913-1. The scissors, 914. The automatic pliers mechanism, 914-1. The pliers, 915. The linear module for the forward extension of the automatic pliers, 916. The first linear module in the Y-axis direction, 917. The second linear module in the Y-axis direction, 918. The support frame, 919. The bottom plate; 1000. The cutting mechanism for the rootstock, 1001. The base, 1002. The cylinder, 1003. The connecting frame for the cutting blade, 1004. The cutting blade, 1005. The cutting blade group, 1005-1. The first blade, 1005-2. The second blade; 1. The spikelet seedling, 2. The scion, 3. The rootstock seedling tray, 4. The rootstock, 4-1. The stem of the rootstock after cutting, 5. The grafting clip. Detailed implementation manners

[0067] The following will further describe the present invention in detail with reference to the accompanying drawings and specific embodiments.

[0068] The specific embodiments described below are only the preferred implementation manners of the present application, and the protection scope of the present application is not limited thereto. For those skilled in the art, based on or according to the principles, concepts, and spirits of the present application, some changes or modifications can be made, and the technical solutions formed by these changes or modifications should all be covered within the protection scope of the present application.

[0069] As Figure 1 shown, the dual-mode adjustable solanaceous fruit and vegetable grafting machine includes a frame 100, a spikelet seedling turnover device 200, a SCARA four-axis robotic arm 300, an end effector 400, a plug tray conveyor 500, a lifting mechanism 600, a rootstock placement mechanism 700, a seedling grasping mechanism 800, a feeding and clamping device 900, and a rootstock cutting mechanism 1000. The spikelet seedling turnover device 200 can transfer the spikelet seedlings to the designated workstations. The SCARA four-axis robotic arm 300 is installed on the frame 100, and the SCARA four-axis robotic arm 300 can move the end effector 400 to the designated workstations, such as moving to a position close to the spikelet seedling turnover device 200, or moving to a position close to the rootstock placement mechanism 700. The plug tray conveyor 500 can convey the rootstock seedling trays. The lifting mechanism 600 can raise or lower the seedling grasping mechanism 800. The seedling grasping mechanism 800 can grasp the rootstocks on the rootstock seedling trays and can also grasp the grafted seedlings. The rootstock placement mechanism 700 can be used to place the rootstocks. The feeding and clamping device 900 can provide the grafting clips. The rootstock cutting mechanism 1000 can cut the stems of the rootstocks.

[0070] As Figure 2As shown in the figure, the spikelet and seedling turnover device 200 includes a rotating platform 201, a finger cylinder positioning plate 202, finger cylinders 203, and spikelet and seedling grippers 205. The rotating platform 201 is provided with a rotating part. The finger cylinder positioning plate 202 is connected to the rotating part of the rotating platform 201. The rotating platform 201 is usually provided with a servo motor 201-1 as a power source. When the rotating platform 201 operates, it can drive the finger cylinder positioning plate 202 to rotate. The finger cylinder positioning plate 202 is located in the horizontal plane, and several finger cylinders 203 are fixedly installed on the finger cylinder positioning plate 202 (8 finger cylinders 203 are shown in the figure, and the 8 finger cylinders 203 are evenly distributed along the circumferential direction). The spikelet and seedling grippers 205 are connected to the finger cylinders 203 (two parts of the spikelet and seedling grippers 205 are respectively connected to the two fingers of the finger cylinders 203). The spikelet and seedling grippers 205 can grip the spikelets and seedlings 1, and 8 spikelet and seedling grippers 205 can respectively grip 8 spikelets and seedlings. The solenoid valve 204 is installed on the finger cylinder positioning plate 202. The solenoid valve 204 is used to supply air to the finger cylinders 203, and one solenoid valve corresponds to one finger cylinder. When the finger cylinder positioning plate 202 rotates, the 8 finger cylinders 203 can be displaced. When the finger cylinder positioning plate 202 rotates by a certain angle, each finger cylinder 203 and the spikelet and seedling grippers 205 can be displaced by a certain distance.

[0071] The rotating platform 201 is installed on the frame 100.

[0072] As Figure 3 shown in the figure, the end effector 400 is connected to the free end of the SCARA four-axis robotic arm 300, and the upper bearing hanger 401 is connected to the free end of the SCARA four-axis robotic arm 300.

[0073] As Figures 4 - 9As shown, the end effector 400 includes an upper bearing hanger 401, an upper bracket 402-1, a lower bracket 402-2, a fixing rod 403, a lifting cylinder 404, a lifting plate 405, a first-stage execution unit, a second-stage execution unit, a third-stage execution unit, and a fourth-stage execution unit. The upper bracket 402-1 is fixedly connected to the upper bearing hanger 401. The lower bracket 402-2 is fixedly connected to the upper bracket 402-1 through a plurality of fixing rods 403. The lifting cylinder 404 is fixedly installed on the upper bracket 402-1. The lifting plate 405 is connected to the telescopic rod of the lifting cylinder 404. The lifting cylinder 404 can drive the lifting plate 405 to rise or fall in the vertical direction. The first-stage execution unit includes a slide cylinder 406, a sliding substrate 422, a linear bearing connecting plate 407, a first linear bearing 408, a second linear bearing 409, a first locking push block driving cylinder 410, a telescopic block 411, a second upper guide shaft 412, a first upper guide shaft 413, a first locking push block 414, a first finger cylinder for driving the seedling gathering claw 415, and a first seedling gathering claw 416. The slide cylinder 406 is provided with a slide 406-1. The slide 406-1 is fixedly connected to the lifting plate 405. The linear bearing connecting plate 407 is fixedly connected to the sliding substrate 422. The first linear bearing 408 and the second linear bearing 409 are respectively fixedly connected to the linear bearing connecting plate 407. The first upper guide shaft 413 passes through the first linear bearing 408 (the first upper guide shaft 413 can slide in the first linear bearing 408). The second upper guide shaft 412 passes through the second linear bearing 409 (the second upper guide shaft 412 can slide in the second linear bearing 409). The sliding substrate 422 is fixedly connected to the cylinder body of the slide cylinder 406. The first locking push block driving cylinder 410 is fixedly connected to the sliding substrate 422. The telescopic block 411 is connected to the telescopic rod of the first locking push block driving cylinder 410. The rear end of the first upper guide shaft 413 is fixedly connected to the telescopic block 411. The front end of the first upper guide shaft 413 is fixedly connected to one end of the first locking push block 414. The rear end of the second upper guide shaft 412 is fixedly connected to the telescopic block 411. The front end of the second upper guide shaft 412 is fixedly connected to the other end of the first locking push block 414. The first finger cylinder for driving the seedling gathering claw 415 is fixedly connected to the sliding substrate 422. The first seedling gathering claw 416 is connected to the two fingers of the first finger cylinder for driving the seedling gathering claw 415. When the two fingers of the first finger cylinder for driving the seedling gathering claw 415 close, the first seedling gathering claw 416 closes. When the two fingers of the first finger cylinder for driving the seedling gathering claw 415 open, the first seedling gathering claw 416 opens. When the telescopic rod of the first locking push block driving cylinder 410 extends, it drives the telescopic block 411 to move backward, and then the first locking push block 414 moves backward. When the telescopic rod of the first locking push block driving cylinder 410 retracts, the first locking push block 414 moves forward.When the slide cylinder 406 operates, the cylinder body of the slide cylinder 406 moves forward or backward. The cylinder body of the slide cylinder 406 drives the sliding substrate 422 to move forward or backward, and the sliding substrate 422 drives the first locking push block driving cylinder 410 and the first finger cylinder 415 for driving the seedling gathering claws to move forward or backward. The forward or backward movement of the first finger cylinder 415 for driving the seedling gathering claws drives the first seedling gathering claws 416 to move forward or backward.

[0074] The second-level execution unit includes the second finger cylinder 417 for driving the seedling gathering claws, the sliding platform driving cylinder 418, the sliding platform 419, the first linear bearing seat 420, the second linear bearing seat, the fixed seat 421 for the telescopic rod of the sliding platform driving cylinder, and the second seedling gathering claws 423. The fixed seat 421 for the telescopic rod of the sliding platform driving cylinder is fixedly connected to the lower bracket 402-2. The sliding platform driving cylinder 418 is provided with a telescopic rod 418-1, and the telescopic rod 418-1 is fixedly connected to the fixed seat 421 for the telescopic rod of the sliding platform driving cylinder. The sliding platform 419 is fixedly connected to the cylinder 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 finger cylinder 417 for driving the seedling gathering claws is fixedly installed on the sliding platform 419, and the second seedling gathering claws 423 are connected to the two fingers of the second finger cylinder 417 for driving the seedling gathering claws. The opening or closing of the two fingers of the second finger cylinder 417 for driving the seedling gathering claws can cause the second seedling gathering claws 423 to open or close. The second middle guide shaft 429 of the third-level execution unit passes through the first linear bearing seat 420 for sliding fit, and the first middle guide shaft 428 passes through the second linear bearing seat for sliding fit. When the sliding platform driving cylinder 418 operates, it can cause the sliding platform 419 to move forward or back and forth (the first linear bearing seat 420 and the second linear bearing seat slide respectively based on the second middle guide shaft 429 and the first middle guide shaft 428). The sliding platform 419 drives the second finger cylinder 417 for driving the seedling gathering claws to move forward or backward, and further causes the second seedling gathering claws 423 to move forward or backward as a whole.

[0075] The third-level execution unit includes a finger cylinder 424 for driving the third seedling gathering jaw, a third seedling gathering jaw 425, a second locking push block driving cylinder 426, a guide shaft connecting plate 427, a first middle guide shaft 428, a second middle guide shaft 429, a second linear bearing connecting plate 430, a third linear bearing 431, a fourth linear bearing 432, and a second locking push block 433. The finger cylinder 424 for driving the third seedling gathering jaw is fixedly connected to the lower bracket 402-2. The third seedling gathering jaw 425 is connected to the two fingers of the finger cylinder 424 for driving the third seedling gathering jaw. The opening or closing of the two fingers of the finger cylinder 424 for driving the third seedling gathering jaw can cause the third seedling gathering jaw 425 to open or close. The second locking push block driving cylinder 426 is fixedly connected to the lower bracket 402-2. The guide shaft connecting plate 427 is fixedly connected to the telescopic rod of the second locking push block driving cylinder 426. The second linear bearing connecting plate 430 is fixedly connected to the lower bracket 402-2. The third linear bearing 431 and the fourth linear bearing 432 are respectively fixedly connected to the second linear bearing connecting plate 430. The first middle guide shaft 428 passes through the third linear bearing 431 (the first middle guide shaft 428 can slide). The second middle guide shaft 429 passes through the fourth linear bearing 432 (the second middle guide shaft 429 can slide). The rear end of the first middle guide shaft 428 is fixedly connected to one end of the guide shaft connecting plate 427. The front end of the first middle guide shaft 428 is fixedly connected to one end of the second locking push block 433. The rear end of the second middle guide shaft 429 is fixedly connected to the other end of the guide shaft connecting plate 427. The front end of the second middle guide shaft 429 is fixedly connected to the other end of the second locking push block 433. When the telescopic rod of the second locking push block driving cylinder 426 extends to move the guide shaft connecting plate 427 backward, the second locking push block 433 moves backward. When the telescopic rod of the second locking push block driving cylinder 426 retracts, the second locking push block 433 moves forward.

[0076] The fourth-level execution unit is the ear seedling cutting mechanism. The ear seedling cutting mechanism includes a double-acting cylinder 434, a first lower guide shaft 435, a second lower guide shaft 436, a third linear bearing block 437, a fourth linear bearing block 438, an ear seedling cutting blade connecting frame 439, and an ear seedling cutting blade 440. The double-acting cylinder 434 is fixedly installed on the bottom surface of the lower bracket 402-2. The double-acting cylinder 434 is provided with a telescopic block 434-1. The third linear bearing block 437 and the fourth linear bearing block 438 are respectively fixedly connected to the bottom surface of the lower bracket 402-2. The first lower guide shaft 435 passes through the third linear bearing block 437 (the first lower guide shaft 435 can slide in the third linear bearing block 437), and the second lower guide shaft 436 passes through the fourth linear bearing block 438 (the second lower guide shaft 436 can slide in the fourth linear bearing block 438). The ear seedling cutting blade connecting frame 439 is fixedly connected to the telescopic block 434-1. The front end of the first lower guide shaft 435 is fixedly connected to the ear seedling cutting blade connecting frame 439, and the front end of the second lower guide shaft 436 is fixedly connected to the ear seedling cutting blade connecting frame 439. The ear seedling cutting blade 440 is fixedly installed at the front part of the ear seedling cutting blade connecting frame 439, and the ear seedling cutting blade 440 is inclined. When the double-acting cylinder 434 works, the ear seedling cutting blade connecting frame 439 moves forward or backward.

[0077] As can be seen from the figure, the first ear seedling clamping jaw 416, the second ear seedling clamping jaw 423, and the third ear seedling clamping jaw 425 are arranged in the upper, middle, and lower positions.

[0078] Participate Figure 8 , the third ear seedling clamping jaw 425 includes a left claw 425-1 and a right claw 425-2. The left claw 425-1 is provided with a locking push block receiving hole 425-1-1, and the right claw 425-2 is provided with a locking push block receiving hole 425-2-1. The left part of the second locking push block 433 is located in the locking push block receiving hole 425-1-1, and the right part of the second locking push block 433 is located in the locking push block receiving hole 425-2-1. The left claw 425-1 and the right claw 425-2 are respectively connected to the two fingers of the finger cylinder 424 for driving the third ear seedling clamping jaw.

[0079] The structure of the first ear seedling clamping jaw 416 is the same as that of the third ear seedling clamping jaw 425. The first ear seedling clamping jaw 416 includes a left claw and a right claw. Both the left claw and the right claw are provided with locking push block receiving holes. The left part of the first locking push block 414 is located in the locking push block receiving hole of the left claw, and the right part of the first locking push block 414 is located in the locking push block receiving hole of the right claw.

[0080] Such as Figure 12As shown, the second seedling gathering jaw 423 includes a left jaw 423-1 and a right jaw 423-2. The left jaw 423-1 is provided with a notch 423-1-1, and the right jaw 423-2 is provided with a notch 423-2-1. The front part of the ear seedling cutting blade connecting frame 439 is located in the notch 423-1-1 and the notch 423-2-1.

[0081] As Figure 12 and Figure 8 shown, the middle part 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 is abutted. It should be noted that setting the groove 433-1 is a better structural design. It is also possible not to set the groove 433-1, and the middle part of the second locking push block 433 can be in any other shape as long as it can abut against the stem of the rootstock.

[0082] The structure of the first locking push block 414 is the same as that of the second locking push block 433, and the middle part of the first locking push block 414 is provided with a groove. It should be noted that when the first locking push block 414 abuts against the stem of the scion, the stem of the scion is embedded in the groove and is abutted. It should be noted that setting the groove is a better structural design. It is also possible not to set the groove, and the middle part of the first locking push block 414 can be in any other shape as long as it can abut against the stem of the scion.

[0083] Figures 4 - 10 shown, the structure of the ear seedling cutting blade 440 can form an inclined plane on the scion stem.

[0084] Figure 11 Yes, Figure 18 is a schematic structural diagram of the ear seedling cutting blade 441 installed on the ear seedling cutting blade connecting frame 439. The structure of the ear seedling cutting blade 441 can form a wedge-shaped inclined plane on the scion stem.

[0085] As Figure 5 shown, a sensor terminal block 443 and an integrated valve island 444 can be installed on the upper carrying hanging frame 401.

[0086] As Figure 14 shown, the plug tray conveyor 500 is installed on the frame 100.

[0087] As Figure 14As shown, the rootstock handling device includes a lifting mechanism 600 and a seedling gripping mechanism 800. The lifting mechanism 600 can move the seedling gripping mechanism 800 up and down in the vertical direction. A specific implementation of the lifting mechanism 600 is as follows: it includes a first linear module 601, a second linear module 602, and a lifting support plate 603. The first linear module 601 and the second linear module 602 are arranged side by side in the vertical direction. One end of the lifting support plate 603 is connected to the slider of the first linear module 601, and the other end of the lifting support plate 603 is connected to the slider of the second linear module 602. The seedling gripping mechanism 800 is installed on the lifting support plate 603. The first linear module 601 and the second linear module 602 are fixedly connected to the frame 100.

[0088] As Figure 15 shown, the seedling gripping mechanism 800 includes a variable pitch module 801, a finger cylinder 802, and a jaw 803. The variable pitch module 801 adopts a conventional structure and is provided with a plurality of movable blocks 801-1 with variable pitches. A plurality of finger cylinders 802 and a plurality of jaws 803 are provided. One jaw 803 corresponds to one finger cylinder 802, and the jaw 803 is connected to the movable block 801-1. One movable block 801-1 corresponds to one jaw 803. When the variable pitch module 801 works, it can make the plurality of finger cylinders 802 be distributed at a certain pitch, that is, make the plurality of jaws 803 be distributed at a certain pitch. The structure composed of the finger cylinder 802 and the jaw 803 is a specific implementation of a manipulator. The variable pitch module 801 is fixedly installed on the lifting support plate 603. The pitches of the plurality of jaws 803 are adjustable, which can meet a plurality of rootstocks with different pitches and meet rootstock plug trays of different specifications.

[0089] As Figure 16As shown, the rootstock placement mechanism 700 includes a first fixed seat 701, a second fixed seat 702, a first slide rail assembly 703, a second slide rail assembly 704, a rootstock support plate 705, a translation drive motor 706, a rack 707, and a rootstock placement box 708. The first slide rail assembly 703 is fixedly installed on the first fixed seat 701, and the second slide rail assembly 704 is fixedly installed on the second fixed seat 702. One end of the rootstock support plate 705 is fixedly connected to the slider of the first slide rail assembly 703, and the other end of the rootstock support plate 705 is fixedly connected to the slider of the second slide rail assembly 704. A plurality of rootstock placement boxes 708 are fixedly installed on the rootstock support plate 705, and the plurality of rootstock placement boxes 708 are equally spaced. The rootstock placement box 708 can adopt a profiling structure, and the placement space of the rootstock placement box 708 matches the root system of the rootstock. The translation drive motor 706 is fixedly installed on the bottom surface of the end of the rootstock support plate 705. The rack 707 is fixedly connected to the second fixed seat 702. The gear is connected to the output shaft of the translation drive motor 706, and the gear meshes with the rack 707. When the translation drive motor 706 operates, the rootstock support plate 705 can translate under the support of the first slide rail assembly 703 and the second slide rail assembly 704.

[0090] Reference Figure 14 and Figure 17 , the first fixed seat 701 and the second fixed seat 702 are respectively fixedly installed on the frame 100. The rootstock placement mechanism 700 is close to the lifting mechanism 600.

[0091] As Figures 18 - 21As shown in the figure, the loading and clamping device 900 includes a loading mechanism and a clamping mechanism. The loading mechanism includes a frame 901, a material tray 902, a swing arm 903, and a guide roller 904. The material tray 902 is connected to the frame 901 through a bracket. The swing arm 903 is connected to the bracket, and the guide roller 904 is connected to the swing arm 903. The grafting clip raw material 902-1 on the material tray 902 bypasses the guide roller 904 and is conveyed downward. The clamping mechanism includes a pulley positioning plate 905, a first guide clamping pulley 906, a second guide clamping pulley 907, a clamping finger cylinder 908, a first grafting clip jaw 909, a clamping fixed finger cylinder 910, a second grafting clip jaw 911, a clamping telescopic cylinder 912, an automatic shearing mechanism 913, an automatic pliers mechanism 914, an automatic pliers forward extension linear module 915, a first Y-axis direction linear module 916, a second Y-axis direction linear module 917, a support frame 918, and a bottom plate 919. The first guide clamping pulley 906 and the second guide clamping pulley 907 are respectively rotatably connected to the pulley positioning plate 905. The clamping telescopic cylinder 912 is fixedly installed on the pulley positioning plate 905. The cylinder body of the clamping finger cylinder 908 is connected to the telescopic rod of the clamping telescopic cylinder 912. The first grafting clip jaw 909 is connected to the two fingers of the clamping finger cylinder 908. The cylinder body of the clamping fixed finger cylinder 910 is fixedly connected to the pulley positioning plate 905. The second grafting clip jaw 911 is connected to the two fingers of the clamping fixed finger cylinder 910. The second grafting clip jaw 911 is located below the first grafting clip jaw 909. The automatic shearing mechanism 913 is provided with scissors 913-1, and the automatic shearing mechanism 913 can generally adopt a pneumatic method. The automatic pliers mechanism 914 is provided with pliers 914-1, and the automatic pliers mechanism 914 can adopt a pneumatic method. The scissors 913-1 are located below the second grafting clip jaw 911. In the initial state, the pliers 914-1 are located below the scissors 913-1. The automatic pliers mechanism 914 is connected to the slider of the automatic pliers forward extension linear module 915. The first Y-axis direction linear module 916 is provided with a first slider and a second slider (the first slider is the driving slider, and the second slider is the passive slider). The second Y-axis direction linear module 917 is provided with a first slider (this first slider is the driving slider). The support frame 918 is fixedly connected to the first slider of the first Y-axis direction linear module 916. The automatic shearing mechanism 913 is fixedly installed on the support frame 918. The pulley positioning plate 905 is fixedly connected to the support frame 918. The automatic pliers forward extension linear module 915 is fixedly connected to the bottom plate 919. A part of the bottom plate 919 is fixedly connected to the second slider of the first Y-axis direction linear module 916, and another part of the bottom plate 919 is fixedly connected to the first slider of the second Y-axis direction linear module 917.

[0092] The frame 901 is fixedly connected to the machine frame 100. The grafting clip raw material 902-1 bypasses the first guide clamping pulley 906 and the second guide clamping pulley 907 in sequence.

[0093] As Figure 21 andFigure 22 As shown, the rootstock cutting mechanism 1000 includes a base 1001, a cylinder 1002, a cutting blade connecting frame 1003, and a cutting blade 1004. The cylinder 1002 is fixedly installed on the base 1001. The cutting blade connecting frame 1003 is connected to the telescopic rod of the cylinder 1002, and the cutting blade 1004 is connected to the cutting blade connecting frame 1003. The base 1001 is fixedly connected to the bottom plate 919. The cutting blade 1004 is planar and obliquely arranged.

[0094] The cutting blade 1004 can be replaced. To achieve another cutting effect, such as Figure 23 As shown, a cutting blade group 1005 is adopted. The cutting blade group 1005 includes a first blade 1005-1 and a second blade 1005-2. The first blade 1005-1 is connected to the cutting blade connecting frame 1003, and the second blade 1005-2 is connected to the cutting blade connecting frame 1003. The first blade 1005-1 is planar and located in the horizontal plane, and the second blade 1005-2 is planar and located in the vertical direction. The second blade 1005-2 is located below the first blade 1005-1. The second blade 1005-2 exceeds the edge range of the first blade 1005-1, and the edge of the second blade 1005-2 is in the front, and the edge of the first blade 1005-1 is in the back. When cutting the rootstock stem, the second blade 1005-2 first completes the splitting action in the vertical direction, and then the first blade 1005-1 performs the cross-cutting in the horizontal direction, so as to achieve a stepped composite cutting effect.

[0095] The working process of the feeding and clamping device 900 is as follows: The feeding and clamping finger cylinder 908 acts to close the first grafting clip jaw 909 to clamp the raw material of the grafting clip; the clamping fixed finger cylinder 910 acts to open the second grafting clip jaw 911; the telescopic rod of the feeding and clamping telescopic cylinder 912 extends downward by a certain distance to supply a fixed length of the next grafting clip; by circulating in this way, a small section of grafting clip can be continuously provided; the second grafting clip jaw 911 closes to clamp the raw material of the grafting clip, realizing the cooperative clamping state of the double jaws to ensure the stable positioning of the grafting clip; the pliers 914-1 directly below the second grafting clip jaw 911 close to precisely clamp a part of the raw material of the grafting clip, and a part of the clamped grafting clip opens; the scissors 913-1 perform a cutting action (closing and then opening) to cut off a small section of the raw material of the grafting clip, and the pliers 914-1 obtain a grafting clip of a certain length (the grafting clip of a certain length is in an open state under the clamping force of the pliers, such as Figure 30As shown). Then, the first grafting clip jaws 909 open; next, the telescopic rod of the clip supply telescopic cylinder 912 retracts to return the first grafting clip jaws 909 to the initial position; next, the first grafting clip jaws 909 close; next, the second grafting clip jaws 911 open; next, the telescopic rod of the clip supply telescopic cylinder 912 extends downward by a certain distance to perform the fixed-length supply of the next grafting clip. By repeating this cycle, a small section of grafting clips can be continuously provided.

[0096] The following describes the entire grafting operation process:

[0097] Step S1, the operator manually feeds the ear seedling turnover device 200, places the ear seedling 1 at the ear seedling jaws 205, and the ear seedling jaws 205 close to clamp the ear seedling 1.

[0098] Step S2, the rotating platform 201 operates to rotate the finger cylinder positioning plate 202 by a certain angle, so that the ear seedling jaws 205 carry the ear seedling 1 to the scion picking work position.

[0099] Step S3, the end effector operates on the ear seedling 1 located at the scion picking work position. Refer to Figure 24 , both the third ear seedling clamping jaws 425 and the second ear seedling clamping jaws 423 are in the open state. The finger cylinder 415 for driving the first ear seedling clamping jaws operates to first close the first ear seedling clamping jaws 416 to embrace the stem of the ear seedling 1 (correct the deviation of the stem bent in the left and right directions to ensure that the stem is in the vertical direction); next, the telescopic rod of the first locking push block driving cylinder 410 retracts, and then the first locking push block 414 moves forward. The middle part of the first locking push block 414 abuts against the stem of the ear seedling (the stem of the ear seedling is embedded in the groove in the middle part of the first locking push block 414 and is abutted), correct the deviation of the ear seedling stem bent in the front and back directions to ensure that the stem is in the vertical direction, and realize three-point positioning; next, the fourth-level execution unit operates, the double-axis cylinder 434 works to make the scion cutting blade connecting frame 439 move forward, the scion cutting blade connecting frame 439 drives the scion cutting blade 440 to move forward, and then the scion cutting blade 440 cuts the upper part of the scion stem, and the upper part of the scion stem is cut off; next, the telescopic rod of the lifting cylinder 404 retracts, so that the first locking push block 414 and the first ear seedling clamping jaws 416 move upward by a certain distance; next, the fourth-level execution unit operates, the double-axis cylinder 434 works to make the scion cutting blade connecting frame 439 move backward, and the scion cutting blade 440 moves backward and retracts. At this time, the first ear seedling clamping jaws 416 and the first locking push block 414 jointly obtain a scion 2, as shown in Figure 3 、 Figure 5 、 Figure 6 shown. Since the shape of the scion cutting blade 440 is flat and inclined, the lower end surface of the scion 2 stem is an inclined surface.

[0100] It should be noted that the following method can be adopted: before the finger cylinder 415 for driving the first seedling gathering jaw actuates to close the first seedling gathering jaw 416 first, the third seedling gathering jaw 425 is in the orientation as shown in Figure 24 and is in an open state, while the second seedling gathering jaw 423 is not in the orientation as shown in Figure 24 but is in a retracted position (as shown in Figure 33 ) when the telescopic rod of the sliding platform driving cylinder 418 retracts, for avoidance. Then, in the following step S4, the telescopic rod of the sliding platform driving cylinder 418 extends to make the second seedling gathering jaw 423 extend forward to the position as shown in Figure 4 .

[0101] Step S4, the SCARA four-axis robotic arm 300 actuates to move with the end effector, and the end effector moves away from the scion picking station, referring to Figure 1 and Figure 3 . During the process of the end effector moving away from the scion picking station, the slide cylinder 406 works to make the first seedling gathering jaw 416 and the first locking push block 414 move backward horizontally, and the first seedling gathering jaw 416 and the first locking push block 414 then move the scion 2 backward a certain distance, as shown in Figure 13 . Further, the SCARA four-axis robotic arm 300 actuates to move with the end effector to the grafting station.

[0102] Step S5, the spikelet and seedling turnover device 200 rotates a certain angle to transfer the basal residues of the spikelets and seedlings formed after cutting to the waste station, and then the corresponding finger cylinder actuates to open the seedling gathering jaws, and the basal residues of the spikelets and seedlings will fall freely and fall freely into the collection device.

[0103] Step S6, upper stock operation.

[0104] Step S601, referring to Figure 14 , after the operator has completed the positioning and loading of the stock plug tray 3 in advance (the plug tray specifications include 5, 6, or 7 plants per row), the stock plug tray 3 is placed on the plug tray conveyor 500.

[0105] Step S602, the variable pitch module 801 works to make multiple jaws 803 be evenly distributed and match the hole positions of the plug tray. The initial state of the jaws 803 is an open state.

[0106] Step S603, the first linear module 601 and the second linear module 602 work to make the lifting support plate 603 descend, and the lifting support plate 603 drives the variable pitch module 801 to descend, and the variable pitch module 801 is in the initial position.

[0107] Step S604, the plug tray conveyor 500 operates to move the rootstock plug tray 3 to directly below the seedling grasping mechanism 800, and the stems of a row of rootstocks in the rootstock plug tray 3 are positioned between the two claws of the gripper 803 (the stem of one rootstock enters between the two claws of one gripper 803, and the stems of multiple rootstocks respectively enter between the two claws of multiple grippers 803).

[0108] Step S605, multiple grippers 803 close to clamp the stems of a row of rootstocks on the plug tray conveyor 500.

[0109] Step S606, the lifting support plate 603 ascends, and multiple grippers 803 take out a row of rootstocks from the rootstock plug tray 3, achieving equidistant grasping of the entire row of rootstocks, as Figure 15 shown.

[0110] Step S607, the pitch-changing module 801 operates to increase the spacing between multiple grippers 803, performing equiproportional expansion to make the spacing between multiple rootstocks match the spacing of the rootstock placement boxes 708 on the rootstock support plate 705.

[0111] Step S608, the translation drive motor 706 in the rootstock placement mechanism 700 operates to move the rootstock support plate 705 from the initial position to directly below the pitch-changing module 801, as Figure 17 shown. The rootstock placement box 708 is directly below the rootstock 4, and one rootstock placement box corresponds to one rootstock.

[0112] Step S609, open the gripper 803, and the rootstock 4 freely drops into the rootstock placement box 708.

[0113] Step S610, the translation drive motor 706 in the rootstock placement mechanism 700 operates to return the rootstock support plate 705 to the initial position. At this time, the rootstock in the rootstock placement box 708 is located at the grafting station.

[0114] Step S611, return the pitch-changing module 801 to the initial position for avoidance.

[0115] Step S7, refer to Figure 25 , the end effector starts collaborative clamping work at the grafting station to stably clamp the stem of the rootstock.

[0116] The end effector is placed close to a stock on the stock support plate 705 in the stock placing mechanism. The finger cylinder 424 for driving the third seedling gathering jaw operates to first close the third seedling gathering jaw 425 so as to embrace the stalk of the stock (correct the deviation of the stalk bent in the left and right directions to ensure that the stalk is in the vertical direction); next, the cylinder 426 for driving the second locking push block operates to move the second locking push block 433 forward, and the middle part of the second locking push block 433 abuts against the stalk of the stock (the stalk of the stock is abutted by being inserted into the groove 433-1), completing the correction of the stock stalk bent in the front and back directions to ensure that the stock stalk is in the vertical direction and achieving three-point positioning; next, the second seedling gathering jaw 423 closes to embrace the upper part of the stock stalk to achieve rigid constraint on the upper part of the stock stalk, as Figure 26 and Figure 27 shown, thus forming a double-section stable clamping system.

[0117] In step S8, the initial position of the cutting blade 1004 is aligned with the upper part of the stock stalk, and at the same time, the initial position of the second grafting clip jaw 911 is directly above the pliers 914-1. The telescopic rod of the cylinder 1002 extends to move the cutting blade 1004 forward, and the cutting blade 1004 cuts the upper part of the stock stalk (the cutting blade 1004 cuts the stalk at the vacancy between the upper end and the lower end of the second seedling gathering jaw 423), as Figure 27 shown, a small piece is cut off from the upper part of the stock stalk. Since the cutting blade 1004 is flat and inclined, the end face of the upper part of the stock stalk after cutting is an inclined plane, forming a cut surface matching the inclined plane of the scion cut; next, the telescopic rod of the cylinder 1002 retracts, and the cutting blade 1004 withdraws. It can be seen that the end effector can stably and reliably position the stalk of the stock to cooperate with the cutting blade to quickly and reliably cut the stalk of the stock.

[0118] In step S9, the second seedling gathering jaw 423 opens; next, the slide cylinder 406 of the end effector operates to move the first seedling gathering jaw 416 and the first locking push block 414 forward horizontally, and the first seedling gathering jaw 416 and the first locking push block 414 move the scion 2 forward, and the scion 2 is located above the cut stock; next, the second seedling gathering jaw 423 closes, the upper end of the second seedling gathering jaw 423 embraces the stalk of the scion 2, and the lower end of the second seedling gathering jaw 423 embraces the stalk of the cut stock.

[0119] In step S10, the first grafting clip jaw 909, the second grafting clip jaw 911, the clip feeding telescopic cylinder 912, the automatic shearing mechanism 913, and the automatic pliers mechanism 914 are linked so that the pliers 914-1 clamp and obtain a small section of grafting clip.

[0120] Step S11, the second linear module 917 in the Y-axis direction operates to translate the bottom plate 919 by a certain distance. The bottom plate 919 drives the automatic clamp mechanism 914 to translate to the position where the pliers 914-1 are aligned with the upper part of the cut rootstock stem. At this time, the cutting blade 1004 moves to the next grafting station, preparing to operate on the next rootstock.

[0121] Step S12, the automatic clamp forward linear module 915 operates to move the automatic clamp mechanism 914 forward. The pliers 914-1 drive a small section of grafting clip forward, and a small section of grafting clip 5 surrounds the upper end of the cut rootstock stem and the lower end of the scion 2 stem, as Figure 29 and Figure 31 shown.

[0122] Step S13, the lifting cylinder 404 operates to drive the first seedling gathering jaw 416 and the first locking push block 414 to move the scion 2 downward along the Z-axis direction, so that the lower end face of the scion 2 stem fits with the upper end face of the cut rootstock stem, as Figure 28 and 29 shown.

[0123] Step S14, release the pliers 914-1, and the grafting clip 5 is buckled at the connection between the scion 2 stem and the cut rootstock stem to complete the grafting task and form a grafted seedling; next, the automatic clamp forward linear module 915 operates to move the automatic clamp mechanism 914 backward, and the pliers 914-1 retract.

[0124] Step S15, move the first locking push block 414 backward to retract, open the first seedling gathering jaw 416, open the second seedling gathering jaw 423, move the second locking push block 433 backward to retract, and open the third seedling gathering jaw 425.

[0125] Step S16, the first linear module 916 in the Y-axis direction operates to move the support frame 918. The support frame 918 drives the pulley positioning plate 905, the clip supply telescopic cylinder 912, the clip supply finger cylinder 908, the clip fixed finger cylinder 910, and the automatic cutting mechanism 913 to move, so that the second grafting clip jaw 911 is located directly above the pliers 914-1. Realize the process of following the pliers 914-1.

[0126] Step S17, the SCARA four-axis robotic arm 300 operates to drive the end effector to move to a position close to the scion seedling turnover device 200, preparing to operate on the next scion seedling.

[0127] When all the grafted seedlings are present in the rootstock placement boxes 708 on the rootstock support plate 705, the following replanting operation is carried out:

[0128] Step 1), the first linear module 601 and the second linear module 602 work to move the lifting support plate 603. The lifting support plate 603 drives the variable pitch module 801 to move, so that the variable pitch module 801 moves to a position where multiple clamping jaws 803 are aligned with the stems of the grafted seedlings on the horizontal plane, the spacing between the multiple clamping jaws 803 matches the spacing between the multiple grafted seedlings, and the clamping jaws 803 are in an open state.

[0129] Step 2), the translation drive motor 706 in the rootstock placement mechanism 700 works to move the rootstock support plate 705 below the multiple clamping jaws 803 in the variable pitch module 801. At this time, the stems of the grafted seedlings enter between the two claws of the clamping jaws 803 (specifically, the stem part below the grafting clip).

[0130] Step 3), close the multiple clamping jaws 803 to clamp the grafted seedlings, as Figure 32 shown.

[0131] Step 4), raise the lifting support plate 603 by a certain distance, so that the grafted seedlings are separated from the rootstock placement box 708.

[0132] Step 5), the translation drive motor 706 in the rootstock placement mechanism 700 works to return the rootstock support plate 705 to its initial position.

[0133] Step 6), lower the lifting support plate 603. The multiple clamping jaws 803 drive a row of grafted seedlings to move downward. During the process of lowering the lifting support plate 603, the variable pitch module 801 works to make the spacing between the multiple clamping jaws 803 match the spacing of the vacancies in the rootstock plug tray 3 until a row of grafted seedlings is placed in the vacancies of the rootstock plug tray 3.

[0134] Step 7), open the multiple clamping jaws 803.

[0135] Step 8), raise the lifting support plate 603 to move the variable pitch module 801 to a position where it is ready to operate on the next row of rootstocks in the rootstock plug tray 3.

[0136] In the above grafting operation process, due to the use of the spike seedling cutting blade 440 and the cutting blade 1004, the butt joint grafting method is realized. If the spike seedling cutting blade 440 is replaced with the spike seedling cutting blade 441 by replacing the spike seedling cutting blade connecting frame 439, as Figure 11As shown, the spikelet cutting blade 441 consists of two planar blades forming an included angle; and the cutting blade 1004 is replaced with a cutting blade set 1005, which includes a first blade 1005-1 and a second blade 1005-2. The edge of the second blade 1005-2 extends beyond the edge range of the first blade 1005-1, with the edge of the second blade 1005-2 in the front and the edge of the first blade 1005-1 in the back; then the split grafting method can be achieved (specifically, the second blade 1005-2 first splits the stem along the axial direction, and then the first blade 1005-1 removes a small piece from above along the radial direction to form the upper structure of the rootstock stem that meets the requirements of split grafting). It can be seen that by replacing different types of spikelet cutting blades and rootstock stem cutting blades, the requirements of different grafting processes can be effectively met.

[0137] For the spikelet cutting blade, a complete set of spikelet cutting blade connecting brackets 439 and spikelet cutting blades 440 can be replaced, so as to realize the installation and use of spikelet cutting blades at different inclination angles; correspondingly, the inclination angle of the cutting blade 1004 is adjusted for matching.

[0138] Driven by the robotic arm, the entire end effector can move along the Z-axis direction, thereby adjusting the positions of the first seedling gathering jaw 416 and the first locking push block 414 in the Z-axis direction. During the process of obtaining scions, by adjusting the positions of the first seedling gathering jaw 416 and the first locking push block 414 in the Z-axis direction, the positioning position of the spikelets is adjusted, and then the cutting position of the spikelet stems is adjusted, so that scions with different stem lengths can be obtained according to different actual needs.

[0139] The processes of correcting and positioning the scions, correcting and positioning the rootstock stems, and fitting the lower end face of the scion 2 stem with the upper end face of the cut rootstock stem are completed by the same set of mechanisms, that is, by the end effector, which is conducive to quickly and accurately implementing the fitting process.

Claims

1. An end effector, characterized in that, It includes an upper bracket, a lower bracket, a fixing rod, a first-stage execution unit, a second-stage execution unit, a third-stage execution unit and a fourth-stage execution unit. The lower bracket is connected to the upper bracket through the fixing rod. The first-stage execution unit includes a lifting mechanism, a first telescopic mechanism, a second telescopic mechanism, a first locking push block, a first finger cylinder for driving the seedling gathering claw and a first seedling gathering claw. The first seedling gathering claw includes a left claw and a right claw. The left claw is provided with a locking push block receiving hole, and the right claw is provided with a locking push block receiving hole. The left claw and the right claw are respectively connected to two fingers of the first finger cylinder for driving the seedling gathering claw. The left part of the first locking push block is located in the locking push block receiving hole of the left claw, and the right part of the first locking push block is located in the locking push block receiving hole of the right claw. The second telescopic mechanism is used to make the first locking push block move telescopically, and the first telescopic mechanism is used to make the first locking push block and the first seedling gathering claw move telescopically synchronously. The lifting mechanism is connected to the upper bracket, and the lifting mechanism is used to make the first locking push block and the first seedling gathering claw move up and down synchronously. The second-stage execution unit includes a third telescopic mechanism, a second finger cylinder for driving the seedling gathering claw and a second seedling gathering claw. The second seedling gathering claw includes a left side claw and a right side claw. The left side claw is provided with a notch, and the right side claw is provided with a notch. The left side claw and the right side claw of the second seedling gathering claw are respectively connected to two fingers of the second finger cylinder for driving the seedling gathering claw. The third telescopic mechanism is used to make the second seedling gathering claw move telescopically. The third-stage execution unit includes a fourth telescopic mechanism, a third finger cylinder for driving the seedling gathering claw, a third seedling gathering claw and a second locking push block. The third seedling gathering claw includes a left claw with a locking push block receiving hole and a right claw with a locking push block receiving hole. The left claw and the right claw of the third seedling gathering claw are respectively connected to two fingers of the third finger cylinder for driving the seedling gathering claw. The left part of the second locking push block is located in the locking push block receiving hole of the left claw of the third seedling gathering claw, and the right part of the second locking push block is located in the locking push block receiving hole of the right claw of the third seedling gathering claw. The third finger cylinder for driving the seedling gathering claw is fixedly connected to the lower bracket. The fourth telescopic mechanism is used to make the second locking push block move telescopically. The fourth-stage execution unit includes a fifth telescopic mechanism, a connecting frame for the ear seedling cutting blade and an ear seedling cutting blade. The ear seedling cutting blade is connected to the front part of the connecting frame for the ear seedling cutting blade. The fifth telescopic mechanism is used to make the connecting frame for the ear seedling cutting blade move telescopically. The front part of the connecting frame for the ear seedling cutting blade is located in the notches of the left side claw and the right side claw of the second seedling gathering claw. The first seedling gathering claw, the second seedling gathering claw and the third seedling gathering claw are arranged in an upper, middle and lower layout.

2. The end effector according to claim 1, wherein: The lifting mechanism includes a lifting cylinder and a lifting plate. The lifting plate is connected to the telescopic rod of the lifting cylinder, and the lifting cylinder is fixedly connected to the upper bracket. The first telescopic mechanism includes a slide cylinder and a sliding substrate. The sliding substrate is fixedly connected to the cylinder body of the slide cylinder. The slide cylinder is provided with a slide, and the slide is fixedly connected to the lifting plate. The finger cylinder for driving the first seedling gathering claw is fixedly connected to the sliding substrate. The second telescopic mechanism includes a first locking push block driving cylinder, a telescopic block, a second upper guiding shaft, a first upper guiding shaft, a first linear bearing connecting plate, a first linear bearing and a second linear bearing. The first linear bearing and the second linear bearing are respectively fixedly connected to the first linear bearing connecting plate. The first upper guiding shaft passes through the first linear bearing, and the second upper guiding shaft passes through the second linear bearing. The telescopic block is connected to the telescopic rod of the first locking push block driving cylinder. The rear end of the first upper guiding shaft is fixedly connected to the telescopic block, and the rear end of the second upper guiding shaft is fixedly connected to the telescopic block. The first linear bearing connecting plate is fixedly connected to the sliding substrate of the first telescopic mechanism, and the first locking push block driving cylinder is fixedly connected to the sliding substrate of the first telescopic mechanism. The front end of the first upper guiding shaft is fixedly connected to one end of the first locking push block, and the front end of the second upper guiding shaft is fixedly connected to the other end of the first locking push block. The third telescopic mechanism includes a sliding platform driving cylinder, a sliding platform, a first linear bearing seat, a second linear bearing seat and a sliding platform driving cylinder telescopic rod fixing seat. 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, and 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 claw is fixedly connected to the sliding platform. The fourth telescopic mechanism includes a second locking push block driving cylinder, a guiding shaft connecting plate, a first middle guiding shaft, a second middle guiding shaft, a second linear bearing connecting plate, a third linear bearing and a fourth linear bearing. The second locking push block driving cylinder is fixedly connected to the lower bracket. The guiding shaft connecting plate is fixedly connected to the telescopic rod of the second locking push block driving cylinder. The second linear bearing connecting plate is fixedly connected to the lower bracket. The third linear bearing and the fourth linear bearing are respectively fixedly connected to the second linear bearing connecting plate. The first middle guiding shaft passes through the third linear bearing, and the second middle guiding shaft passes through the fourth linear bearing. The rear end of the first middle guiding shaft is fixedly connected to one end of the guiding shaft connecting plate, and the front end of the first middle guiding shaft is fixedly connected to one end of the second locking push block. The rear end of the second middle guiding shaft is fixedly connected to the other end of the guiding shaft connecting plate, and the front end of the second middle guiding shaft is fixedly connected to the other end of the second locking push block. The second middle guide shaft of the fourth telescopic mechanism in the third-level actuator unit passes through the first linear bearing block of the third telescopic mechanism in the second-level actuator unit, and the first middle guide shaft of the fourth telescopic mechanism in the third-level actuator unit passes through the second linear bearing block of the third telescopic mechanism in the second-level actuator unit; The fifth telescopic mechanism includes a double-acting cylinder, a first lower guide shaft, a second lower guide shaft, a third linear bearing block, and a fourth linear bearing block. The double-acting cylinder is fixedly connected to the bottom surface of the lower bracket. The double-acting cylinder is provided with a telescopic block. The third linear bearing block and the fourth linear bearing block are respectively fixedly connected to the bottom surface of the lower bracket. The first lower guide shaft passes through the third linear bearing block, and the second lower guide shaft passes through the fourth linear bearing block. The seedling cutting blade connecting frame is fixedly connected to the telescopic block of the double-acting cylinder. The front end of the first lower guide shaft is fixedly connected to the seedling cutting blade connecting frame, and the front end of the second lower guide shaft is fixedly connected to the seedling cutting blade connecting frame.

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

4. The end effector according to claim 1 or 2, characterized in that, The shape of the seedling cutting blade is flat, and the seedling cutting blade is arranged obliquely.

5. The end effector according to claim 1 or 2, characterized in that, The seedling cutting blade includes two flat blades forming an angle.

6. The end effector according to claim 1 or 2, characterized in that, The end effector further includes an upper carrying hanger, and the upper bracket is fixedly connected to the upper carrying hanger.

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