Cutting and clamping mechanism and method for solanaceous fruit seedling scion stock

Abstract

The invention discloses a solanaceous fruit seedling scion stock cutting and clamping mechanism and method, and belongs to the field of agricultural machinery. The device comprises a plurality of machining stations arranged on a rotating platform in the circumferential direction and a cutting mechanism arranged on the outer side of the rotating platform. Each processing station has the same structure and comprises a scion clamping mechanism, a stock clamping mechanism and a seedling gathering mechanism; the scion clamping mechanism is used for clamping a target scion through a scion clamping jaw; the rootstock clamping mechanism is used for clamping a target rootstock through a rootstock clamping jaw; the seedling gathering mechanism is used for jointly clamping and gathering the target scions and the target rootstocks; the cutting mechanism is used for simultaneously cutting the target scion and the target stock through a cutting blade. Through the integrated synchronous cutting action, it can be fundamentally ensured that the cutting angle of a stock and a scion and the geometrical shape of the cutting face keep high consistency, and the problems that in automatic grafting, seedlings are prone to damage, the quality of cuts is not stable, and adaptability to seedlings of different specifications is poor can be solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of agricultural machinery, and particularly relates to a cutting and clamping mechanism and method for grafted seedlings of solanaceous plants. BACKGROUND

[0002] In recent years, with the increase of the cultivation area of crops such as vegetables, the problems of continuous cropping obstacles and pest control have become increasingly prominent. Grafting as an effective solution can cope with these challenges. Vegetable grafting cultivation is a technical measure that can effectively prevent soil-borne diseases. Current vegetable grafting operations are basically manual, but manual grafting is affected by various factors, which can lead to inconsistent cutting quality of the stock and scion, resulting in incomplete fitting of the cutting surfaces of the stock and scion, and thus affecting the survival rate of grafted seedlings. The development of the cutting and clamping mechanism for grafted seedlings of solanaceous plants is the result of continuous evolution in the macro background of agricultural modernization and rising labor costs to solve the core pain points of low efficiency and unstable quality of manual grafting, and to overcome the engineering and technical challenges brought by the fragility and variability of seedlings. SUMMARY

[0003] The purpose of the present application is to overcome the defects in the prior art and provide a high-efficiency, precise and low-damage cutting and clamping mechanism and method for grafted seedlings of solanaceous plants, which can overcome the problems of low efficiency of manual grafting, easy damage to seedlings in automatic grafting, unstable cutting quality, and poor adaptability to different specifications of seedlings in the prior art.

[0004] The specific technical solutions adopted by the present application are as follows:

[0005] In a first aspect, the present application provides a cutting and clamping mechanism for grafted seedlings of solanaceous plants, comprising a plurality of processing positions arranged circumferentially on a rotating platform and a cutting mechanism arranged outside the rotating platform; each processing position has the same structure and comprises a scion clamping mechanism, a stock clamping mechanism and a seedling gathering mechanism;

[0006] The scion clamping mechanism is used to clamp a target scion by a scion clamping jaw; the scion clamping jaw can move in both horizontal and vertical directions to adjust the position and can fit the cutting surfaces of the target scion and target stock after cutting by the cutting mechanism;

[0007] The stock clamping mechanism is used to clamp a target stock by a stock clamping jaw;

[0008] The seedling gathering mechanism is used to clamp the target scion clamped by the scion clamping mechanism and the target stock clamped by the stock clamping mechanism together by a seedling gathering jaw.

[0009] The cutting mechanism is used to simultaneously cut the target scion and target stock clamped by the seedling gathering mechanism by a cutting blade.

[0010] As a preferred, the processing position on the rotating platform has at least 6, and is evenly distributed.

[0011] As a preferred, the cutting mechanism includes a cutting knife holder, a cutting knife seat cylinder and a cutting knife holder support; the cutting knife holder support is located outside the rotating platform, and the cutting knife seat cylinder is detachably fixed on the cutting knife holder support; the output end of the cutting knife seat cylinder is detachably installed with the cutting knife holder, and the cutting blade with the cutting edge facing the processing position is detachably installed on the cutting knife holder; the cutting knife seat cylinder can drive the cutting blade to move in the horizontal direction to realize the simultaneous cutting of the target scion and the target stock.

[0012] As a preferred, the inclination angle of the cutting blade is 60°.

[0013] As a preferred, the scion clamping mechanism includes a first sliding table cylinder, a first connecting plate, a second sliding table cylinder, a second connecting plate, a third sliding table cylinder, a fourth cylinder, a first finger cylinder, a scion limiting baffle and a scion clamping jaw.

[0014] The output end of the first sliding table cylinder is connected with the first connecting plate, and the driving direction thereof is vertical; the other side of the first connecting plate is fixed with the second sliding table cylinder, and the output end of the second sliding table cylinder is connected with the second connecting plate and the driving direction thereof is vertical; the other side of the second connecting plate is fixed with the third sliding table cylinder, and the output end of the third sliding table cylinder is connected with the third connecting plate and the driving direction thereof is horizontal; the other side of the third connecting plate is fixed with the fourth cylinder, and the output end of the fourth cylinder is connected with the first finger cylinder and the driving direction thereof is horizontal; the output end of the first finger cylinder is connected with the scion clamping jaw which can be horizontally opened and closed to clamp the scion; the top of the first finger cylinder away from the opening of the scion clamping jaw is provided with the scion limiting baffle for limiting the scion.

[0015] The first sliding table cylinder and the second sliding table cylinder can respectively realize the coarse adjustment and the fine adjustment of the scion clamping jaw in the vertical direction, and the third sliding table cylinder and the fourth cylinder can respectively realize the coarse adjustment and the fine adjustment of the scion clamping jaw in the horizontal direction.

[0016] As a preferred, the stock clamping mechanism is arranged below the scion clamping mechanism and includes a stock clamping jaw, a stock limiting baffle and a third finger cylinder; the output end of the third finger cylinder is connected with the stock clamping jaw which can be horizontally opened and closed to clamp the stock; the stock limiting baffle for limiting the stock is arranged below the stock clamping jaw.

[0017] Preferably, the grafting mechanism is arranged between the scion clamping mechanism and the stock clamping mechanism, and comprises a second finger cylinder, a third sliding table cylinder and a grafting clamp; the output end of the third sliding table cylinder is connected with a fourth connecting plate and the driving direction is horizontal, the other side of the fourth connecting plate is connected with the second finger cylinder, and the output end of the second finger cylinder is connected with the grafting clamp capable of horizontally opening and closing to realize the grafting action.

[0018] In a second aspect, the application provides a method for operating the grafting mechanism for cutting and clamping scion and stock of the seedling of solanaceous fruiting plants, the rotating platform has six processing positions which are uniformly distributed, and each processing position sequentially performs steps S1-S6, which are as follows:

[0019] S1: rotating to the first processing position to perform the grafting action, which is as follows:

[0020] The first finger cylinder 7 controls the scion clamp 12 to be in the open state, and the third finger cylinder 18 controls the stock clamp 13 to be in the open state; the fourth cylinder 6 and the third sliding table cylinder 9 are both in the left limit position, so that the positions of the grafting clamp 11, the scion clamp 12 and the stock clamp 13 are not in the same straight line.

[0021] Subsequently, the scion seedling is placed in the scion clamp 12 and contacts the scion limiting baffle 10, the scion clamp 12 is controlled by the first finger cylinder 7 to change from the open state to the closed state to clamp the scion seedling; the stock seedling is placed in the stock clamp 13 and contacts the stock limiting baffle, the bottom of the stock seedling is placed on the base connected with the rotating platform, and the stock clamp 13 is controlled by the third finger cylinder 18 to change from the open state to the closed state to clamp the stock seedling;

[0022] S2: rotating to the second processing position to be empty and not to perform the action;

[0023] S3: rotating to the third processing position to sequentially perform the grafting, cutting and grafting seedling adhering actions, which are as follows:

[0024] The second finger cylinder 8 controls the grafting clamp 11 to be in the open state, the first sliding table cylinder 1 and the second sliding table cylinder 3 are both in the upper limit position, the cutting knife seat cylinder 15 is in the retracted state, and the cutting blade is in the cutting state;

[0025] Subsequently, the scion and the stock are coincided in the vertical direction by the first slide cylinder 1 to the lower limit position, the third slide cylinder 5 to the right limit position, and the fourth cylinder 6 to the right by 1-2mm, so as to adjust the position of the scion clamp 12, and the scion and the stock are coincided in the vertical direction by 1-2mm; the third slide cylinder 9 is moved to the right limit position, and the second finger cylinder 8 controls the closing of the seedling clamp 11 from the open state to the closed state to clamp the scion and the stock, and the seedling clamping action is completed; at this time, the scion and the stock are coincided in the vertical direction by 1-2mm and clamped, and the positions of the scion clamp 12, the seedling clamp 11 and the stock clamp 13 are in the same vertical line; then, the cutting knife seat cylinder 15 is extended, and the cutting blade is moved to the left limit position, and when the cutting knife seat cylinder 15 is extended to the maximum stroke, the cutting blade is just cut at the coinciding position of the scion and the stock, so that the cutting angle and the cutting surface shape of the scion and the stock are consistent; the cutting knife seat cylinder 15 is retracted, and the cutting blade is reset to the initial state;

[0026] Then, the second slide cylinder 3 is extended downward by 1-2mm, and the scion clamp 12 is moved, so that the gap between the scion and the stock is combined when the cutting blade is cut;

[0027] S4: rotate to the fourth processing position to perform the upper clamping action, that is, the grafting clamp is fixed to the joint of the scion and the stock;

[0028] S5: rotate to the fifth processing position to perform the grabbing action, as follows:

[0029] The grafted seedling is transferred to the mechanical hand transfer station, the first slide cylinder 1, the second slide cylinder 3, the third cylinder 5, the fourth cylinder 6 and the third slide cylinder 9 are restored to the initial state, and the first finger cylinder 7, the second finger cylinder 8 and the third finger cylinder 18 are switched from the closed state to the open state, so as to release the direct clamping of the grafted seedling; then the grafted seedling is moved to the plug by the mechanical hand;

[0030] S6: rotate to the sixth processing position to be empty, and no action is performed.

[0031] Compared with the prior art, the present application has the following beneficial effects:

[0032] Traditional grafting techniques commonly used in existing technologies typically require operators to perform separate, independent cutting processes on the rootstock and scion seedlings. This method is not only cumbersome and inefficient, but also has significant limitations in terms of operational consistency and cut matching. To address these technical bottlenecks, the present invention provides a truly synchronous and integrated cutting solution, representing a significant innovation in grafting operations. By integrating a precise mechanical structure design with highly consistent motion control logic, this device can efficiently and accurately complete the simultaneous cutting of the stems of both the rootstock and scion seedlings within the same operating sequence. This synchronization mechanism effectively ensures a good match between the shapes and angles of the cut surfaces of the two seedlings, creating favorable conditions for subsequent bonding and fixing processes, thereby significantly improving the overall efficiency of the grafting operation and the survival quality of the grafted seedlings.

[0033] The core technological advantage of this device lies in its integrated, synchronized cutting action, which fundamentally ensures a high degree of consistency in the cutting angles and geometric shapes of the cutting surfaces of both the rootstock and scion. This consistency is not merely a simple shape replication, but rather lays an ideal physical foundation for subsequent grafting operations. Specifically, during the subsequent bonding process, the precisely cut surface of the scion seedling achieves a precise three-dimensional spatial match and a tight, seamless fit with the corresponding cut surface of the rootstock seedling. This highly compatible contact minimizes the mismatch problems caused by step-by-step cutting and human error in traditional grafting, thereby significantly reducing the formation of gaps at the bonding site. Its direct benefit is a significant promotion of rapid and effective callus connection and fusion between the rootstock and scion, providing crucial assurance for the successful reconstruction of nutrient channels and the healthy survival of grafted seedlings, ultimately translating into a significant improvement in grafting success rate and seedling quality.

[0034] Furthermore, due to the precise correspondence of the cut surfaces, the grafted seedlings maintain good uprightness and axial alignment after grafting, avoiding internal stress caused by uneven force or morphological distortion. This not only makes the grafting operation smoother but also fundamentally improves the healing microenvironment of the grafted seedlings, effectively reducing the risk of infection at the grafting wound and accelerating the healing process. This significantly improves the final survival rate and seedling quality, providing reliable technical support for the large-scale, factory-style seedling production of solanaceous vegetables. Attached Figure Description

[0035] Figure 1 This is a front axonometric schematic diagram of a preferred embodiment of the device of the present invention.

[0036] Figure 2 for Figure 1 A magnified view of the left axonometric section of the device shown.

[0037] Figure 3 The axis measurement schematic view of the cutting graft clamping mechanism of a preferred embodiment of the present application.

[0038] Figure 4 The axis measurement schematic view of the stock tree clamping mechanism of a preferred embodiment of the present application.

[0039] Figure 5 The axis measurement schematic view of the bunching mechanism of a preferred embodiment of the present application.

[0040] Figure 6 The schematic view of the bunching clamping jaw structure of a preferred embodiment of the present application.

[0041] Figure 7 The schematic view of the cutting mechanism structure of a preferred embodiment of the present application.

[0042] Figure 8 The schematic view of the cutting mechanism structure of a preferred embodiment of the present application.

[0043] Figure 9 The partial enlarged schematic view of Figure 3

[0044] The figure is marked as: the first sliding table cylinder 1, the first connecting plate 2, the second sliding table cylinder 3, the second connecting plate 4, the third sliding table cylinder 5, the fourth cylinder 6, the first finger cylinder 7, the second finger cylinder 8, the third sliding table cylinder 9, the cutting graft limiting baffle 10, the bunching clamping jaw 11, the cutting graft clamping jaw 12, the stock tree clamping jaw 13, the cutting graft cutting knife holder 14, the cutting knife seat cylinder 15, the cutting graft cutting knife support 16, the stock tree limiting baffle 17, the third finger cylinder 18. DETAILED DESCRIPTION

[0045] In order to make the above objectives, features and advantages of the present application more apparent, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, a lot of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited by the specific embodiments disclosed below. The technical features in each embodiment of the present application can be combined accordingly without conflict.

[0046] In the description of the present application, it should be understood that when an element is considered to be "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element with an intermediate element. In contrast, when an element is considered to be "directly" connected to another element, there is no intermediate element.

[0047] ​In the description of this invention, it should be understood that the terms "first," "second," etc., are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of those features.

[0048] In this invention, for ease of description, ... Figure 2 The orientation of the device shown is used to illustrate the positional relationship of the components in the device of this invention. Figure 2 The left and right sides are set as "left" and "right" respectively. Figure 2 The lower and upper sides are respectively designated as "lower" and "upper". Unless otherwise specified, the positional relationship of the present invention is described in this way.

[0049] like Figure 1 As shown, this invention provides a cutting and clamping mechanism for solanaceous seedling scions and rootstocks. The device mainly includes multiple processing positions circumferentially arranged on a rotating platform and a cutting mechanism located outside the rotating platform. Figure 2 As shown, each processing station has the same structure, including a scion clamping mechanism, a rootstock clamping mechanism, and a seedling gathering mechanism. These mechanisms work together to achieve the function of cutting and clamping the scions and rootstocks of solanaceous seedlings. The coordination process is described below.

[0050] like Figure 3 As shown, the scion clamping mechanism described above is used to clamp the target scion using the scion clamp 12. The scion clamp 12 can move in both horizontal and vertical directions to adjust its position, and can fit the cut ends of the target scion and the target rootstock together after being cut by the cutting mechanism.

[0051] like Figure 4 As shown, the above-mentioned rootstock clamping mechanism is used to clamp the target rootstock through the rootstock clamping claw 13.

[0052] like Figure 5 As shown, the above-mentioned seedling gathering mechanism is used to clamp and gather the target scion held by the scion clamping mechanism and the target rootstock held by the rootstock clamping mechanism together through the seedling gathering claw 11.

[0053] like Figure 8 As shown, the cutting mechanism described above is used to simultaneously cut the target scion and target rootstock held by the seedling gathering mechanism using a cutting blade. In other words, the cutting unit is used to cut the material clamp (i.e., the target scion and target rootstock) in the positioning state at the cutting inlet position to form a material clamp unit for clamping the grafting object.

[0054] The structures of the scion clamping mechanism, the stock clamping mechanism, the bunching mechanism and the cutting mechanism are not limited in theory as long as the functions described above can be achieved. As a preferred form of the device, the scion clamping mechanism can include a first sliding table cylinder 1 for achieving vertical coarse adjustment of the scion clamping jaw 12, a second sliding table cylinder 3 for achieving vertical fine adjustment of the scion clamping jaw 12, a third sliding table cylinder 5 for achieving horizontal coarse adjustment of the scion clamping jaw 12, a fourth cylinder 6 for achieving horizontal fine adjustment of the scion clamping jaw 12, a first finger cylinder 7 for controlling the opening or closing of the scion clamping jaw 12, the scion clamping jaw 12 for clamping or releasing the scion seedling, and a scion limiting baffle 10 for limiting the depth of the scion seedling into the scion clamping jaw 12; the stock clamping mechanism can include a stock clamping jaw 13 for clamping or releasing the stock seedling, a third finger cylinder 18 for controlling the opening or closing of the stock clamping jaw 13, and a stock limiting baffle 17 for limiting the depth of the stock seedling into the stock clamping jaw 13; the bunching mechanism can include a bunching jaw 11 for performing the bunching action on the stock seedling and the scion seedling, a second finger cylinder 8 for controlling the opening or closing of the bunching jaw 11, and a third sliding table cylinder 9 for controlling the linear reciprocating movement of the bunching jaw 11 in the horizontal direction; and the cutting mechanism can include a seedling cutting knife support 16 for fixing the seedling cutting knife holder 14 and the cutting knife seat cylinder 15, the cutting knife seat cylinder 15 for controlling the linear reciprocating movement of the seedling cutting knife holder 14 in the horizontal direction to achieve cutting, and the seedling cutting knife holder 14 for mounting the cutting blade.

[0055] The preferred implementation forms of the mechanisms will be described in detail below by way of examples in combination with the accompanying drawings.

[0056] The specific form of the rotating platform described above can be adjusted according to actual needs, and its main function is to provide the installation positions of the scion clamping mechanism, the stock clamping mechanism and the bunching mechanism, and to sequentially send each processing position to different processing positions for action by rotating. In consideration of aesthetics and convenience, the rotating platform can be provided in the form of a horizontal circular plate structure.

[0057] In a more preferred embodiment of the present application, the processing positions on the rotating platform should be provided with at least six, and the processing positions are uniformly distributed, that is, the central angles between adjacent processing positions are the same. In this structure, the rotating platform is controlled by a motor, and when the processing position needs to be sent to the next processing position for action, the rotating platform only needs to rotate by the same angle in the clockwise or counterclockwise direction each time, so that each processing position can be sent to the next corresponding processing position, which is more conducive to automatic management. That is, the rotating platform adopts the motion mode of index rotation, sequentially passes through multiple processing positions with different functions, and collectively constitutes a complete grafting cycle.

[0058] In a preferred embodiment of the present application, the scion clamping mechanism, the stock clamping mechanism and the seedling gathering mechanism of each processing position are fixedly connected with the rotating platform through the mechanism fixing plate. The scion clamping mechanism, the stock clamping mechanism and the seedling gathering mechanism jointly constitute the stock scion clamping mechanism.

[0059] In a preferred embodiment of the present application, as shown in Figure 8 The cutting mechanism mainly includes a seedling cutting tool holder 14, a cutting tool seat cylinder 15 and a seedling cutting tool support 16. The seedling cutting tool support 16 is located at the outer side of the rotating platform, and the cutting tool seat cylinder 15 is detachably fixed on the seedling cutting tool support 16. The output end of the cutting tool seat cylinder 15 is detachably installed with the seedling cutting tool holder 14, and the seedling cutting tool holder 14 is detachably installed with a cutting blade with the cutting edge facing the processing position. The cutting blade can be moved along the horizontal direction by the cutting tool seat cylinder 15, so as to simultaneously cut the target scion and the target stock.

[0060] In actual use, the cutting mechanism can be installed at the outer side of the third processing position. When a certain processing position is rotated to the third processing position by the rotating platform, the cutting edge of the cutting blade is arranged opposite to the stock scion clamping mechanism. The cutting blade can simultaneously cut the stock seedling and the scion seedling, and the inclination angle thereof is 60°. The simultaneous cutting by one blade can ensure that the cutting angle and the cutting surface shape of the stock and the scion are consistent, which is convenient for subsequent grafting. In actual work process, when the material is located at the third processing position, the cutting blade is pushed out by the cutting tool seat cylinder 15 to perform the cutting action. After the action is completed, the cutting blade is retracted, and the rotating platform starts to rotate to switch to the next processing position.

[0061] In the embodiment, the detachable connection between the seedling cutting tool holder 14, the cutting tool seat cylinder 15, the seedling cutting tool support 16 and the cutting blade is provided for the convenience of disassembling and assembling the cutting tool mounting plate. Since the cutting blade is a consumable part, it will often contact the juice of the seedling for grafting during use, and is prone to rust. After the cutting tool mounting plate is disassembled, the cutting blade can be quickly and conveniently replaced. Figure 7 FIG. 2 is a structure diagram of the seedling cutting tool holder 14 in a preferred embodiment of the present application.

[0062] In a preferred embodiment of the present application, as shown in Figure 3 The scion clamping mechanism mainly includes a first sliding table cylinder 1, a first connecting plate 2, a second sliding table cylinder 3, a second connecting plate 4, a third sliding table cylinder 5, a fourth cylinder 6, a first finger cylinder 7, a scion limiting baffle 10 and a scion clamping jaw 12.

[0063] Specifically, as shown in Figure 9As shown, the output end of the first sliding table cylinder 1 is connected with the first connecting plate 2, and the driving direction is vertical, that is, the first sliding table cylinder 1 can drive the first connecting plate 2 to reciprocate vertically. The first connecting plate 2 is vertically arranged, one side of which is connected with the first sliding table cylinder 1, and the other side is fixed with the second sliding table cylinder 3. The output end of the second sliding table cylinder 3 is connected with the second connecting plate 4, and the driving direction is vertical, that is, the second sliding table cylinder 3 can drive the second connecting plate 4 to reciprocate vertically. The second connecting plate 4 is horizontally arranged, the upper side of which is connected with the second sliding table cylinder 3, and the lower side is fixed with the third sliding table cylinder 5. The output end of the third sliding table cylinder 5 is connected with the third connecting plate, and the driving direction is horizontal, that is, the third sliding table cylinder 5 can drive the third connecting plate to reciprocate horizontally. The third connecting plate is horizontally arranged, the upper side of which is connected with the third sliding table cylinder 5, and the lower side is fixed with the fourth cylinder 6. The output end of the fourth cylinder 6 is connected with the first finger cylinder 7, and the driving direction is horizontal, that is, the fourth cylinder 6 can drive the first finger cylinder 7 to reciprocate horizontally. The output end of the first finger cylinder 7 is connected with the scion clamping jaw 12, which can horizontally open and close to clamp or release the scion. The top of the first finger cylinder 7 away from the opening side of the scion clamping jaw 12 is provided with a scion limiting baffle 10 for limiting the scion, that is, when the scion is put into the scion clamping jaw 12, the depth position can be determined according to the scion limiting baffle 10, and the scion limiting baffle 10 can also provide support force for the scion during cutting.

[0064] In actual use, the first sliding table cylinder 1 can realize the coarse adjustment of the scion clamping jaw 12 in the vertical direction, the second sliding table cylinder 3 can realize the fine adjustment of the scion clamping jaw 12 in the vertical direction, the third sliding table cylinder 5 can realize the coarse adjustment of the scion clamping jaw 12 in the horizontal direction, and the fourth cylinder 6 can realize the fine adjustment of the scion clamping jaw 12 in the horizontal direction. That is, the first sliding table cylinder 1 and the third sliding table cylinder 5 are used for large amplitude adjustment of the action of the whole scion seedling mechanism in the vertical direction and the horizontal direction, and the second sliding table cylinder 3 and the fourth cylinder 6 are used for small amplitude accurate adjustment of the gap between the scion seedling and the stock seedling in the vertical direction and the horizontal direction.

[0065] In a preferred embodiment of the present application, as shown in the drawings, Figure 4 The stock clamping mechanism is arranged below the scion clamping mechanism, mainly including a stock clamping jaw 13, a stock limiting baffle 17 and a third finger cylinder 18. The output end of the third finger cylinder 18 is connected with the stock clamping jaw 13, which can horizontally open and close to clamp or release the stock. The lower side of the stock clamping jaw 13 is provided with a stock limiting baffle 17 for limiting the stock, that is, when the stock is put into the stock clamping jaw 13, the depth position can be determined according to the stock limiting baffle 17, and the stock limiting baffle 17 can also provide support force for the stock during cutting.

[0066] In a preferred embodiment of the present application, as shown in Figure 5 The grafting mechanism is arranged between the scion clamping mechanism and the stock clamping mechanism, and mainly includes a second finger cylinder 8, a third sliding table cylinder 9, and a grafting clamping jaw 11. The output end of the third sliding table cylinder 9 is connected with a fourth connecting plate, and the driving direction of the third sliding table cylinder 9 is horizontal, that is, the third sliding table cylinder 9 can drive the fourth connecting plate to reciprocate left and right along the horizontal direction. The fourth connecting plate is horizontally arranged, and the lower bottom surface is connected with the third sliding table cylinder 9, and the upper top surface is connected with the second finger cylinder 8. The output end of the second finger cylinder 8 is connected with the grafting clamping jaw 11, and the grafting clamping jaw 11 can be horizontally opened and closed to realize the grafting action. Figure 6 As shown in the structural schematic diagram of the grafting clamping jaw 11 in a preferred embodiment of the present application, it can be seen that the grafting clamping jaw 11 needs to be able to simultaneously gather the stock and the scion.

[0067] By using the above-mentioned solanaceous seedling scion stock cutting clamping mechanism, the present application further provides an operation method. Taking the example that the processing positions of the rotating platform are six and uniformly distributed, that is, as shown in Figure 1 The steps S1-S6 are sequentially and circularly performed in each processing position, and each step is specifically as follows. S1: rotating to the processing position of the first processing position (i.e. the loading and clamping position) to perform the loading action.

[0068] The operator or the loading mechanism needs to accurately place the stock seedling as the root base and the scion seedling as the grafting into the special stock clamping mechanism and scion clamping mechanism respectively, and the mechanism performs reliable clamping action, which lays the foundation for the subsequent process.

[0069] In this step, the linkage relationship of each component is specifically as follows. In the initial state, the first finger cylinder 7 controls the scion clamping jaw 12 to be in the open state, and the third finger cylinder 18 controls the stock clamping jaw 13 to be in the open state. The fourth cylinder 6 and the third sliding table cylinder 9 are both in the left limit position (i.e. the retracted state), so that the positions of the grafting clamping jaw 11, the scion clamping jaw 12 and the stock clamping jaw 13 are not in the same straight line.

[0070] When it is operated, the scion seedling is placed in the scion clamping jaw 12 and contacts the scion limiting baffle 10, which helps to reduce the horizontal distance error between the scion seedling and the stock seedling. At this time, the foot pedal is stepped on, the first finger cylinder 7 receives the signal, and the scion clamping jaw 12 is changed from the open state to the closed state to clamp the scion seedling by the first finger cylinder 7, and the scion clamping jaw 12 clamps the scion seedling.

[0071] The scion seedling is placed in the stock clamp jaw 13 and contacts the stock limiting baffle 17, which helps to reduce the horizontal distance error between the scion seedling and the stock seedling. The bottom of the stock seedling is placed on the base connected to the rotating platform. At this time, the foot pedal is stepped on, and the third finger cylinder 18 receives a signal, and the stock clamp jaw 13 is controlled by the third finger cylinder 18 to change from the open state to the closed state to clamp the stock seedling, and the stock clamp jaw 13 clamps the stock seedling.

[0072] S2: Rotate to the processing position of the second processing position, and do not perform any action.

[0073] This design can provide buffering for the process or reserve space for future possible functional expansion.

[0074] S3: Rotate to the processing position of the third processing position (i.e., the bunching seedling cutting position), and perform the bunching seedling, cutting, and grafting seedling fitting actions in turn, which is a key preprocessing link for realizing grafting.

[0075] At this time, the special bunching seedling clamp jaw starts to act, which gently and accurately guides and gathers the scion seedling and the stock stem to the preset ideal position, ensuring that the cutting surfaces of the two can be perfectly connected. After the bunching seedling action is completed, the sharp cutting blade is quickly and smoothly stretched out under the pushing of the driving cylinder, and at the same moment, the scion and the stock are precisely cut, forming a flat and closely fitted incision.

[0076] In this step, the linkage relationship of each component is as follows: In the initial state, the fourth cylinder 6 is in the retracted state, the second finger cylinder 8 controls the bunching seedling clamp jaw 11 to be in the open state, the first finger cylinder 7 and the third finger cylinder 18 are in the closed state, the third sliding table cylinder 9 is at the left limit position, the first sliding table cylinder 1 and the second sliding table cylinder 3 are both at the upper limit position, the cutting-off knife seat cylinder 15 is in the retracted state, and the cutting blade is in the cutting state.

[0077] When it works, the first sliding table cylinder 1 is actuated to the lower limit position, so that the scion seedling and the stock seedling coincide in the vertical direction for a distance. The third sliding table cylinder 5 is actuated to the right limit position, and the fourth cylinder 6 is further extended to the right by 1-2 mm, so as to adjust the position of the scion clamp jaw 12, so that the clamped scion seedling and the stock seedling are accurately in the same vertical direction. The third sliding table cylinder 9 is actuated to the right limit position, and the bunching seedling clamp jaw 11 is controlled by the second finger cylinder 8 to change from the open state to the closed state to clamp the scion seedling and the stock seedling at the same time, and the bunching seedling action is completed. At this time, the scion seedling and the stock seedling coincide in the vertical direction for a distance and are clamped, and the positions of the scion clamp jaw 12, the bunching seedling clamp jaw 11, and the stock clamp jaw 13 are in the same vertical line.

[0078] Then, the cutting seat cylinder 15 extends out, and the cutting blade moves left to the limit. When the cutting seat cylinder 15 extends to the maximum stroke, the cutting blade just finishes cutting at the joint of the scion and the stock, and the cutting angle and the cutting surface shape of the scion and the stock are consistent. The cutting seat cylinder 15 retracts, and the cutting blade returns to the initial state.

[0079] Then, the second slide cylinder 3 extends downward by 1-2mm, and the scion clamp 12 moves, so that the gap between the scion and the stock is combined when the cutting blade cuts.

[0080] S4: Rotate to the fourth processing position (i.e. the upper clamping position) to perform the upper clamping action, that is, the rotating platform fixes the grafted seedling (i.e. the scion and the stock) to the grafting clamp.

[0081] At this time, the grafting clamp upper clamping mechanism starts to work, accurately clamps the joint of the scion and the stock, and performs the upper clamping action, so that the scion and the stock are firmly clamped together by the grafting clamp to form a complete grafted seedling, ensuring that the position is stable and does not shift in the subsequent process, and ensuring that the joint is stable during growth.

[0082] S5: Rotate to the fifth processing position (i.e. the material taking position) to perform the grabbing action.

[0083] Here, the mechanical hand accurately performs the grabbing action on the grafted seedling, then moves it out of the platform, and finally places it in the waiting plug tray to complete the planting.

[0084] In this step, the linkage relationship of each component is as follows: The grafted seedling is transferred to the mechanical hand transfer position, and the first slide cylinder 1, the second slide cylinder 3, the third cylinder 5, the fourth cylinder 6, and the third slide cylinder 9 perform actions in turn, and all return to the initial state. At the same time, the first finger cylinder 7, the second finger cylinder 8, and the third finger cylinder 18 are switched from the closed state to the open state, and the direct clamping of the grafted seedling is released. At this time, the grafted seedling is stably supported by the lower base and remains in an upright state. After all the above actions are successfully performed, the system will start the mechanical hand device, which accurately grabs the grafted seedling and safely and stably transfers and places it in the designated plug tray, thereby completing the last transfer link of the entire grafting process.

[0085] S6: Rotate to the sixth processing position and leave it empty, without performing any action.

[0086] This position is also set to be empty, and is used to complete the necessary reset or cleaning before returning to the feeding position, thereby starting the next cycle.

[0087] Overall, the working principle of the present application is as follows: 1) In the initial state, each mechanism is in the original position, and the scion seedling and the stock are in the working position; 2) The scion clamp jaw and the stock clamp jaw act, and the scion seedling and the stock are clamped; 3) The platform motor works to drive the rotating platform to rotate, and the scion seedling and the stock are transferred to the bunching and cutting station; 4) The bunching clamp jaw acts, and the cutting mechanism acts to synchronously cut the scion seedling and the stock; 5) The precision cylinder (i.e., the second sliding table cylinder 3 and the fourth cylinder 6) performs the splicing work on the scion seedling and the stock; 6) The platform motor works to drive the rotating platform to rotate, and the spliced seedling is transferred to the upper clamping station to clamp the seedling; 7) The platform motor works to drive the rotating platform to rotate, and the clamped seedling is transferred to the mechanical hand transfer station, and the mechanical hand transfers the seedling to the plug tray.

[0088] The above cycle is repeated, and the cutting and bunching operation is continuously performed.

[0089] The above-described embodiment is only a preferred scheme of the present application, and is not intended to limit the present application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present application.

Claims

1. A cutting and clamping mechanism for solanaceous seedling scion and rootstock, characterized in that, It includes several processing positions arranged circumferentially on a rotating platform and a cutting mechanism arranged on the outside of the rotating platform; each of the processing positions has the same structure, including a scion clamping mechanism, a rootstock clamping mechanism and a seedling gathering mechanism; The scion clamping mechanism is used to clamp the target scion through the scion clamp (12); the scion clamp (12) can move in both horizontal and vertical directions to adjust its position, and can fit the cut of the target scion and the target rootstock together after being cut by the cutting mechanism. The rootstock clamping mechanism is used to clamp the target rootstock through the rootstock clamping claw (13); The seedling gathering mechanism is used to clamp and gather the target scion held by the scion clamping mechanism and the target rootstock held by the rootstock clamping mechanism together through the seedling gathering claw (11). The cutting mechanism is used to simultaneously cut the target scion and target rootstock held by the seedling gathering mechanism using a cutting blade.

2. The solanaceous seedling scion-rootstock cutting and clamping mechanism according to claim 1, characterized in that, The rotating platform has at least six processing stations, which are evenly distributed.

3. The solanaceous seedling scion-rootstock cutting and clamping mechanism according to claim 1, characterized in that, The cutting mechanism includes a seedling cutting blade holder (14), a cutting blade cylinder (15), and a seedling cutting blade support (16). The seedling cutting blade support (16) is located outside the rotating platform, and the cutting blade cylinder (15) is detachably fixed on it. The seedling cutting blade holder (14) is detachably installed at the output end of the cutting blade cylinder (15). A cutting blade with the blade facing the processing position is detachably installed on the seedling cutting blade holder (14). The cutting blade can be driven to move horizontally through the cutting blade cylinder (15) to achieve simultaneous cutting of the target scion and the target rootstock.

4. The solanaceous seedling scion-rootstock cutting and clamping mechanism according to claim 1, characterized in that, The cutting blade has a tilt angle of 60°.

5. The solanaceous seedling scion-rootstock cutting and clamping mechanism according to claim 3, characterized in that, The scion clamping mechanism includes a first slide cylinder (1), a first connecting plate (2), a second slide cylinder (3), a second connecting plate (4), a third slide cylinder (5), a fourth cylinder (6), a first finger cylinder (7), a scion limiting baffle (10), and a scion clamp (12). The output end of the first sliding cylinder (1) is connected to the first connecting plate (2), and its driving direction is vertical; the other side of the first connecting plate (2) is fixed with the second sliding cylinder (3), the output end of the second sliding cylinder (3) is connected to the second connecting plate (4) and its driving direction is vertical; the other side of the second connecting plate (4) is fixed with the third sliding cylinder (5), the output end of the third sliding cylinder (5) is connected to the third connecting plate and its driving direction is horizontal; the other side of the third connecting plate is fixed with the fourth cylinder (6), the output end of the fourth cylinder (6) is connected to the first finger cylinder (7) and its driving direction is horizontal; the output end of the first finger cylinder (7) is connected to the scion clamp (12) that can open and close horizontally to clamp the scion, and the top of the first finger cylinder (7) away from the opening of the scion clamp (12) is provided with a scion limiting baffle (10) for limiting the scion; The first slide cylinder (1) and the second slide cylinder (3) can respectively connect to the ear clamp (12) to achieve coarse and fine adjustment in the vertical direction, and the third slide cylinder (5) and the fourth cylinder (6) can respectively connect to the ear clamp (12) to achieve coarse and fine adjustment in the horizontal direction.

6. The solanaceous seedling scion-rootstock cutting and clamping mechanism according to claim 5, characterized in that, The rootstock clamping mechanism is located below the scion clamping mechanism and includes a rootstock clamp (13), a rootstock limiting baffle (17), and a third finger cylinder (18). The output end of the third finger cylinder (18) is connected to a rootstock clamp (13) that can open and close horizontally to clamp the rootstock. The rootstock clamp (13) is provided with a rootstock limiting baffle (17) for limiting the rootstock position below it.

7. The solanaceous seedling scion-rootstock cutting and clamping mechanism according to claim 6, characterized in that, The seedling gathering mechanism is located between the scion clamping mechanism and the rootstock clamping mechanism, and includes a second finger cylinder (8), a third slide cylinder (9), and a seedling gathering claw (11). The output end of the third slide cylinder (9) is connected to a fourth connecting plate and the driving direction is horizontal. The other side of the fourth connecting plate is connected to the second finger cylinder (8). The output end of the second finger cylinder (8) is connected to a seedling gathering claw (11) that can open and close horizontally to achieve the seedling gathering action.

8. A method for operating the solanaceous seedling scion-rootstock cutting and clamping mechanism as described in claim 7, characterized in that, The rotary platform has 6 processing stations that are evenly distributed. Each processing station sequentially and cyclically performs steps S1 to S6, as follows: S1: Rotate to the first processing position to perform the seedling loading action, as detailed below: The first finger cylinder 7 controls the scion clamp 12 to be in the open state, and the third finger cylinder 18 controls the rootstock clamp 13 to be in the open state; the fourth cylinder 6 and the third slide cylinder 9 are both in the left limit position, so that the positions of the seedling clamp 11, the scion clamp 12 and the rootstock clamp 13 are not in the same straight line. Subsequently, the scion seedling is placed in the scion clamp 12 and contacts the scion limiting baffle 10. The first finger cylinder 7 controls the scion clamp 12 to change from an open state to a closed state to hold the scion seedling. The rootstock seedling is placed in the rootstock clamp 13 and contacts the rootstock limiting baffle (17). The bottom of the rootstock seedling is placed on the base connected to the rotating platform. The third finger cylinder 18 controls the rootstock clamp 13 to change from an open state to a closed state to hold the rootstock seedling. S2: The machining position at the second machining location is left vacant and no action is taken; S3: Rotate to the third processing position and sequentially perform seedling gathering, cutting, and grafting seedling bonding actions, as detailed below: The second finger cylinder 8 controls the seedling clamp 11 to be in the open state, the first slide cylinder 1 and the second slide cylinder 3 are both in the upper limit position, the cutting tool holder cylinder 15 is in the retracted state, and the cutting blade is in the ready-to-cut state. Subsequently, the first sliding cylinder 1 moves to the lower limit, causing the scion and rootstock seedlings to overlap vertically by a certain distance; the third sliding cylinder 5 moves to the right limit, and the fourth cylinder 6 extends 1-2mm to the right, adjusting the position of the scion clamp 12 to ensure that the clamped scion and rootstock seedlings are precisely in the same vertical direction; the third sliding cylinder 9 moves to the right limit, and the second finger cylinder 8 controls the seedling clamp 11 to change from an open state to a closed state to simultaneously clamp the scion and rootstock seedlings, completing the seedling clamping action; at this time... The scion and rootstock seedlings overlap vertically by a certain distance and are clamped together, with the scion clamp 12, the seedling clamp 11, and the rootstock clamp 13 all positioned on the same vertical line. Next, the cutting blade cylinder 15 extends, simultaneously driving the cutting blade to move to the left limit. When the cutting blade cylinder 15 extends to its maximum stroke, the cutting blade just completes the cut at the overlap between the scion and rootstock seedlings, ensuring that the cutting angle and the shape of the cut surface are consistent between the scion and rootstock seedlings. The cutting blade cylinder 15 retracts, and the cutting blade returns to its initial state. Next, the second slide cylinder 3 extends downward by 1-2mm, driving the scion gripper 12 to move, so that the gap between the scion seedling and the rootstock seedling caused by the cutting blade merges. S4: Rotate to the fourth processing position to perform the clamping action, that is, fix the grafting clamp at the joint of the cut of the scion seedling and the rootstock seedling; S5: Rotate to the fifth processing position to perform the gripping action, as detailed below: After the grafted seedlings are clamped, they are transferred to the robotic arm transfer station. The first slide cylinder 1, the second slide cylinder 3, the third cylinder 5, the fourth cylinder 6, and the third slide cylinder 9 are all restored to their initial state. The first finger cylinder 7, the second finger cylinder 8, and the third finger cylinder 18 are also switched from the closed state to the open state, releasing the direct clamping of the grafted seedlings. Then the robotic arm moves the grafted seedlings to the seedling tray. S6: The machining position at the sixth machining point is left vacant and no action is taken.

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