Grafting scion tree seedling treatment device

Abstract

The application discloses a kind of grafting scion tree seedling processing device, including scion tree first cutting transport module, seedling posture first alignment module, seedling posture second alignment module, scion tree after processing transport module, scion tree secondary end cutting module, scion tree growth point alignment adjustment module, cotyledon direction adjustment module;Seedling cup is transported to cotyledon direction adjustment module by distance-changing and direction-changing swing arm module such as conveyer, seedling cup and completes cotyledon position adjustment;Seedling posture first alignment module and seedling posture second alignment module carry out seedling plant righting operation;Scion tree first cutting transport module cuts scion tree and is transported to scion tree growth point alignment adjustment module and detects growth point, after longitudinal attitude adjustment, scion tree secondary end cutting module carries out the secondary cutting of scion tree;It is sent to grafting module based on grafting clamp equidistant sorting mechanism by scion tree after processing transport module, enters next process.This scheme is more accurate to carry out the cutting processing of scion tree.

Description

Technical Field

[0001] This invention relates to a grafting device, specifically a grafting scion seedling treatment device. Background Technology

[0002] In the current field of grafting machines, there are manual grafting and mechanical grafting.

[0003] Mechanical grafting, such as CN117796244A, discloses a plug-in vegetable grafting machine, which includes a scion processing mechanism. The scion processing mechanism includes a scion cutting device, a scion gathering device, a wood clamping device, and a scion conveying mechanism. The scion gathering device includes a scion gathering mechanism and a first auxiliary gathering mechanism that cooperates with it. It is used to gather and cut the roots of the scion and move it to the grafting and docking mechanism.

[0004] Grafted scions, especially melon seedlings, are easily damaged during the grafting process due to their soft stems and tender cotyledons. Therefore, the problem with the existing technology is that the growth point is not detected, making it difficult to accurately position the scion cutting at the growth point or cotyledon junction, which affects the survival and growth of the grafted scion. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a grafting scion seedling treatment device that detects the growth point and adjusts the cotyledon direction to more accurately cut the scion, thereby improving the survival and growth of the grafted scion.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical means:

[0007] A grafted scion seedling treatment device includes a transport module, a cutting module, a primary scion cutting and transport module, a primary seedling posture calibration module, a secondary seedling posture calibration module, a post-treatment scion transport module, a secondary scion end cutting module, a scion growth point calibration and adjustment module, and a cotyledon direction adjustment module. The primary seedling posture calibration module, the post-treatment scion transport module, the secondary scion end cutting module, and the scion growth point calibration and adjustment module are all mounted on a frame. The primary scion cutting and transport module is installed to one side of the cotyledon direction adjustment module, with its working opening facing the cotyledon direction adjustment module. The primary seedling posture calibration module is located behind the cotyledon direction adjustment module, and the secondary seedling posture calibration module is located diagonally above it. The primary scion cutting and transport module transports the seedling cups to the scion growth point calibration and adjustment module, which is installed above the secondary scion end cutting module. The cotyledon direction adjustment module is installed at the secondary scion end cutting module. The seedling cups are transported to the seedling cup transport arm via a conveyor belt. At the module level, the seedling cup conveying swing arm module sequentially holds and lifts the seedling cups, then rotates 90 degrees around its axis, transporting the seedling cups to the cotyledon orientation adjustment module. This module performs a full rotation of the seedling cup, detects the cotyledon position, and adjusts the cotyledon orientation. The seedling posture primary calibration module and the seedling posture secondary calibration module extend to perform seedling straightening operations. The scion primary cutting and transport module extends to the seedling root, completing the initial cutting and holding of the scion seedling and transporting it to the scion growth point calibration and adjustment module. The scion growth point calibration and adjustment module detects the growth point of the seedling and adjusts the longitudinal posture of each seedling. Then, it moves the seedling downward so that the grafting cutting position of the scion seedling is aligned with the secondary end cutting module. The secondary end cutting module performs a secondary cutting of the scion seedling, completing the incision preparation before grafting. The scion growth point calibration and adjustment module delivers the processed seedling to the scion processing and transportation module. The scion processing and transportation module then transports the seedling to the grafting module based on the equidistant sorting mechanism of the grafting clip, and proceeds to the next process.

[0008] This technical solution involves two cuts. The first cut is for ease of transport, as the scion does not require its roots for final grafting. Transporting it along with the seedling cup would complicate the mechanism and increase the risk of soil clods being shaken out. Clogs from the upper scion operation could fall to the lower layer, affecting other components. Therefore, to facilitate transport and reduce machine malfunction, the bottom of the scion seedling is initially cut off, and the seedling cup and roots are then collected. The preliminarily cut seedling is transported directly to the subsequent processes. The second cut is to meet the requirements of the grafting incision. Specifically, it's the two incisions for the scion and rootstock to align during grafting. This second cut is performed to complete the grafting process. During operation, the seedling posture is adjusted using a mechanical growth point detection method for non-destructive testing of the growth point. The cotyledon direction is further adjusted for more precise scion cutting, improving the survival rate and growth of the grafted scion.

[0009] The primary cutting and transport module for saplings includes a cylinder fixing profile, a cylinder connecting fixing plate, a primary extension cylinder 2, a secondary transport cylinder connecting plate, a secondary transport cylinder, an end connecting plate, a primary cutting module support profile, a tertiary extension slide cylinder, a cylinder frame connecting plate, a clamping and adjusting linear module, a cylinder body connecting plate, and a primary clamping module. The primary extension cylinder 2 is mounted on the cylinder fixing profile via the cylinder connecting fixing plate. The secondary transport cylinder is mounted on the cylinder fixing profile perpendicular to the primary extension cylinder 2 via the secondary transport cylinder connecting plate. The end of the primary extension cylinder 2 is mounted on the primary cutting module support profile via the end connecting plate. The tertiary extension slide cylinder is mounted on the primary cutting module support profile. The tertiary extension slide cylinder is mounted on the frame via the cylinder frame connecting plate. The cylinder body connecting plate is mounted on the primary cutting module support profile via the clamping and adjusting linear module. The primary clamping module is mounted on the cylinder body connecting plate. The primary cutting module is mounted on the transverse profile of the primary cutting module support profile.

[0010] The clamping module is equipped with a flexible coupling clamping block that is driven by a finger cylinder to complete the clamping action. The flexible coupling clamping block is divided into a left block and a right block. The inner sides of the left and right blocks are vertically aligned with each other and have V-shaped clamping parts. The V-shaped clamping parts on the left and right blocks are V-shaped grooves. After the left and right blocks clamp, the cavity enclosed by the two V-shaped grooves can accommodate the clamped seedling.

[0011] The inner surfaces of the left and right blocks are provided with clamping coupling parts on both sides of the V-shaped clamping part. The clamping coupling part on the right block is a coupling groove, and the clamping coupling part on the left block is a coupling protrusion.

[0012] The flexible coupling clamping block is divided into a left block and a right block. A cutting blade and a cutting coupling block are respectively set on the bottom surface. The cutting coupling block and the cutting blade are provided with a blade receiving groove. During the cutting process, the cutting blade extends into the blade receiving groove, which prevents the cutting blade from being damaged during the cutting process.

[0013] The seedling posture primary calibration module includes a slider cylinder connecting plate, a primary adjustment module, a primary calibration cylinder connecting frame, a secondary slide cylinder, a tertiary posture parallel adjustment linear module, a primary calibration module support profile, a primary calibration module support plate, and a primary extension slide cylinder. The primary adjustment modules are spaced apart on the slider cylinder connecting plate. The primary calibration cylinder connecting frame is mounted on the secondary slide cylinder. The secondary slide cylinder is mounted on the primary calibration module support plate. The primary calibration module support plate is mounted on the primary calibration module support profile. The primary calibration module support profile is mounted on the primary extension slide cylinder via the slider cylinder connecting plate. After the seedling completes preliminary inspection, the primary extension slide cylinder drives the primary adjustment module to initially extend, opening the gripper. The secondary slide cylinder completes the extension of this module. After extension, the gripper of the primary adjustment module aligns with the bottom of the seedling. The tertiary posture parallel adjustment linear module drives the primary adjustment module upward, and simultaneously, the primary adjustment module begins to close. This process continues until the tertiary posture parallel adjustment linear module completes its adjustment, at which point the primary adjustment module also closes.

[0014] The primary adjustment module includes a primary adjustment finger cylinder. Each of the two pneumatic grippers of the primary adjustment finger cylinder is equipped with a clamping adjustment claw, which is arc-shaped. The two clamping adjustment claws are driven to clamp together by the primary adjustment finger cylinder, and the ends of the two clamping adjustment claws cross each other when clamping. A guide positioning plate is provided on one side of the two clamping adjustment claws, and a positioning cavity is provided on the side of the guide positioning plate facing the clamping adjustment claws. When clamping, the two clamping adjustment claws cooperate with the positioning cavity to straighten and support the seedling.

[0015] The seedling posture secondary calibration module includes a secondary adjustment extension slide cylinder, a cylinder connecting profile, a secondary lifting calibration cylinder, a secondary lifting calibration cylinder connecting plate, a secondary calibration cylinder connecting plate, the main body profile of the seedling posture secondary calibration module, and a secondary calibration module. The secondary adjustment extension slide cylinder is mounted on the frame and connected to the cylinder connecting profile. The secondary lifting calibration cylinder is connected to the cylinder connecting profile via the secondary lifting calibration cylinder connecting plate. The secondary lifting calibration cylinder is connected to the secondary calibration cylinder connecting plate, and the secondary calibration module is also connected to the secondary calibration cylinder connecting plate. The secondary calibration module includes a secondary calibration cylinder connecting plate, with secondary calibration modules spaced apart on its side. The connecting plate is extended and retracted by a secondary adjustment extension slide cylinder, and raised and lowered by a secondary lifting calibration cylinder. The secondary calibration module also includes a secondary calibration connecting arm, a secondary calibration finger cylinder, and a secondary calibration V-shaped rolling element. The connecting arm is mounted on the gripper of the finger cylinder. The V-shaped rolling element is mounted on the connecting arm and hinged to it. The connecting arm has a large V-shaped opening, providing initial guidance to the seedling stem onto the V-shaped rolling element. The system fixes the seedling stem in its front and rear positions. Under the action of the secondary lifting calibration cylinder, the secondary calibration connecting arm is lifted upward after clamping. The secondary calibration V-shaped rolling body rolls along the seedling stem to further achieve precise positioning of the seedling stem. The secondary calibration module is equipped with a secondary calibration finger cylinder. The inner surfaces of the two secondary calibration connecting arms of the secondary calibration finger cylinder are equipped with secondary calibration V-shaped rolling bodies. The secondary calibration V-shaped rolling bodies are horizontally set, and their two ends are hinged to the secondary calibration connecting arms. The middle of the secondary calibration connecting arm is concave to form a clamping part. When the two secondary calibration V-shaped rolling bodies are close together, the two clamping parts cooperate to form a clamping cavity, which accommodates the seedling. The secondary calibration V-shaped rolling bodies and the seedlings experience rolling friction, reducing abrasion to the seedlings.

[0016] The post-processing transport module for saplings includes a primary adjustment module, a post-processing primary transport rodless cylinder, a post-processing secondary transport rodless cylinder, a post-processing transport cylinder connecting plate, and a rodless cylinder connecting plate. The post-processing transport cylinder connecting plate is equipped with spaced-apart primary adjustment modules, each with an adjustment finger cylinder. The post-processing transport cylinder connecting plate is connected to the slide of the post-processing secondary transport rodless cylinder, which drives the post-processing transport cylinder connecting plate. The post-processing secondary transport rodless cylinder is connected to the post-processing primary transport rodless cylinder via the rodless cylinder connecting plate, and the post-processing primary transport rodless cylinder drives the rodless cylinder connecting plate.

[0017] The secondary end-cutting module for scions includes a front part of the scion-cutting module, a scion-end-transferring module, and a rear part of the scion-cutting module. The front part of the scion-cutting module, the scion-end-transferring module, and the rear part of the scion-cutting module are all installed on the frame. At the same time, the front part of the scion-cutting module is installed in front of the rear part of the scion-cutting module. The scion-end-transferring module is installed in the lower middle part between the rear part of the scion-cutting module and the front part of the scion-cutting module.

[0018] The front part of the sapwood cutting module includes a cutting extension cylinder and an end cutting module. The cutting extension cylinders are arranged in groups at intervals, and each group includes an upper cutting extension cylinder and a lower cutting extension cylinder arranged at the top and bottom. The end cutting module is installed at the end of the cutting extension cylinder. The cutting module connected to the upper cutting extension cylinder is adjusted to perform a horizontal cutting. The end cutting module connected to the lower cutting extension cylinder is adjusted to perform a bevel cutting at the required angle.

[0019] The end-cutting module includes an angle adjustment seat, a tool holder body, a connecting rotating shaft, a set screw, a swing clamping block, a cutting blade, a spherical washer, a clamping adjustment screw, and a clamping spring. The angle adjustment seat is installed at the end of the cutting extension cylinder. The angle adjustment seat is connected to the tool holder body via the connecting rotating shaft, and the connection between the connecting rotating shaft and the tool holder body is secured with a set screw. The tool holder body has a slot to position the cutting blade in the slot using a self-leveling ball washer. The cutting blade has a groove and a spherical opening. The swing clamping block is installed above the spherical opening of the cutting blade. The self-leveling ball washer is angled and pressed against the swing clamping block. The self-leveling ball washer has a clamping spring, and the self-leveling ball washer and clamping spring are connected and clamped by the clamping adjustment screw. Simultaneously, the swing clamping block levels the contact surface of the cutting blade. The clamping force on the self-leveling ball washer is adjusted by the clamping adjustment screw.

[0020] The sapling end cutting module includes a lifting rodless cylinder, a rotary cutting module, a rotary cutting module connecting plate, a connecting module support profile, and a lifting rodless cylinder connecting plate. The rotary cutting module is equidistantly mounted on the rotary cutting module connecting plate. The rotary cutting module connecting plate is mounted on the connecting module support profile. The side of the connecting module support profile is mounted on the lifting rodless cylinder via the lifting rodless cylinder connecting plate. When the lifting rodless cylinder lifts, it drives the rotary cutting module connecting plate upwards, thus allowing the sapling end to enter the cutting position of the rotary cutting module. The rotary cutting module consists of a cutting taper adjustment block, a blade clamping block, a cutting blade, a clamping screw, a rotating pin, a rotating base block, and a cutting motor. The lower end of the rotating base block is connected to the cutting motor via a coupling. The rotating base block is connected to the moving shaft and has two symmetrically arranged fan-shaped bosses. Each fan-shaped boss has the same structure and arrangement. One side of the fan-shaped boss is connected to the cutting taper adjustment block. The bottom end of the blade clamping block is hinged to the cutting taper adjustment block through a rotating pin. The cutting taper adjustment block has an annular groove. The blade clamping block has a clamping screw that slides along the annular groove to adjust the angle of the blade clamping block. The blade clamping block is equipped with a cutting blade. The cutting blade is set at an angle and the two cutting blades are arranged in a V-shape. The cutting motor drives the rotating base block to rotate, which in turn drives the cutting taper adjustment block to rotate. The cutting taper adjustment block drives the blade clamping block to rotate, and the blade clamping block drives the cutting blade to rotate, thus completing the cutting of the bottom end of the scion seedling to form a conical grafting connection.

[0021] The sapling growth point calibration and adjustment module includes a primary lifting rodless cylinder, a rodless cylinder connecting plate, an adjustment module support frame, an adjustment straight line module, a growth point detection module, a seedling clamping claw, an adjustment locking claw, fixing screws, a secondary cylinder Z-shaped connecting plate, a secondary cylinder I-shaped connecting plate, an adjustment section connecting plate, and a fixed section connecting plate. The primary lifting rodless cylinder is connected to the frame. The primary lifting rodless cylinder is connected to the adjustment module support frame via the rodless cylinder connecting plate. Six adjustment straight line modules are equidistantly arranged on the adjustment module support frame. The adjustment straight line modules are connected to the growth point detection module and the seedling clamping claw via the adjustment section connecting plate and the secondary cylinder Z-shaped connecting plate. The growth point detection module is installed on the upper side of the seedling clamping claw. The adjustment module support frame also has a fixed section connecting plate, which is located below the adjustment section connecting plate and connected to the primary clamping module and the adjustment locking claw via the secondary cylinder I-shaped connecting plate. The primary clamping module is installed above the adjustment locking claw.

[0022] The growth point detection module includes a detection clamping cylinder, a clamping base block, a detection V-shaped roller, a pressure detection block, a piezoelectric film sensor, a pre-tension spring, a detection sliding block, and a detection sliding seat. The clamping base block and the detection sliding block are connected by fingers. The piezoelectric film sensor, pressure detection block, and detection sliding seat are respectively connected from one end of the top of the clamping base block to the other. The detection sliding seat has a connecting cavity containing the detection sliding block and the pre-tension spring. A detection shaft is located at one end of the detection sliding block, and the detection V-shaped roller is connected to the detection shaft. The module detects the clamping cylinder's operation. The two V-shaped rollers of the two growth point detection modules, which are set up to cooperate with each other, work together. When the V-shaped rollers roll along the seedling stem under the drive of the straight adjustment module, the detection shaft moves along the connecting cavity of the detection sliding seat. The pressure is transmitted to the piezoelectric film sensor through the detection sliding seat and the pressure detection block. Since the growth point of the seedling stem is convex outward, the pressure sensed by the piezoelectric film sensor will first increase and then decrease when passing through the growth point. Thus, the control system can complete the detection of the growth point position based on the pressure feedback obtained from the piezoelectric film sensor.

[0023] The seedling clamping claw includes a clamping air gripper, a Z-shaped fitting connecting arm, and a flexible coupling clamping block. The Z-shaped fitting connecting arm is Z-shaped. The bottom end of the Z-shaped fitting connecting arm is connected to the clamping air gripper, and the top end of the Z-shaped fitting connecting arm is connected to the flexible coupling clamping block. When the clamping air gripper closes, the Z-shaped fitting connecting arm drives the flexible coupling clamping block to engage, thereby completing the fixed clamping of the seedling. The adjusting clamping claw includes an adjusting gap clamping air gripper, an adjusting block connecting arm, and an end gap adjusting block. The end gap adjusting block has a two-step trapezoidal opening with a rectangular opening in the middle. At the same time, an inclined guide angle is provided above the rectangular opening to avoid damaging the seedling stem when adjusting the position of the module when the seedling position is limited here.

[0024] The cotyledon direction adjustment module includes a seedling detection base plate, a seedling cup preliminary positioning plate, an upper bearing positioning plate, a left-side double-gear support upright plate, a left-side double-gear support horizontal plate, a right-side gear support horizontal plate, a right-side gear support upright plate, a drive gear connecting shaft positioning plate, a drive gear input stepper motor, a sliding module drive gear in a slide groove, a clamping positioning mechanism side plate, an angle adjustment detection stepper motor, a tension sprocket adjustment frame, a tension sprocket, a driven gear, a stepper motor support frame, a parallel coupling cam groove clamping module, a driven gear shaft, a parallel transmission chain, a drive adjustment sprocket shaft, an end adjustment sprocket, an end adjustment gear, an adjustment transmission chain, a drive adjustment sprocket, a sliding rack, parallel sprockets, first and second stage transmission gears, a second stage transmission sprocket, and a second stage transmission shaft. The system consists of a three-stage transmission gear, a three-stage transmission shaft, a first-stage transmission shaft, and a parallel rear connecting plate; the seedling detection base plate serves as the support plate for this module; two seedling cup preliminary positioning plates are installed on the seedling detection base plate in pairs, forming an open shape and equidistantly spaced; both ends of the seedling detection base plate are connected to the upper bearing positioning plate via a clamping positioning mechanism side plate; a left-side double-gear support plate is installed at both ends of the seedling detection base plate, and the inner side of the left-side double-gear support plate is provided with a sliding rack, which, along with the three-stage transmission gear, forms a linear displacement guide structure; a left-side double-gear support horizontal plate is installed on the inner side above the left-side double-gear support plate; a right-side gear support plate is installed on one side of one end of the seedling detection base plate; a right-side gear support horizontal plate is installed on the inner side above the right-side gear support plate. Side; The active gear connecting shaft positioning plate is installed on the right boss of the seedling detection base plate. The boss has mounting countersunk holes for the connecting shaft and bearings of the active gear input stepper motor and the active gear of the sliding module of the slide plate. The active gear connecting shaft positioning plate is located on the upper side of the mounting countersunk holes on the boss. The connecting shaft of the active gear input stepper motor and the active gear of the sliding module of the slide plate passes through the mounting countersunk holes and the active gear connecting shaft positioning plate. Six angle adjustment detection stepper motors are equidistantly installed on the lower side of the stepper motor support frame. The stepper motor support frame is welded from steel plates and consists of two layers. The upper layer has an active adjustment sprocket shaft. The output shaft of the angle adjustment detection stepper motor is connected to the active adjustment sprocket shaft. The upper section of the active adjustment sprocket shaft is fixedly connected to the active adjustment sprocket. The seedling detection base plate has a rotating hole at the front, through which an end adjusting sprocket and an end adjusting gear are mounted via bearings and a fixed shaft, respectively. The end adjusting gear and the end adjusting sprocket are fixedly connected, and the end adjusting gear meshes with the lower teeth of the seedling cup. The bottom end of the third-stage drive shaft is mounted on the seedling detection base plate via a bearing, and the top end is rotatably hinged to the left-side double-gear support plate via a bearing. The second-stage drive shaft is equipped with a second-stage drive gear and a second-stage drive sprocket. The bottom end of the third-stage drive shaft is mounted on the seedling detection base plate via a bearing, and the top end is connected to the left-side double-gear support plate via a bearing. The second-stage drive gear and the third-stage drive gear are movably meshed. The third-stage drive gear meshes with a sliding rack. The first-stage drive shaft is installed below the driven gear shaft mounting sprocket.The three-stage drive shaft meshes with the sliding rack on its mounting side; the rear side of the sliding rack is connected to the right-side gear support plate; six parallel-coupled cam groove engaging modules are equidistantly mounted on the seedling detection base plate; a tension sprocket is mounted at one end of the tension sprocket adjustment frame; the tension sprocket adjustment frame is mounted on the seedling detection base plate, forming an angle-adjustable hinge; the end adjustment sprocket and the active adjustment sprocket are driven by an adjustment transmission chain, so that the power of the angle adjustment detection stepper motor is transmitted to the end adjustment sprocket, which in turn transmits the power to the seedling cup and makes it rotate; a driven gear is provided on the driven gear shaft, and a sprocket is provided below the driven gear; the active gear and the driven gear of the sliding module of the slide chute plate mesh, and when the active gear of the sliding module of the slide chute plate rotates, it drives the driven gear to rotate. The driven gear's lower sprocket transmits power to the secondary transmission sprocket via a chain, which in turn transmits power to the secondary transmission shaft. The secondary transmission gear meshes with the tertiary transmission gear, and the tertiary transmission gear meshes with the sliding rack, causing the sliding rack to slide. Simultaneously, the primary transmission shaft on the other side meshes with the sliding rack, rotating and causing the sliding rack to slide as well. The sliding rack connects to a parallel rear connecting plate, which in turn connects to a lower sliding camshaft, allowing the lower sliding camshaft to move. Ultimately, this causes the parallel coupled cam groove engaging module to engage. The parallel transmission chain ensures that both sliding racks slide simultaneously, resulting in simultaneous force on both sides and preventing asynchronous drive that could cause movement jamming.

[0025] The parallel coupling cam groove clamping module includes an upper parallel clamping arm, a cam groove plate, a clamping arm rotating support block, a lower parallel clamping arm, a clamping end rolling nylon wheel, a nylon wheel fixing and rotating assembly, an upper sliding cam roller, and a lower sliding cam shaft. The lower parallel clamping arm is hinged to the seedling detection base plate via a bearing on one side; the other side of the lower parallel clamping arm is hinged to the clamping arm rotating support block via a bearing. The cam groove plate has guide grooves on both the upper and lower sides, with the guide grooves on both sides distributed on the upper and lower sides respectively, their directions mutually coupled. One side's guide groove is larger than the other side's guide groove to avoid jamming at the intersection of the two grooves when both sides guide simultaneously. The rear end of the upper parallel clamping arm is connected to the clamping end rolling nylon wheel via the nylon wheel fixing and rotating assembly. The front end of the connecting arm is hinged to the upper sliding cam roller, which in turn engages with the upper guide groove of the cam groove plate. The two opening and closing claws are driven by a cam groove plate. The rear end of the lower parallel connecting arm is also equipped with a rolling nylon wheel for the clamping end. The front end of the lower parallel connecting arm is equipped with a lower sliding camshaft, a part of which is located in the lower guide groove. The lower guide groove and the lower sliding camshaft form rolling friction. When the cam groove plate is displaced, the lower parallel connecting arm and the upper parallel connecting arm are guided by the lower sliding camshaft and the upper sliding cam roller at the front end of the cam groove plate, respectively, so that their rear ends clamp together. This causes the two rolling nylon wheels at the end of the clamping end to contact the seed cup, thus achieving clamping. Attached Figure Description

[0026] Figure 1 This is a perspective view of the present invention.

[0027] Figure 2 This is a front view of the present invention.

[0028] Figure 3 This is a structural diagram of the primary cutting and transport module for stalks of wood according to the present invention.

[0029] Figure 4 This is a partial enlarged view of the mounting location of the primary bearing module and the primary cutting module of the present invention.

[0030] Figure 5 This is a three-dimensional view of the flexible coupling support block of the present invention.

[0031] Figure 6 This is a three-dimensional view of the seedling posture primary calibration module of the present invention.

[0032] Figure 7 This is a partial enlarged view of the first-level adjustment module of the present invention.

[0033] Figure 8 This is a partial front view of the first-level adjustment module of the present invention.

[0034] Figure 9This is a three-dimensional view of the seedling posture secondary calibration module of the present invention.

[0035] Figure 10 This is a partially enlarged view of the secondary calibration module of the present invention.

[0036] Figure 11 This is a perspective view of the stalk transportation module after processing according to the present invention.

[0037] Figure 12 This is a perspective view of the secondary end-cutting module for the stalk of the present invention.

[0038] Figure 13 This is a perspective view of the front part of the sapwood cutting module of the present invention.

[0039] Figure 14 This is a front view of the end-cutting module of the present invention.

[0040] Figure 15 This is a perspective view of the end-cutting module of the present invention.

[0041] Figure 16 This is a perspective view of the angle adjustment seat of the present invention.

[0042] Figure 17 These are the front view and full sectional projection of the angle adjustment seat of the present invention.

[0043] Figure 18 This is a perspective view of the rotary cutting module of the present invention.

[0044] Figure 19 This is a perspective view of the end-shaving module of the stalk wood of the present invention.

[0045] Figure 20 This is a perspective view of the rear part of the sapwood cutting module of the present invention.

[0046] Figure 21 This is the present invention. Figure 20 Enlarged view of section IV in the middle.

[0047] Figure 22 This is a perspective view of the protruding stiffener of the present invention.

[0048] Figure 23 This is a three-dimensional view of the spikelet growth point calibration and adjustment module of the present invention.

[0049] Figure 24 This is a partial enlarged view of point V of the spikelet growth point calibration and adjustment module of the present invention.

[0050] Figure 25 This is a three-dimensional view of the growth point detection module of the present invention.

[0051] Figure 26 This is a three-dimensional view of the seedling clamping claw of the present invention.

[0052] Figure 27 This is a perspective view of the adjusting latching claw of the present invention.

[0053] Figure 28 This is a perspective view of the end gap adjustment block of the present invention.

[0054] Figure 29 The leaf direction adjustment module of the present invention is three-dimensional. Figure 1 .

[0055] Figure 30 The leaf direction adjustment module of the present invention is three-dimensional. Figure 2 .

[0056] Figure 31 The leaf direction adjustment module of this invention is a three-dimensional structure after disassembling the left double gear support plate and the upper bearing positioning plate. Figure 3 .

[0057] Figure 32 This is the invention Figure 31 Enlarged view of section IX in the middle.

[0058] Figure 33 This is a perspective view of the seedling cup transmission module of the cotyledon direction adjustment module of the present invention.

[0059] Figure 34 The parallel coupling cam groove engaging module of the present invention is a three-dimensional Figure 1 .

[0060] Figure 35 The parallel coupling cam groove engaging module of the present invention is a three-dimensional Figure 2 .

[0061] Figure 36 The parallel coupled cam groove plate of the present invention is a three-dimensional Figure 1 .

[0062] Figure 37 The parallel coupled cam groove plate of the present invention is a three-dimensional Figure 2 .

[0063] Figure 38 This is a front view of the parallel coupling cam groove plate of the present invention.

[0064] Explanation of reference numerals in the attached figures:

[0065] 7000-Spirit Tree Seedling Treatment Device;

[0066] 7100-First-stage cutting and transport module, 7101-Cylinder fixing profile, 7102-Cylinder connecting fixing plate, 7103-First-stage extension cylinder, 7104-Second-stage transport cylinder connecting plate, 7105-Second-stage transport cylinder, 7106-End connecting plate, 7107-First-stage cutting module support profile, 7108-Third-stage extension slide cylinder, 7109-Cylinder frame connecting plate, 7110-Clamping adjustment linear module, 7111-Cylinder body connecting plate, 7112-First-stage clamping module, 71121-Finger cylinder, 71122-Finger end connecting arm, 71123-Flexible coupling clamping block, 7113-First-stage cutting module, 71131-Cutting coupling block, 71132-Cutting blade;

[0067] 7200-Seedling posture primary calibration module, 7201-Slider cylinder connecting plate, 7202-Primary adjustment module, 72021-Primary adjustment finger cylinder, 72022-Clamping adjustment claw, 72023-Guide positioning plate, 72024-Positioning plate support block, 7203-Primary calibration cylinder connecting frame, 7204-Secondary slide cylinder, 7205-Third-level posture parallel adjustment linear module, 7206-Primary calibration module support profile, 7207-Primary calibration module support plate, 7208-Primary extension slide cylinder;

[0068] 7300 - Seedling posture secondary calibration module, 7301 - Secondary adjustment extension slide cylinder, 7302 - Cylinder connecting profile, 7303 - Secondary lifting calibration cylinder, 7304 - Secondary lifting calibration cylinder connecting plate, 7305 - Secondary calibration cylinder connecting plate, 7306 - Seedling posture secondary calibration module main body profile, 7307 - Secondary calibration module, 73071 - Secondary calibration finger cylinder, 73072 - Secondary calibration connecting arm, 73073 - Secondary calibration V-type rolling element.

[0069] 7400 - Post-processing wood transport module, 7401 - Post-processing secondary transport rodless cylinder, 7402 - Post-processing primary transport rodless cylinder, 7403 - Post-processing transport cylinder connecting plate, 7404 - Rodless cylinder connecting plate.

[0070] 7500 - Secondary End Removal Module for Spike Trees, 7501 - Front Part of Spike Tree Removal Module, 75011-, 75012-, 75013 - Removal Extension Cylinder, 75014 - End Removal Module, 750141 - Angle Adjustment Seat, 750142 - Tool Holder Body, 750143 - Connecting Rotary Shaft, 750144 - Set Screw, 750145 - Swinging Clamping Block, 750146 - Removal Blade, 750147 - Spherical Washer 750148 - Clamping Adjustment Screw; 750149 - Clamping Spring; 7502 - Wood End Rotating Module; 75021 - Lifting Rodless Cylinder; 75022 - Rotary Cutting Module; 750221 - Cutting Taper Adjustment Block; 750222 - Blade Clamping Block; 750223 - Cutting Blade; 750224 - Clamping Screw; 750225 - Rotating Pin; 750226 - Rotating Base Block; 750227 - Cutting Motor; 750 23-Rotational cutting module connecting plate, 75024-Connecting module support profile, 75025-Lifting rodless cylinder connecting plate, 7503-Rear part of the sapwood cutting module, 750301-Rear part connecting piece, 750302-Beveled cutting module, 750303-Upper sliding connecting plate, 750304-Linear slide rail II, 750305-Linear slide rail connecting plate, 750306-Rear part extension cylinder, 750307-Rear part main body Profile, 750308 - Rear part extended cylinder connecting plate, 750309 - Rear part extended cylinder connecting L plate, 750310 - Parallel pneumatic gripper connecting plate, 750311 - Cutting and fastening module merging pneumatic gripper, 750312 - Clamping gripper reverse bending frame, 750313 - Fastening module opening and closing cylinder, 750314 - Fastening module connecting frame, 750315 - Fastening module interchangeable base, 750316 - Fastening block, 750317 - Extended stiffener plate;

[0071] 7600 - Cyathea growth point calibration and adjustment module; 7601 - First-stage lifting rodless cylinder; 7602 - Rodless cylinder connecting plate; 7603 - Adjustment module support profile frame; 7604 - Adjustment straight line module; 7605 - Growth point detection module; 76051 - Detection and clamping cylinder; 76052 - Fastening base block; 76053 - Detection V-shaped roller; 76054 - Pressure detection blocks on both sides; 76055 - Piezoelectric film sensor; 76056 - Preload spring; 76057 - Detection sliding block. 76058 - Detection sliding seat; 7606 - Seedling clamping claw; 76061 - Clamping pneumatic claw; 76062 - Z-shaped fitting connecting arm; 7607 - Adjusting snap-fit ​​claw; 76071 - Adjusting gap snap-fit ​​pneumatic claw; 76072 - Snap-fit ​​pneumatic claw end adjusting block connecting arm; 76073 - End gap adjusting block; 7608 - Fixing screw; 7609 - Secondary cylinder Z-shaped connecting plate; 7610 - Secondary cylinder I-shaped connecting plate; 7611 - Adjusting part connecting plate; 7612 - Fixing part connecting plate;

[0072] 7800-Cotyledon Direction Adjustment Module, 7801-Seedling Detection Base Plate, 7802-Seedling Cup Preliminary Positioning Plate, 7803-Upper Bearing Positioning Plate, 7804-Left Side Double Gear Support Vertical Plate, 7805-Left Side Double Gear Support Horizontal Plate, 7806-Right Side Gear Support Horizontal Plate, 7807-Right Side Gear Support Vertical Plate, 7808-Drive Gear Connecting Shaft Positioning Plate, 7809-Drive Gear Input Stepper Motor, 7810-Sliding Slide Plate Sliding Module Drive Gear, 7811-Clamping Positioning Mechanism Side Plate, 7812-Angle Adjustment Detection Stepper Motor, 7813-Tension Sprocket Adjustment Frame, 7814-Tension Sprocket, 7815-Driven Gear, 7816-Stepper Motor Support Frame, 7817-Parallel Coupled Cam Groove Clamping Module, 78171-Upper Parallel Clamping Arm, 78172-Cam Groove Plate, 78173-Clamping arm rotating support block, 78174-Lower side parallel clamping arm, 78175-Clamping end rolling nylon wheel, 78176-Nylon wheel fixed rotating assembly, 78177-Upper side sliding cam roller, 78178-Lower side sliding camshaft, 7818-Driven gear shaft, 7819-Parallel transmission chain, 7820-Active adjusting sprocket shaft, 7821-End adjusting sprocket, 7822-End adjusting gear, 7823-Adjusting transmission chain, 7824-Active adjusting sprocket, 7825-Sliding rack, 7826-Parallel sprocket one, 7827-Secondary transmission gear, 7828-Secondary transmission sprocket, 7829-Secondary transmission shaft, 7830-Third stage transmission gear, 7831-Third stage transmission shaft, 7832-First stage transmission shaft, 7833-Parallel rear connecting plate. Detailed Implementation

[0073] The present invention will be further described below with reference to the embodiments.

[0074] See Figures 1-38 As can be seen, the grafted scion seedling treatment device 7000 of the present invention comprises a scion primary cutting and transport module 7100, a seedling posture primary calibration module 7200, a seedling posture secondary calibration module 7300, a scion post-treatment transport module 7400, a scion secondary end cutting module 7500, a scion growth point calibration and adjustment module 7600, and a cotyledon direction adjustment module 7700; the seedling posture primary calibration module 7200, the scion post-treatment transport module 7400, the scion secondary end cutting module 7500, and the scion growth point calibration and adjustment module 7600 are all installed on the frame 6000; wherein the scion primary cutting and transport module 7100 is installed on one side of the cotyledon direction adjustment module 7700. The cotyledon orientation adjustment module 7700 has a working opening facing the cotyledon direction; a seedling posture primary calibration module 7200 is located behind the cotyledon orientation adjustment module 7700, and a seedling posture secondary calibration module 7300 is located diagonally above the cotyledon orientation adjustment module 7700; the primary cutting and transporting module 7100 transports the seedling cup to the cutting growth point calibration and adjustment module 7600; the cutting growth point calibration and adjustment module 7600 is installed above the treatment part of the secondary end cutting module 7500; the cotyledon orientation adjustment module 7700 is installed on the seedling after the secondary end cutting module 7500 has treated it; the grafting module 4000 based on the grafting clip equidistant sorting mechanism is installed at the part after the cotyledon orientation adjustment module 7700 has transported the cutting seedling.

[0075] See Figures 3-5It is known that the primary cutting and transport module 7100 includes a cylinder fixing profile 7101, a cylinder connecting fixing plate 7102, a primary extension cylinder 7103, a secondary transport cylinder connecting plate 7104, a secondary transport cylinder 7105, an end connecting plate 7106, a primary cutting module support profile 7107, a tertiary extension slide cylinder 7108, a cylinder frame connecting plate 7109, a clamping and adjusting linear module 7110, a cylinder body connecting plate 7111, and a primary clamping module 7112; wherein the primary extension cylinder 7103 is mounted on the cylinder fixing profile 7101 via the cylinder connecting fixing plate 7102; the secondary transport cylinder 7105 is perpendicular to the primary extension cylinder 7103 via the secondary transport cylinder connecting plate 7104. The cylinder 7101 is mounted in the direction of 03; the end of the first-stage extension cylinder 7103 is mounted on the first-stage cutting module support profile 7107 via the end connecting plate 7106; the third-stage extension slide cylinder 7108 is mounted on the first-stage cutting module support profile 7107; the third-stage extension slide cylinder 7108 is mounted on the frame 6000 via the cylinder frame connecting plate 7109; the cylinder body connecting plate 7111 is mounted on the first-stage cutting module support profile 7107 via the clamping and adjusting linear module 7110; the primary clamping module 7112 is mounted on the cylinder body connecting plate 7111; and the primary cutting module 7113 is mounted on the transverse profile of the first-stage cutting module support profile 7107.

[0076] Furthermore, the clamping module 7112 includes a finger cylinder 71121, a finger end connecting arm 71122, and a flexible coupling clamping block 71123; wherein the flexible coupling clamping block 71123 is mounted on the finger end connecting arm 71122; the finger end connecting arm 71122 is mounted on the finger cylinder 71121; wherein the flexible coupling clamping block 71123 is designed with a V-shaped opening to facilitate its self-positioning clamping of the seedling, and at the same time, in order to achieve a larger range of positioning clamping, its V-shaped opening range is expanded, and a coupling groove is provided at the end opening to facilitate clamping of the seedling stem when fastened; at the same time, the flexible coupling clamping block 71123 is a flexible block, thereby avoiding damage to the seedling stem.

[0077] The clamping module 7112 is equipped with a flexible coupling clamping block 71123 driven by a finger cylinder to complete the clamping action. The flexible coupling clamping block 71123 is divided into a left block and a right block. The middle of the inner side of the left block and the right block is provided with mutually cooperating V-shaped clamping parts along the vertical direction. The V-shaped clamping parts on the left block and the right block are both V-shaped grooves. After the left block and the right block clamp, the cavity enclosed by the two V-shaped grooves can accommodate the clamped seedling.

[0078] The inner surfaces of the left and right blocks are provided with clamping coupling parts on both sides of the V-shaped clamping part. The clamping coupling part on the right block is a coupling groove 711232, and the clamping coupling part on the left block is a coupling protrusion.

[0079] The primary cutting module 7113 includes a cutting coupling block 71131, a cutting blade 71132, a flexible coupling clamping block 71123, and a finger end connecting arm 71122; wherein the finger end connecting arm 71122 is connected to the finger cylinder 71121; the flexible coupling clamping block 71123 is connected to the end of the finger end connecting arm 71122; wherein the cutting blade 71132 and the cutting coupling block 71131 are respectively provided below the two flexible coupling clamping blocks 71123; wherein the cutting blade 71132 is provided with a cutting blade and a mounting base; wherein when the finger cylinder 71121 is closed, the cutting blade 71132 completes the initial cutting of the scion seedling through the cutting coupling block 71131, and at the same time completes the cutting of the seedling root by the flexible coupling clamping block 71123.

[0080] The flexible coupling clamping block 71123 is divided into a left block and a right block. A cutting blade 71132 and a cutting coupling block 71131 are respectively provided on the lower surface of the right block. The cutting coupling block 71131 and the cutting blade 71132 are provided with a blade receiving groove at the corresponding position. During the cutting process, the cutting blade 71132 extends into the blade receiving groove, and the blade receiving groove prevents the cutting blade of the cutting blade 71132 from being damaged during the cutting process.

[0081] See Figures 6-8It can be seen that the seedling posture primary calibration module 7200 includes a slider cylinder connecting plate 7201, a primary adjustment module 7202, a primary calibration cylinder connecting frame 7203, a secondary slide cylinder 7204, a tertiary posture parallel adjustment linear module 7205, a primary calibration module support profile 7206, a primary calibration module support plate 7207, and a primary extension slide cylinder 7208; wherein the primary adjustment module 7202 is spaced apart on the slider cylinder connecting plate 7201; the primary calibration cylinder connecting frame 7203 is installed on the secondary slide cylinder 7204; the secondary slide cylinder 7204 is installed on the primary calibration module support plate 7207; and the primary calibration module support plate 7207 is installed on the primary calibration module support profile 7208. 6. The first-level calibration module support profile 7206 is installed on the first-level extension slide cylinder 7208 via the slider cylinder connecting plate 7201. After the seedling completes the initial inspection, the first-level extension slide cylinder 7208 drives the first-level adjustment module 7202 to extend initially. The first-level adjustment module 7202 opens the gripper, and the second-level slide cylinder 7204 completes the extension of the module. After extension, the gripper of the first-level adjustment module 7202 is aligned with the bottom of the seedling. The third-level attitude parallel adjustment linear module 7205 drives the first-level adjustment module 7202 to lift upward. At the same time, the first-level adjustment module 7202 also begins to close until the third-level attitude parallel adjustment linear module 7205 completes the adjustment and the first-level adjustment module 7202 closes simultaneously.

[0082] The primary adjustment module 7202 includes a primary adjustment finger cylinder 72021, a clamping adjustment claw 72022, a guide positioning plate 72023, and a positioning plate support block 72024. The primary adjustment finger cylinder 72021 has clamping adjustment claws 72022 on both claws. The guide positioning plate 72023 is mounted on the positioning plate support block 72024, which is mounted on the primary calibration module support plate 7207. When the primary adjustment finger cylinder 72021 is at the bottom, the module extends to initially clamp the seedling and simultaneously lifts it upwards. During clamping, the seedling stem also enters the positioning cavity of the guide positioning plate 72023. Simultaneously, the module provides initial support to the seedling to prevent posture deviation below the seedling stem.

[0083] The first-stage adjusting finger cylinder 72021 has two gripping adjusting claws 72022 on each of its two grippers. The gripping adjusting claws 72022 are arc-shaped and are driven by the first-stage adjusting finger cylinder 72021 to grip each other. When gripping, the ends of the two gripping adjusting claws 72022 cross. A guide positioning plate 72023 is provided on one side of the two gripping adjusting claws 72022. The guide positioning plate has a positioning cavity on the side facing the gripping adjusting claws 72022. When gripping, the two gripping adjusting claws 72022 cooperate with the positioning cavity to straighten and support the seedling.

[0084] See Figures 9-10 It is known that the seedling posture secondary calibration module 7300 includes a secondary adjustment extension slide cylinder 7301, a cylinder connecting profile 7302, a secondary lifting calibration cylinder 7303, a secondary lifting calibration cylinder connecting plate 7304, a secondary calibration cylinder connecting plate 7305, a seedling posture secondary calibration module main profile 7306, and a secondary calibration module 7307; wherein the secondary adjustment extension slide cylinder 7301 is installed on the frame 6000, and the secondary adjustment extension slide cylinder 7301 is connected to the cylinder connecting profile 7302; wherein the secondary lifting calibration cylinder 7303 is connected to the cylinder connecting profile 7302 through the secondary lifting calibration cylinder connecting plate 7304; the secondary lifting calibration cylinder 7303 is connected to the secondary calibration cylinder connecting plate 7305, and the secondary calibration module 7307 is connected to the secondary calibration cylinder connecting plate 7305.

[0085] The secondary calibration module 7307 includes a secondary calibration cylinder connecting plate 7305. The secondary calibration modules 7307 are spaced apart on the side of the secondary calibration cylinder connecting plate 7305. The secondary calibration cylinder connecting plate 7305 is driven to extend and retract by a secondary adjustment extension slide cylinder 7301, and is driven to rise and fall by a secondary lifting calibration cylinder 7303.

[0086] The secondary calibration module 7307 is equipped with a secondary calibration finger cylinder 73071. Each of the two secondary calibration connecting arms 73072 of the secondary calibration finger cylinder 73071 has a secondary calibration V-shaped rolling element 73073 on its opposing inner surface. The secondary calibration V-shaped rolling element 73073 is horizontally positioned, and its two ends are hinged to the secondary calibration connecting arms 73072. The middle of the secondary calibration connecting arms 73072 is recessed to form a clamping part. When the two secondary calibration V-shaped rolling elements 73073 are pressed together, the two clamping parts cooperate to form a clamping cavity, which accommodates the seedling. Furthermore, the secondary calibration V-shaped rolling elements 73073 and the seedling experience rolling friction, reducing abrasion to the seedling.

[0087] See Figure 11It is known that the post-processing transport module 7400 includes a primary adjustment module, a post-processing primary transport rodless cylinder 7402, a post-processing secondary transport rodless cylinder 7401, a post-processing transport cylinder connecting plate 7403, and a rodless cylinder connecting plate 7404. The post-processing transport cylinder connecting plate 7403 is provided with a primary adjustment module spaced apart, and the primary adjustment module is provided with an adjustment finger cylinder. The post-processing transport cylinder connecting plate 7403 is connected to the slide of the post-processing secondary transport rodless cylinder 7401, and the post-processing secondary transport rodless cylinder 7401 drives the post-processing transport cylinder connecting plate 7403 to move. The post-processing secondary transport rodless cylinder 7401 is connected to the post-processing primary transport rodless cylinder 7402 through the rodless cylinder connecting plate 7404, and the post-processing primary transport rodless cylinder 7402 drives the rodless cylinder connecting plate 7404 to move.

[0088] See Figures 12-22 It can be seen that the secondary end-cutting module 7500 for scions consists of a front part 7501 of the scion-cutting module, a scion-end-transferring module 7502, and a rear part 7503 of the scion-cutting module. The front part 7501, the scion-end-transferring module 7502, and the rear part 7503 of the scion-cutting module are all mounted on the frame 6000; at the same time, the front part 7501 of the scion-cutting module is mounted in front of the rear part 7503 of the scion-cutting module; wherein the scion-end-transferring module 7502 is mounted in the lower middle part between the rear part 7503 and the front part 7501 of the scion-cutting module.

[0089] The front part 7501 of the sapwood cutting module includes a cutting extension cylinder 75013 and an end cutting module 75014. The cutting extension cylinders 75013 are arranged in groups at intervals, and each group includes an upper cutting extension cylinder and a lower cutting extension cylinder arranged at the top and bottom. The end cutting module 75014 is installed at the end of the cutting extension cylinder 75013. The cutting module 75014 connected to the upper cutting extension cylinder is adjusted to perform a horizontal cutting. The end cutting module 75014 connected to the lower cutting extension cylinder is adjusted to perform a bevel cutting at the required bevel angle.

[0090] The module has 12 cylinders that extend outwards and are evenly spaced, allowing for the removal of multiple seedlings at once.

[0091] The end-cutting module 75014 consists of an angle adjustment seat 750141, a tool holder body 750142, a connecting rotating shaft 750143, a set screw 750144, a swing clamping block 750145, a cutting blade 750146, a spherical washer 750147, a clamping adjustment screw 750148, and a clamping spring 750149. Angle adjustment seat 750141 is installed at the end of the cutting extension cylinder 75013; angle adjustment seat 750141 is connected to tool holder body 750142 via connecting rotating shaft 750143, and the connection between connecting rotating shaft 750143 and tool holder body 750142 is fastened with set screw 750144; at the same time, tool holder body 750142 is provided with a slot to position the cutting blade 750146 therein via a spherical washer 750147; the cutting blade 750146 has a waist groove and a spherical opening; swing clamping block 750 145 is installed above the spherical opening of the cutting blade 750146; the spherical washer 750147 is obliquely pressed onto the swing clamping block 750145; the spherical washer 750147 is provided with a clamping spring 750149, and the spherical washer 750147 and the clamping spring 750149 are connected and clamped by the clamping adjustment screw 750148, while the swing clamping block 750145 completes the leveling of the contact surface of the cutting blade 750146; at the same time, the clamping force on the spherical washer 750147 is adjusted by the clamping adjustment screw 750148.

[0092] The scion end cutting module 7502 includes a lifting rodless cylinder 75021, a rotary cutting module 75022, a rotary cutting module connecting plate 75023, a connecting module support profile 75024, and a lifting rodless cylinder connecting plate 75025. The rotary cutting module 75022 is equidistantly mounted on the rotary cutting module connecting plate 75023. The rotary cutting module connecting plate 75023 is mounted on the connecting module support profile 75024. The side of the connecting module support profile 75024 is mounted on the lifting rodless cylinder 75021 via the lifting rodless cylinder connecting plate 75025. When the lifting rodless cylinder 75021 lifts, it drives the rotary cutting module connecting plate 75023 to lift upward, thereby causing the scion seedling end to enter the cutting position of the rotary cutting module 75022.

[0093] The 75022 rotary cut-off module has 6 units.

[0094] The rotary cutting module 75022 consists of a cutting taper adjustment block 750221, a blade clamping block 750222, a cutting blade 750223, a clamping screw 750224, a rotary pin 750225, a rotary base block 750226, and a cutting motor 750227. The lower end of the rotary base block 750226 is connected to the drive shaft of the cutting motor 750227 via a coupling. The rotary base block 750226 has two symmetrically arranged fan-shaped bosses, each with the same structure and arrangement. One side of each fan-shaped boss is connected to the cutting taper adjustment block 750221. The bottom end of the blade clamping block 750222 is hinged to the cutting taper adjustment block 750221 via the rotary pin 750225. The cutting taper adjustment block 750221 has an annular groove, and the blade clamping block 750222 has a clamping screw 750224 that slides along the annular groove. The angle of the blade clamping block 750222 is adjusted. The blade clamping block 750222 is equipped with a cutting blade 750223. The cutting blade 750223 is set at an angle and the two cutting blades 750223 are set in a V-shape. The cutting motor 750227 drives the rotating base block 750226 to rotate, which in turn drives the cutting taper adjustment block 750221 to rotate. The cutting taper adjustment block 750221 drives the blade clamping block 750222 to rotate, and the blade clamping block 750222 drives the cutting blade 750223 to rotate, thus completing the cutting of the bottom of the scion seedling to form a conical grafting connection.

[0095] The rear part 7503 of the spurwood cutting module is composed of a rear part connecting piece 750301, a bevel cutting module 750302, an upper sliding connecting plate 750303, a linear slide rail II 750304, a linear slide rail connecting plate 750305, a rear part extension cylinder 750306, a rear part main profile 750307, ​​a rear part extension cylinder connecting plate 750308, a rear part extension cylinder connecting L plate 750309, a parallel pneumatic gripper connecting plate 750310, a cutting and fastening module parallel pneumatic gripper 750311, a clamping gripper anti-bend frame 750312, a fastening module opening and closing cylinder 750313, a fastening module connecting frame 750314, a fastening module interchangeable base 750315, a fastening block 750316, and an extension stiffener 750317.

[0096] Both ends of the rear main body profile 750307 are mounted to 6000 via rear connecting pieces 750301; rear extension cylinders 750306 are evenly spaced and mounted on the rear main body profile 750307 via rear extension cylinder connecting plates 750308; a linear slide rail connecting plate 750305 is provided on the rear extension cylinder 750306, wherein a linear slide rail 750304 is provided on the linear slide rail connecting plate 750305. The upper sliding connecting plate 750303 is mounted on the upper slider of the linear slide rail 750304, and the oblique cutting module 750302 is mounted above the upper sliding connecting plate 750303. The rear-side extension cylinder 750306 has a rear-side extension cylinder connecting L-plate 750309 at its end, which connects to the latching module opening / closing cylinder 750313. Simultaneously, the gripper portion of the latching module opening / closing cylinder 750313 has a latching module connecting bracket 750314, which connects to the latching module interchangeable base 750315. The cylinder 750313 of the fastening module is then connected to the fastening block 750316, transmitting power from the cylinder 750313 to the fastening block 750316 to complete the opening and closing of the fastening block 750316. Simultaneously, parallel pneumatic gripper connecting plates 750310 are provided on both sides of the cylinder 750313, which are then connected to the parallel pneumatic gripper 750311 of the cutting fastening module. The parallel pneumatic gripper 750311 of the cutting fastening module has a clamping claw anti-bend frame 750312, which is then connected to 71123, thereby enabling the cutting fastening module... When the pneumatic gripper 750311 opens and closes, it drives 71132 to clamp the seedling. The upper part of the latching module opening and closing cylinder 750313 is connected to the extension rib plate 750317, so that when the rear extension cylinder 750306 extends, the power is transmitted to the extension rib plate 750317 through the L-plate 750309 connected to the rear extension cylinder and the latching module opening and closing cylinder 750313, and then it slides on the linear slide rail 750304, so that all the execution parts of the module extend forward. There are six rear extension cylinders 750306 at equal intervals.

[0097] See Figures 23-28 It is known that the sapling growth point calibration and adjustment module 7600 includes a first-stage lifting rodless cylinder 7601, a rodless cylinder connecting plate 7602, an adjustment module support profile frame 7603, an adjustment straight line module 7604, a growth point detection module 7605, a seedling clamping claw 7606, an adjustment locking claw 7607, a fixing screw 7608, a second-stage cylinder Z-shaped connecting plate 7609, a second-stage cylinder I-shaped connecting plate 7610, an adjustment part connecting plate 7611, and a fixing part connecting plate 7612.

[0098] The first-stage lifting rodless cylinder 7601 is connected to the frame 6000; the first-stage lifting rodless cylinder 7601 is connected to the adjustment module support profile frame 7603 through the rodless cylinder connecting plate 7602; six adjustment straight modules 7604 are equidistantly arranged on the adjustment module support profile frame 7603; the adjustment straight modules 7604 are connected to the growth point detection module 7605 and the seedling clamping claw 7606 through the adjustment part connecting plate 7611 and the second-stage cylinder Z-shaped connecting plate 7609; The growth point detection module 7605 is installed on the upper side of the seedling clamping claw 7606; the adjustment module support profile frame 7603 is also provided with a fixed part connecting plate 7612, which is located below the adjustment part connecting plate 7611. The fixed part connecting plate 7612 is connected to the primary clamping module 7112 and the adjustment fastening claw 7607 through the secondary cylinder I-shaped connecting plate 7610; the primary clamping module 7112 is installed above the adjustment fastening claw 7607.

[0099] The growth point detection module 7605 includes a detection clamping cylinder 76051, a clamping base block 76052, a detection V-shaped roller 76053, a pressure detection block 76054, a piezoelectric film sensor 76055, a pre-tensioning spring 76056, a detection sliding block 76057, and a detection sliding seat 76058. The clamping base block 76052 is connected to the fingers of the detection sliding block 76057. The piezoelectric film sensor 76055, the pressure detection block 76054, and the detection sliding seat 76058 are respectively connected from one end of the top of the clamping base block 76052 to the other end. The detection sliding seat 76058 has a connecting cavity, in which the detection sliding block 76057 and the pre-tensioning spring 76056 are located. A detection shaft is located at one end of the detection sliding block 76057, and the detection V-shaped roller 76053 is connected to the detection shaft.

[0100] The module detection cylinder 76051 operates, causing the two detection V-shaped rollers 76053 of the two relatively matched growth point detection modules 7605 to cooperate with each other. When the detection V-shaped rollers 76053 roll along the seedling stem under the drive of the adjusting linear module 7604, the detection shaft moves along the connecting cavity provided in the detection sliding seat 76058, transmitting pressure to the piezoelectric film sensor 76055 through the detection sliding seat 76058 and the pressure detection block 76054. Since the growth point of the seedling stem is convex outward, the pressure sensed by the piezoelectric film sensor 76055 will first increase and then decrease when passing through the growth point. Thus, the control system can complete the detection of the growth point position based on the pressure feedback from the piezoelectric film sensor 76055.

[0101] The seedling clamping claw 7606 includes a clamping air claw 76061, a Z-shaped fitting connecting arm 76062, and a flexible coupling clamping block 71123. The Z-shaped fitting connecting arm 76062 is Z-shaped. The bottom end of the Z-shaped fitting connecting arm 76062 is connected to the clamping air claw 76061, and the top end of the Z-shaped fitting connecting arm 76062 is connected to the flexible coupling clamping block 71123. When the clamping air claw 76061 closes, the Z-shaped fitting connecting arm 76062 drives the flexible coupling clamping block 71123 to engage, thereby completing the fixed clamping of the seedling.

[0102] Furthermore, the adjusting latch 7607 includes an adjusting gap latch 76071, an adjusting block connecting arm, and an end gap adjusting block 76073; the end gap adjusting block 76073 has a two-step trapezoidal opening, with a rectangular opening in the middle, and an inclined guide angle above the rectangular opening, so as to avoid damaging the seedling stem when adjusting the position of the module when the seedling position is limited here.

[0103] The *Symplocos edulis* growth point calibration and adjustment module 7600 detects the growth point of the *Symplocos edulis* seedling and also adjusts the cut portion after detection. When the *Symplocos edulis* seedling completes its initial transport and enters the clamping area of ​​this module, the growth point detection module 7605 and the primary clamping module 7112 clamp the seedling. At this time, the slider of the adjusting linear module 7604 is at its lowest position. The rising of the adjusting linear module 7604 causes the growth point detection module 7605 and the seedling clamping claw 7606 to rise upwards. At this time, the clamping claw 7606 is in the open state, and simultaneously, the seedling clamping claw 7606 is in the clamping state. The point detection module 7605 initially engages with the seedling, compressing the pre-tension spring 76056. The piezoelectric film sensor 76055 detects the pressure and sends feedback to the control system. The detection V-shaped roller 76053, driven by the adjusting linear module 7604, rolls along the seedling stem. After rolling a certain distance, the detection V-shaped roller 76053 has completed positioning and straightening the seedling. The pneumatic grippers of the seedling transport module, which were engaged in the previous step, are released and return to their initial working position. The adjusting linear module 7604 further lifts the growth point detection module 7605 and the seedling-holding grippers 7606 upwards. Until the growth point is reached, the compression of the pre-tension spring 76056 increases significantly, causing a change in the pressure sensed by the piezoelectric film sensor 76055, thus completing the detection. At this time, the clamping claw 7607 is adjusted to clamp the seedling, ensuring the seedling's posture and positioning. Simultaneously, the primary clamping module 7112 is released to facilitate the seedling's posture adjustment along its stem direction. The seedling clamping claw 7606 closes simultaneously with the opening of the primary clamping module 7112, and the growth point detection module 7605 also closes at the same time. The linear module 7604 adjusts the seedling clamping claw according to the growth point detection data. 7606 moves the seedling along its stem vertically; after adjustment, the lower clamping module 7112 closes again, and the seedling clamping claw 7606 releases its grip, the growth point detection module 7605 closes, and the position of the seedling clamping claw 7606 on the seedling is adjusted again by adjusting the straight module 7604. Then, the seedling clamping claw 7606 clamps the seedling; after detection and adjustment, the first-stage lifting rodless cylinder 7601 of this module moves downward, so that the clamped seedling enters the cutting area of ​​the secondary end-cutting module 7500, and finally the operation of this module is completed.

[0104] See Figures 29-38It can be seen that the cotyledon direction adjustment module 7800 includes a seedling detection base plate 7801, a seedling cup preliminary positioning plate 7802, an upper bearing positioning plate 7803, a left double gear support upright plate 7804, a left double gear support horizontal plate 7805, a right gear support horizontal plate 7806, a right gear support upright plate 7807, a drive gear connecting shaft positioning plate 7808, a drive gear input stepper motor 7809, a slide plate sliding module drive gear 7810, a clamping positioning mechanism side plate 7811, an angle adjustment detection stepper motor 7812, a tension sprocket adjustment frame 7813, a tension sprocket 7814, and a driven gear. Wheel 7815, Stepper motor support frame 7816, Parallel coupling cam groove engaging module 7817, Driven gear shaft 7818, Parallel transmission chain 7819, Active adjusting sprocket shaft 7820, End adjusting sprocket 7821, End adjusting gear 7822, Adjusting transmission chain 7823, Active adjusting sprocket 7824, Sliding rack 7825, Parallel sprocket one 7826, Secondary transmission gear 7827, Secondary transmission sprocket 7828, Secondary transmission shaft 7829, Tertiary transmission gear 7830, Tertiary transmission shaft 7831, Primary transmission shaft 7832, Parallel rear connecting plate 7833.

[0105] The seedling detection base plate 7801 is the main support plate of this module; the seedling cup preliminary positioning plates 7802 are installed on the seedling detection base plate 7801 in pairs with open shapes and equal distances; the two ends of the seedling detection base plate 7801 are connected to the upper bearing positioning plate 7803 through the side plates 7811 of the clamping positioning mechanism; the left double gear support plate 7804 is installed at both ends of the seedling detection base plate 7801, and the inner side of the left double gear support plate 7804 is provided with a sliding rack 7825, and the sliding rack 7825 and the three-stage transmission gear 7830 cooperate with the linear displacement guide structure; the left double gear support horizontal plate 7805 is installed on the inner side above the left double gear support plate 7804; the right gear support plate 7807 is installed on the seedling detection base plate. 7801 is located on one side of one end; the right gear support horizontal plate 7806 is installed on the inner side above the right gear support vertical plate 7807; the active gear connecting shaft positioning plate 7808 is installed on the right boss of the seedling detection base plate 7801, and the boss is provided with mounting countersunk holes for the connecting shaft and bearings of the active gear input stepper motor 7809 and the active gear 7810 of the sliding module of the slide plate; the boss is provided with the active gear connecting shaft positioning plate 7808 on the upper side of the mounting countersunk hole, and the connecting shaft of the active gear input stepper motor 7809 and the active gear 7810 of the sliding module of the slide plate passes through the mounting countersunk hole and the active gear connecting shaft positioning plate 7808; six angle adjustment detection stepper motors 7812 are equidistantly installed on the lower side of the stepper motor support frame 7816; wherein the stepper motor support The support frame 7816 is welded from steel plates and consists of two layers. The upper layer has an active adjustment sprocket shaft 7820. The output shaft of the angle adjustment detection stepper motor 7812 is connected to the active adjustment sprocket shaft 7820. The upper shaft section of the active adjustment sprocket shaft 7820 is fixedly connected to the active adjustment sprocket 7824. The seedling detection base plate 7801 has six rotating holes at the front. The six rotating holes are respectively used to install the end adjustment sprocket 7821 and the end adjustment gear 7822 through bearings and fixed shafts. The end adjustment gear 7822 and the end adjustment sprocket 7821 are fixedly connected, and the end adjustment gear 7822 meshes with the lower teeth of the seedling cup 5000. The bottom end of the secondary transmission shaft 7829 is mounted on the seedling detection base plate 7801 through bearings, and the top end is connected to the seedling detection base plate 7801 through bearings. The bearing and the left-side double-gear support plate 7805 form a rotatable hinge; the secondary transmission shaft 7829 is equipped with a secondary transmission gear 7827 and a secondary transmission sprocket 7828; the bottom end of the tertiary transmission shaft 7831 is mounted on the seedling detection base plate 7801 via a bearing, and the top end is connected to the left-side double-gear support plate 7805 via a bearing; the secondary transmission gear 7827 and the tertiary transmission gear 7830 form a movable mesh; the tertiary transmission gear 7830 meshes with the sliding rack 7825; the primary transmission shaft 7832 is mounted below the sprocket mounted on the driven gear shaft 7818; the tertiary transmission shaft 7831 meshes with the sliding rack 7825 on its mounting side; the rear side of the sliding rack 7825 is connected to the right-side gear support plate 7807;Six parallel-coupled cam groove engaging modules 7817 are equidistantly mounted on the seedling detection base plate 7801.

[0106] Tensioning sprocket 7814 is mounted on one end of tensioning sprocket adjusting bracket 7813; tensioning sprocket adjusting bracket 7813 is mounted on seedling detection base plate 7801, forming an angle-adjustable hinge; end adjusting sprocket 7821 and active adjusting sprocket 7824 are driven by adjusting transmission chain 7823, so that the power of angle adjustment detection stepper motor 7812 is transmitted to end adjusting sprocket 7821, which in turn transmits the power to seedling cup 5000 and makes it rotate; driven gear shaft 7818 is provided with driven gear 7815, and driven gear 7815 is mounted on driven gear 781. A sprocket is provided below 5; the driving gear 7810 of the sliding module of the slide plate meshes with the driven gear 7815. When the driving gear 7810 of the sliding module of the slide plate rotates, it drives the driven gear 7815 to rotate. The sprocket below the driven gear 7815 is driven by a chain and the secondary transmission sprocket 7828, which transmits power to the secondary transmission shaft 7829. The secondary transmission gear 7827 meshes with the tertiary transmission gear 7830. The meshing of the tertiary transmission gear 7830 with the sliding rack 7825 causes the sliding rack 7825 to slide. At this time, the first-stage drive shaft 7832 on the other side meshes with the sliding rack 7825, and the first-stage drive shaft 7832 also rotates, thereby causing the sliding rack 7825 to slide simultaneously; the sliding rack 7825 is connected to the parallel rear connecting plate 7833, and the parallel rear connecting plate 7833 is connected to the lower sliding camshaft 78178, so that the lower sliding camshaft 78178 can move, and finally the parallel coupled cam groove engaging module 7817 module completes engaging.

[0107] The parallel transmission chain 7819 drives the sliding racks 7825 on both sides simultaneously, so that both sides are subjected to force at the same time, thus avoiding motion jamming caused by asynchronous driving.

[0108] Furthermore, the parallel coupling cam groove clamping module 7817 includes an upper parallel clamping arm 78171, a cam groove plate 78172, a clamping arm rotation support block 78173, a lower parallel clamping arm 78174, a clamping end rolling nylon wheel 78175, a nylon wheel fixed rotation assembly 78176, an upper sliding cam roller 78177, and a lower sliding camshaft 78178; wherein the middle of the lower parallel clamping arm 78174 is hinged to the seedling detection base plate 7801 via a bearing on one side; the other side of the middle of the lower parallel clamping arm 78174 is hinged to the clamping arm rotation support block 78173 via a bearing; the cam groove plate 78172 is provided with guide grooves on both the upper and lower sides, with the guide grooves on both sides distributed on the upper and lower sides respectively, and their directions are coupled to each other, with one side guide groove being larger than the other side guide groove to avoid both sides from being simultaneously During guidance, a jamming problem occurs at the intersection of the two grooves; the rear end of the upper parallel clamping arm 78171 is connected to the clamping end rolling nylon wheel 78175 via a nylon wheel fixed rotating assembly 78176; the front end of the upper parallel clamping arm 78171 is hinged to the upper sliding cam roller 78177, which in turn cooperates with the upper guide groove of the cam groove plate 78172, thereby driving the two opening and closing claws through a cam groove plate 78172; the rear end of the lower parallel clamping arm 78174 is also provided with a clamping end rolling nylon wheel 78175; the front end of the lower parallel clamping arm 78174 is equipped with a lower sliding camshaft 78178, a part of which is located in the lower guide groove, and the lower guide groove and the lower sliding camshaft 78178 form rolling friction. When the cam groove plate 78172 is displaced, its lower parallel clamping arm 78174 and upper parallel clamping arm 78171 are respectively guided by the lower sliding cam shaft 78178 and the upper sliding cam roller 78177 in the groove of the cam groove plate 78172 to achieve clamping at their rear ends, thereby causing the two end clamping end rolling nylon wheels 78175 to contact the seedling cup 5000 and achieve clamping.

[0109] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes made based on the description and drawings of the present invention are included within the scope of the present invention.

Claims

1. A device for treating grafted scion seedlings, characterized in that: It includes a primary cutting and transportation module (7100), a scion growth point calibration and adjustment module (7600), a secondary end cutting module for scions (7500), a primary seedling posture calibration module (7200), a secondary seedling posture calibration module (7300), a scion treatment and transportation module (7400), and a cotyledon orientation adjustment module (7800). The seedling cups are transported by conveyor belt to the seedling cup equal-pitch and equal-direction swing arm module (3000). The seedling cup equal-pitch and equal-direction swing arm module (3000) sequentially completes the clamping, equal-pitch, and lifting operations of the seedling cups, and then completes a 90-degree rotation around its pivot point, so that the seedling cups are transported to the cotyledon direction adjustment module (7800). The cotyledon direction adjustment module (7800) receives and drives the seedling cups to rotate, detects the cotyledon positions, and completes the cotyledon position adjustment. The seedling posture primary calibration module (7200) and the seedling posture secondary calibration module (7300) extend respectively to perform seedling straightening operations. The scion primary cutting and transport module (7100) extends to the root of the seedling to cut the scion, and the scion is cut off from the seedling cup. The initial cutting of the scion The scion is cut, clamped, and transported to the scion growth point calibration and adjustment module (7600); the scion growth point calibration and adjustment module (7600) detects the growth point of the scion and completes the longitudinal posture adjustment of each scion, and then moves the scion downward so that the scion grafting cutting position is aligned with the scion secondary end cutting module (7500). The scion secondary end cutting module (7500) performs a secondary cut on the scion to complete the cut preparation before scion grafting; the scion growth point calibration and adjustment module (7600) transports the scion after secondary cutting to the scion processing and transportation module (7400), and the scion processing and transportation module (7400) transports it to the grafting module (4000) based on the grafting clamp equidistant sorting mechanism to enter the next process; The sapling growth point calibration and adjustment module (7600) includes a primary lifting rodless cylinder (7601), a rodless cylinder connecting plate (7602), an adjustment module support profile frame (7603), an adjustment straight line module (7604), a growth point detection module (7605), a seedling clamping claw (7606), an adjustment locking claw (7607), a fixing screw (7608), a secondary cylinder Z-shaped connecting plate (7609), a secondary cylinder I-shaped connecting plate (7610), and an adjustment section connecting plate (7600). 11) Fixed part connecting plate (7612); First-stage lifting rodless cylinder (7601) is connected to the frame (6000); First-stage lifting rodless cylinder (7601) is connected to the adjustment module support profile frame (7603) through rodless cylinder connecting plate (7602); Six adjustment linear modules (7604) are equidistantly arranged on the adjustment module support profile frame (7603); Adjustment linear modules (7604) are connected to the second-stage cylinder Z-shaped connecting plate (7602) through the adjustment part connecting plate (7611). 09) Connected to the growth point detection module (7605) and the seedling clamping claw (7606); the growth point detection module (7605) is installed on the upper side of the seedling clamping claw (7606); the adjustment module support profile frame (7603) is also provided with a fixed part connecting plate (7612), the fixed part connecting plate (7612) is set below the adjustment part connecting plate (7611), and the fixed part connecting plate (7612) is connected to the primary clamping module (711) through the secondary cylinder I-shaped connecting plate (7610). 2) Connect to the adjusting snap-fit ​​claw (7607); the primary clamping module (7112) is installed above the adjusting snap-fit ​​claw (7607); the growth point detection module (7605) includes a detection clamping cylinder (76051), a snap-fit ​​base block (76052), a detection V-shaped roller (76053), a pressure detection block (76054), a piezoelectric film sensor (76055), a pre-tightening spring (76056), a detection sliding block (76057), and a detection sliding seat (76058); The snap-fit ​​base block (76052) is connected to the finger of the detection sliding block (76057); the top end of the snap-fit ​​base block (76052) is connected to a piezoelectric film sensor (76055), a pressure detection block (76054), and a detection sliding seat (76058), respectively. The detection sliding seat (76058) is provided with a connecting cavity, in which the detection sliding block (76057) and a preload spring (76056) are provided. A detection shaft is provided at one end of the detection sliding block (76057), and a detection V-shaped roller (76053) is connected to the detection shaft; the module detects the snap-fit. When the cylinder (76051) operates, it causes the two detection V-shaped rollers (76053) of the two relatively matched growth point detection modules (7605) to cooperate with each other. As the detection V-shaped rollers (76053) roll along the seedling stem under the drive of the adjusting linear module (7604), the detection shaft moves along the connecting cavity provided in the detection sliding seat (76058), transmitting pressure through the detection sliding seat (76058) and the pressure detection block (76054) to the piezoelectric film sensor (76055). Since the growth point of the seedling stem is convex outwards, when passing through the growth point, the piezoelectric film... The pressure sensed by the sensor (76055) will first increase and then decrease, so that the control system can detect the position of the growth point based on the pressure feedback from the piezoelectric film sensor (76055); the seedling clamping claw (7606) includes a clamping air claw (76061), a Z-shaped fitting connecting arm (76062), and a flexible coupling clamping block (71123); the Z-shaped fitting connecting arm (76062) is Z-shaped; the bottom end of the Z-shaped fitting connecting arm (76062) is connected to the clamping air claw (76061), and the top end of the Z-shaped fitting connecting arm (76062) is connected to the flexible coupling clamping block (71123). The components are connected together; when the clamping gripper (76061) closes, the Z-shaped fitting connecting arm (76062) drives the flexible coupling clamping block (71123) to engage, thereby completing the fixed clamping of the seedling; the adjusting clamping gripper (7607) includes the adjusting gap clamping gripper (76071), the adjusting block connecting arm, and the end gap adjusting block (76073); the end gap adjusting block (76073) has a two-step trapezoidal opening with a rectangular opening in the middle, and an inclined guide angle is provided above the rectangular opening so as to avoid damaging the seedling stem when the seedling position is limited here and the position adjustment of this module is realized.

2. The grafted scion seedling treatment device according to claim 1, characterized in that: The primary cutting and transport module (7100) includes a cylinder fixing profile (7101), a cylinder connecting fixing plate (7102), a primary extension cylinder (7103), a secondary transport cylinder connecting plate (7104), a secondary transport cylinder (7105), an end connecting plate (7106), a primary cutting module support profile (7107), a tertiary extension slide cylinder (7108), a cylinder frame connecting plate (7109), a clamping and adjusting linear module (7110), a cylinder body connecting plate (7111), and a primary clamping module (7112); wherein the primary extension cylinder (7103) is mounted on the cylinder fixing profile (7101) via the cylinder connecting fixing plate (7102); the secondary transport cylinder (7105) is perpendicular to the primary extension cylinder via the secondary transport cylinder connecting plate (7104). The direction of the second cylinder (7103) is mounted on the cylinder fixing profile (7101); the end of the first-stage extension cylinder (7103) is mounted on the first-stage cutting module support profile (7107) via the end connecting plate (7106); the third-stage extension slide cylinder (7108) is mounted on the first-stage cutting module support profile (7107); the third-stage extension slide cylinder (7108) is mounted on the frame (6000) via the cylinder frame connecting plate (7109); the cylinder body connecting plate (7111) is mounted on the first-stage cutting module support profile (7107) via the clamping adjustment linear module (7110); the primary clamping module (7112) is mounted on the cylinder body connecting plate (7111); the primary cutting module (7113) is mounted on the transverse profile of the first-stage cutting module support profile (7107).

3. The grafted scion seedling treatment device according to claim 2, characterized in that: The aforementioned clamping module (7112) includes a flexible coupling clamping block (71123) driven by a finger cylinder to perform clamping actions. The flexible coupling clamping block (71123) is divided into a left block and a right block. The inner surfaces of the left and right blocks have vertically aligned V-shaped clamping portions. Both the left and right blocks have V-shaped grooves on their respective V-shaped clamping portions. After clamping, the cavity enclosed by the two V-shaped grooves accommodates the clamped seedling. The inner surfaces of the left and right blocks have clamping coupling portions on both sides of the V-shaped clamping portions, with the right block having a clamping coupling portion on one side. The clamping coupling part is a coupling groove (711232), and correspondingly, the clamping coupling part on the left block is a coupling protrusion; the flexible coupling clamping block (71123) is divided into a left block and a right block, and a cutting blade (71132) and a cutting coupling block (71131) are respectively provided on the lower surface. The cutting coupling block (71131) and the cutting blade (71132) are provided with a blade receiving groove at the corresponding positions. During the cutting process of the cutting blade (71132), the cutting edge of the cutting blade (71132) extends into the blade receiving groove, and the blade receiving groove prevents the cutting edge of the cutting blade (71132) from being damaged during the cutting process.

4. The grafted scion seedling treatment device according to claim 1, characterized in that: The seedling posture primary calibration module (7200) includes a slider cylinder connecting plate (7201), a primary adjustment module (7202), a primary calibration cylinder connecting frame (7203), a secondary slide cylinder (7204), a tertiary posture parallel adjustment linear module (7205), a primary calibration module support profile (7206), a primary calibration module support plate (7207), and a primary extension slide cylinder (7208); wherein the primary adjustment modules (7202) are spaced apart on the slider cylinder connecting plate (7201); and the primary calibration cylinder connecting frame (7203) is installed on... The secondary slide cylinder (7204) is mounted on the primary calibration module support plate (7207); the primary calibration module support plate (7207) is mounted on the primary calibration module support profile (7206); the primary calibration module support profile (7206) is mounted on the primary extension slide cylinder (7208) via the slider cylinder connecting plate (7201); after the seedlings have completed the preliminary inspection, the primary extension slide cylinder (7208) drives the primary adjustment module (7202) to extend initially, and the primary adjustment module (7202) opens the gripper, and the secondary slide... The cylinder (7204) extends the module. After extension, the first-level adjustment module (7202) is aligned with the bottom of the seedling. The three-level parallel adjustment linear module (7205) drives the first-level adjustment module (7202) to rise. At the same time, the first-level adjustment module (7202) also begins to close. The first-level adjustment module (7202) closes simultaneously when the three-level parallel adjustment linear module (7205) completes its adjustment. The first-level adjustment module (7202) includes a first-level adjustment finger cylinder (72021) and a first-level adjustment finger. The cylinder (72021) has two grippers with clamping adjustment claws (72022) on each side. The clamping adjustment claws (72022) are arc-shaped and are driven to clamp by the first-stage adjustment finger cylinder (72021). When clamping, the ends of the two clamping adjustment claws (72022) cross. A guide positioning plate (72023) is provided on one side of the two clamping adjustment claws (72022). The guide positioning plate has a positioning cavity on the side facing the clamping adjustment claws (72022). When clamping, the two clamping adjustment claws (72022) cooperate with the positioning cavity to straighten and support the seedling.

5. The grafted scion seedling treatment device according to claim 1, characterized in that: The seedling posture secondary calibration module (7300) includes a secondary adjustment extension slide cylinder (7301), a cylinder connecting profile (7302), a secondary lifting calibration cylinder (7303), a secondary lifting calibration cylinder connecting plate (7304), a secondary calibration cylinder connecting plate (7305), a seedling posture secondary calibration module main body profile (7306), and a secondary calibration module (7307); wherein the secondary adjustment extension slide cylinder (7301) is installed on the frame (6000), and the secondary adjustment extension slide cylinder (7301) is connected to the cylinder connecting profile (7302); wherein the secondary... The lifting calibration cylinder (7303) is connected to the cylinder connecting profile (7302) via the secondary lifting calibration cylinder connecting plate (7304); the secondary lifting calibration cylinder (7303) is connected to the secondary calibration cylinder connecting plate (7305), and the secondary calibration module (7307) is connected to the secondary calibration cylinder connecting plate (7305); the secondary calibration module (7307) includes the secondary calibration cylinder connecting plate (7305), and the side of the secondary calibration cylinder connecting plate (7305) is provided with spaced secondary calibration modules (7307), and the secondary calibration cylinder connecting plate (7305) consists of two... The first-stage adjustment extension slide cylinder (7301) drives the extension and retraction, and the second-stage calibration cylinder connecting plate (7305) is driven to rise and fall by the second-stage lifting calibration cylinder (7303); the second-stage calibration module (7307) includes a second-stage calibration connecting arm (73072), a second-stage calibration finger cylinder (73071), and a second-stage calibration V-shaped rolling element (73073); wherein the second-stage calibration connecting arm (73072) is mounted on the pneumatic gripper of the second-stage calibration finger cylinder (73071); the second-stage calibration V-shaped rolling element (73073) is mounted on the second-stage calibration connecting arm (73072), and the second-stage calibration V-shaped rolling element (73073) is mounted on the second-stage calibration connecting arm (73072). The secondary calibration connecting arm (73073) is hinged to the secondary calibration connecting arm (73072). The secondary calibration connecting arm (73072) has a large V-shaped opening, which completes the initial guidance of the seedling stem and guides it to the secondary calibration V-shaped rolling body (73073). The shape of the secondary calibration V-shaped rolling body (73073) fixes the front and rear posture of the seedling stem. Under the action of the secondary lifting calibration cylinder (7303), the secondary calibration connecting arm (73072) is lifted upward after clamping. The secondary calibration V-shaped rolling body (73073) rolls along the seedling stem to further complete the precise positioning of the seedling stem.The secondary calibration module (7307) is equipped with a secondary calibration finger cylinder (73071). Each of the two secondary calibration connecting arms (73072) of the secondary calibration finger cylinder (73071) has a secondary calibration V-shaped rolling element (73073) on its opposite inner surface. The secondary calibration V-shaped rolling elements (73073) are horizontally positioned, and their two ends are hinged to the secondary calibration connecting arms (73072). The middle of the secondary calibration connecting arms (73072) is concave to form a clamping part. When the two secondary calibration V-shaped rolling elements (73073) are pressed together, the two clamping parts cooperate to form a clamping cavity, which accommodates the seedling. Rolling friction exists between the secondary calibration V-shaped rolling elements (73073) and the seedling, reducing abrasion to the seedling.

6. The grafted scion seedling treatment device according to claim 1, characterized in that: The processed wood transport module (7400) includes a primary adjustment module, a primary transport rodless cylinder (7402), a secondary transport rodless cylinder (7401), a transport cylinder connecting plate (7403), and a rodless cylinder connecting plate (7404). The transport cylinder connecting plate (7403) is provided with a primary adjustment module spaced apart. The primary adjustment module is provided with an adjustment finger cylinder. The transport cylinder connecting plate (7403) is connected to the slide of the secondary transport rodless cylinder (7401). The secondary transport rodless cylinder (7401) drives the transport cylinder connecting plate (7403) to move. The secondary transport rodless cylinder (7401) is connected to the primary transport rodless cylinder (7402) through the rodless cylinder connecting plate (7404). The primary transport rodless cylinder (7402) drives the rodless cylinder connecting plate (7404) to move.

7. The grafted scion seedling treatment device according to claim 1, characterized in that: The secondary end-cutting module (7500) for scions includes a front part (7501), an end-cutting module (7502), and a rear part (7503) for scions; the front part (7501), the end-cutting module (7502), and the rear part (7503) for scions are all mounted on the frame (6000); the front part (7501) for scions is mounted in front of the rear part (7503); wherein the end-cutting module (7502) is mounted on the front side of the rear part (7503). The cutting module is installed at the lower middle section between the rear part (7503) and the front part (7501) of the cutting module; the front part (7501) of the cutting module includes a cutting extension cylinder (75013) and an end cutting module (75014); the cutting extension cylinders (75013) are arranged in groups at intervals, each group including an upper cutting extension cylinder and a lower cutting extension cylinder arranged above and below, and the end cutting module (75014) is installed at the end of the cutting extension cylinder (75013); the cutting module (75014) connected to the upper cutting extension cylinder is installed at the lower end of the cutting module (75013). 5014) is adjusted to perform a horizontal cut; the lower end-cutting module (75014) connected to the cylinder is adjusted to the required oblique cutting angle for oblique cutting; the end-cutting module (75014) includes an angle adjustment seat (750141), a tool holder body (750142), a connecting rotating shaft (750143), a set screw (750144), a swing clamping block (750145), a cutting blade (750146), a spherical washer (750147), a clamping adjustment screw (750148), and a clamping... A spring (750149) and an angle adjustment seat (750141) are installed at the end of the cutting extension cylinder (75013). The angle adjustment seat (750141) is connected to the tool holder body (750142) via a connecting rotating shaft (750143). The connection between the connecting rotating shaft (750143) and the tool holder body (750142) is fastened with a set screw (750144). At the same time, the tool holder body (750142) is provided with a slot to position the cutting blade (750146) therein via a spherical washer (750147). The cutting blade (750146) has a groove and a spherical opening; a swing clamping block (750145) is installed above the spherical opening of the cutting blade (750146); a spherical washer (750147) is obliquely pressed onto the swing clamping block (750145); a clamping spring (750149) is provided on the spherical washer (750147), and the spherical washer (750147) and the clamping spring (750149) are connected and clamped by a clamping adjusting screw (750148), while the swing clamping block (750145) completes the contact surface of the cutting blade (750146). The leveling is performed; simultaneously, the clamping force on the spherical washer (750147) is adjusted by tightening the adjusting screw (750148); the wood end turning module (7502) includes a lifting rodless cylinder (75021), a rotating cutting module (75022), a rotating cutting module connecting plate (75023), a connecting module support profile (75024), and a lifting rodless cylinder connecting plate (75025); the rotating cutting module (75022) is equidistantly mounted on the rotating cutting module connecting plate (75023); the rotating cutting module connecting plate (75023) is mounted on the connecting module support profile. On the material (75024); the side of the connecting module support profile (75024) is mounted on the lifting rodless cylinder (75021) via the lifting rodless cylinder connecting plate (75025); when the lifting rodless cylinder (75021) lifts, it drives the rotary cutting module connecting plate (75023) to lift upward, thereby allowing the end of the scion seedling to enter the cutting position of the rotary cutting module (75022); the rotary cutting module (75022) consists of a cutting taper adjustment block (750221), a blade clamping block (750222), a cutting blade (750223), and a clamping screw (750224). It consists of a rotating pin (750225), a rotating base block (750226), and a cutting motor (750227); the lower end of the rotating base block (750226) is connected to the drive shaft of the cutting motor (750227) through a coupling. The rotating base block (750226) is provided with two symmetrically arranged fan-shaped bosses. The structure and arrangement of each fan-shaped boss are the same. One side of the fan-shaped boss is connected to the cutting taper adjustment block (750221). The bottom end of the blade clamping block (750222) is hinged to the cutting taper adjustment block (750221) through the rotating pin (750225).The cutting taper adjustment block (750221) is provided with an annular groove. The blade clamping block (750222) is provided with a clamping screw (750224) that slides along the annular groove to adjust the angle of the blade clamping block (750222). The blade clamping block (750222) is equipped with a cutting blade (750223), which is inclined and arranged in a V-shape. The cutting motor (750227) drives the rotating base block (750226) to rotate, which in turn drives the cutting taper adjustment block (750221) to rotate. The cutting taper adjustment block (750221) drives the blade clamping block (750222) to rotate, and the blade clamping block (750222) drives the cutting blade (750223) to rotate, thus completing the cutting of the bottom of the scion seedling to form a conical grafting connection.

8. The grafted scion seedling treatment device according to claim 1, characterized in that: The cotyledon direction adjustment module (7800) includes a seedling detection base plate (7801), a seedling cup preliminary positioning plate (7802), an upper bearing positioning plate (7803), a left double-gear support upright plate (7804), a left double-gear support horizontal plate (7805), a right gear support horizontal plate (7806), a right gear support upright plate (7807), a drive gear connecting shaft positioning plate (7808), a drive gear input stepper motor (7809), a slide plate sliding module drive gear (7810), a clamping positioning mechanism side plate (7811), an angle adjustment detection stepper motor (7812), a tension sprocket adjustment frame (7813), a tension sprocket (7814), a driven gear (7815), and a stepper motor. The machine support frame (7816), parallel coupling cam groove engaging module (7817), driven gear shaft (7818), parallel transmission chain (7819), active adjusting sprocket shaft (7820), end adjusting sprocket (7821), end adjusting gear (7822), adjusting transmission chain (7823), active adjusting sprocket (7824), sliding rack (7825), parallel sprocket one (7826), secondary transmission gear (7827), secondary transmission sprocket (7828), secondary transmission shaft (7829), tertiary transmission gear (7830), tertiary transmission shaft (7831), primary transmission shaft (7832), parallel rear connecting plate (7833); seedling detection base plate (7801) is the... Module support plate; seedling cup preliminary positioning plates (7802) are installed in pairs, open and equidistant on the seedling detection base plate (7801); the two ends of the seedling detection base plate (7801) are connected to the upper bearing positioning plate (7803) through the side plates (7811) of the clamping positioning mechanism; the left double gear support plate (7804) is installed at the ends of both ends of the seedling detection base plate (7801), and the inner side of the left double gear support plate (7804) is provided with a sliding rack (7825), the sliding rack (7825) and the three-stage transmission gear (7830) cooperate to form a linear displacement guide structure; the left double gear support horizontal plate (7805) is installed on the inner side above the left double gear support plate (7804); the right gear support A support plate (7807) is installed on one side of one end of the seedling detection base plate (7801); a right gear support plate (7806) is installed on the inner side above the right gear support plate (7807); a drive gear connecting shaft positioning plate (7808) is installed on the right boss of the seedling detection base plate (7801), and the boss is provided with mounting countersunk holes for the connecting shaft and bearings of the drive gear input stepper motor (7809) and the drive gear (7810) of the sliding module of the slide plate; a drive gear connecting shaft positioning plate (7808) is provided on the upper side of the mounting countersunk hole of the boss, and the connecting shaft of the drive gear input stepper motor (7809) and the drive gear (7810) of the sliding module of the slide plate passes through the mounting countersunk hole and the drive gear connecting shaft positioning plate (7808);Six angle adjustment detection stepper motors (7812) are equidistantly installed on the lower side of the stepper motor support frame (7816); the stepper motor support frame (7816) is welded from steel plates and consists of two layers, with the upper layer having an active adjustment sprocket shaft (7820); the output shaft of the angle adjustment detection stepper motor (7812) is connected to the active adjustment sprocket shaft (7820); the upper shaft section of the active adjustment sprocket shaft (7820) is fixedly connected to the active adjustment sprocket (7824); the seedling detection base plate (7801) has a rotating hole at the front, through which the end adjustment sprocket (7821) and the end adjustment gear are installed respectively via bearings and a fixed shaft. 7822); The end adjusting gear (7822) and the end adjusting sprocket (7821) form a fixed connection, and the end adjusting gear (7822) meshes with the lower teeth of the seedling cup (5000); The bottom end of the secondary drive shaft (7829) is mounted on the seedling detection base plate (7801) through a bearing, and the top end is rotatably hinged to the left double gear support plate (7805) through a bearing; The secondary drive shaft (7829) is equipped with a secondary drive gear (7827) and a secondary drive sprocket (7828), and the bottom end of the tertiary drive shaft (7831) is mounted on the seedling detection base plate (7801) through a bearing, and the top end is rotatably hinged to the left double gear support plate (7805). The wheel support plate (7805) is connected by bearings; the secondary transmission gear (7827) and the tertiary transmission gear (7830) form a movable mesh; the tertiary transmission gear (7830) meshes with the sliding rack (7825); the primary transmission shaft (7832) is installed below the sprocket mounted on the driven gear shaft (7818); the tertiary transmission shaft (7831) meshes with the sliding rack (7825) on its mounting side; the rear side of the sliding rack (7825) is connected to the right gear support plate (7807); six parallel coupling cam groove engaging modules (7817) are equidistantly installed on the seedling detection base plate (7801). The tension sprocket (7814) is mounted on one end of the tension sprocket adjustment frame (7813); the tension sprocket adjustment frame (7813) is mounted on the seedling detection base plate (7801) to form an angle-adjustable hinge; the end adjustment sprocket (7821) and the active adjustment sprocket (7824) are driven by the adjustment transmission chain (7823), so that the power of the angle adjustment detection stepper motor (7812) is transmitted to the end adjustment sprocket (7821), which transmits the power to the seedling cup (5000) and makes it rotate; the driven gear shaft (7818) is provided with a driven gear (7815), and a sprocket is provided below the driven gear (7815); The drive gear (7810) and driven gear (7815) of the sliding module of the slide plate mesh. When the drive gear (7810) rotates, it drives the driven gear (7815) to rotate. The sprocket below the driven gear (7815) is driven by a chain to the secondary transmission sprocket (7828), which transmits power to the secondary transmission shaft (7829). The secondary transmission gear (7827) meshes with the tertiary transmission gear (7830). The meshing of the tertiary transmission gear (7830) with the sliding rack (7825) causes the sliding rack (7825) to slide. At this time, the primary transmission shaft (7832) on the other side meshes with the sliding rack (7825). 825) meshes, and the first-stage transmission shaft (7832) also rotates, which causes the sliding rack (7825) to slide simultaneously; the sliding rack (7825) is connected to the parallel rear connecting plate (7833), and the parallel rear connecting plate (7833) is connected to the lower sliding camshaft (78178), which causes the lower sliding camshaft (78178) to move, and finally causes the parallel coupled cam groove engaging module (7817) to engage; the parallel transmission chain (7819) drives, which ultimately causes the sliding racks (7825) on both sides to slide simultaneously, and ultimately causes both sides to be subjected to force simultaneously, avoiding motion jamming caused by asynchronous drive.

9. The grafted scion seedling treatment device according to claim 8, characterized in that: The parallel coupling cam groove clamping module (7817) includes an upper parallel clamping arm (78171), a cam groove plate (78172), a clamping arm rotating support block (78173), a lower parallel clamping arm (78174), a clamping end rolling nylon wheel (78175), a nylon wheel fixed rotation assembly (78176), an upper sliding cam roller (78177), and a lower sliding camshaft (78178); wherein the lower parallel clamping arm (78174) is hinged to the seedling detection base plate (7801) through a bearing in the middle. The lower parallel clamping arm (78174) is hinged to the clamping arm rotating support block (78173) on the other side via a bearing; the cam groove plate (78172) is provided with guide grooves on both the upper and lower sides, with the guide grooves on both sides distributed on the upper and lower sides respectively, and their directions are coupled to each other. The guide groove on one side is larger than the guide groove on the other side to avoid jamming at the intersection of the two grooves when both sides guide at the same time; the rear end of the upper parallel clamping arm (78171) is connected to the clamping end rolling nylon wheel (78175) via a nylon wheel fixing rotating assembly (78176); the upper parallel clamping arm (78174) is hinged to the clamping end rolling nylon wheel (78175) via a nylon wheel fixing rotating assembly (78176); the upper parallel clamping arm (78174) is hinged to the cam groove plate (78174) on the other side via a bearing; the cam groove plate (78174) is hinged to the cam groove plate (78175) on the other side via a bearing; the cam groove plate (78174) is hinged to the cam groove plate (78175) on the other side via a bearing; the cam groove plate (78174) is hinged to the cam groove plate (78175) on the other side via a bearing fixing rotating assembly (78175); the cam groove plate (78174) is hinged to the cam groove plate (78175) on the other side via a bearing fixing rotating assembly (78175); the cam groove plate (78174) is hinged to the cam groove plate (78175) on the other side via a bearing fixing rotating assembly (78175); the cam groove plate (78174) is hinged to the cam groove plate (78175) on the other side via a bearing fixing rotating assembly 171) The upper sliding cam roller (78177) is hinged at the front end, and the upper sliding cam roller (78177) cooperates with the upper guide groove of the cam groove plate (78172). The two opening and closing claws are driven by one cam groove plate (78172). The rear end of the lower parallel clamping arm (78174) is also provided with a clamping end rolling nylon wheel (78175). The lower parallel clamping arm (78174) is equipped with a lower sliding camshaft (78178) at the front end, and a part of the lower sliding camshaft (78178) is set in the lower guide groove. Inside, the lower guide groove and the lower sliding camshaft (78178) form rolling friction; when the cam groove plate (78172) is displaced, its lower parallel clamping arm (78174) and upper parallel clamping arm (78171) are guided by the lower sliding camshaft (78178) and upper sliding cam roller (78177) at the front end in the groove of the cam groove plate (78172) to achieve clamping at their rear ends, thereby making the two end clamping end rolling nylon wheels (78175) contact the seed cup (5000) to achieve clamping.

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