Self-adaptive accurate butt joint method for rootstock and scion
By combining visual recognition and sensors, the moving speed and pre-tightening force of the positioning clamp are dynamically adjusted, solving the problems of low alignment accuracy and plant damage in grafting equipment, and achieving efficient and accurate docking of rootstock and scion with a high survival rate.
Patent Information
- Application Number
- CN202511687912.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-18
- Publication Date
- 2026-02-17
AI Technical Summary
Existing grafting equipment suffers from low alignment accuracy, poor versatility, easy damage to plants, and inability to provide precise pre-tightening force, resulting in low grafting survival rate.
A visual recognition device is used to collect real-time data on the size of the rootstock and scion. Combined with a laser rangefinder and a pressure sensor, the deceleration threshold is dynamically calculated and the moving speed of the positioning clamp is controlled to ensure accurate docking and provide appropriate pre-tightening force. Silicone inner walls and arc-shaped claws are used to reduce plant damage.
This method achieves efficient and precise grafting of rootstock and scion, improves grafting survival rate, avoids plant damage, and enhances grafting quality.
Smart Images
Figure CN121533271A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of grafting, and particularly relates to a self-adaptive precise butt joint method for a stock and a scion. BACKGROUND
[0002] In the grafting planting process of crops such as vegetables, the alignment accuracy of the stock and the scion directly affects the grafting survival rate and the subsequent crop growth condition. The grafting equipment on the market at present mostly relies on manual auxiliary positioning or simple mechanical positioning mode, and has the following problems.
[0003] 1. The manual positioning mode is low in efficiency, is affected by the experience of the operator, is unstable in alignment accuracy, and is prone to deviation of the stock and the scion in adhesion, thereby causing poor nutrient transmission at the grafting position and reducing the survival rate.
[0004] 2. The existing mechanical positioning mechanism mostly adopts fixed stroke control and cannot dynamically adjust the moving speed and the stopping position according to the actual size of the stock and the scion, is poor in universality when facing plants of different varieties and different growth stages, and is prone to damage to the stock or the scion due to rigid collision.
[0005] 3. Part of the positioning mechanism lacks real-time distance monitoring and dynamic adjustment function, and cannot slow down in time during the movement, thereby causing too large impact force at the moment of positioning, damaging the plant cut, and affecting the grafting quality.
[0006] 4. It cannot provide the stock and the scion with precise and appropriate pre-tightening force, so as to avoid damage to the vascular bundle due to too large pre-tightening force or too small pre-tightening force leading to loose adhesion.
[0007] In order to solve the above problems, it is urgent to design a stock and scion alignment mechanism which can dynamically adjust according to the actual size of the plant, accurately control the movement and stopping, and avoid damage to the plant. SUMMARY
[0008] The application aims to provide a self-adaptive precise butt joint method for a stock and a scion, so as to solve the problems of low alignment accuracy, poor universality, easy damage to the plant, and inability to provide precise and appropriate pre-tightening force in the prior art, and to realize efficient and accurate alignment of the stock and the scion and improve the grafting survival rate.
[0009] The application is implemented by the following technical scheme: A self-adaptive precise butt joint method for a stock and a scion, comprising the following steps: Step 1: installing the scion on a scion positioning clamp and the stock on a stock positioning clamp, the scion positioning clamp and the stock positioning clamp being on the same axis to realize the axial alignment of the scion and the stock; the scion positioning clamp being installed on the sliding block of a pneumatic linear slide, and the sliding block driving the scion positioning clamp to move linearly under the pneumatic drive; Step 2: An image of the stock and scion is taken by a camera, and the image is recognized to obtain the distance L1 from the upper end face of the stock positioning clamp to the top end of the stock and the distance L2 from the lower end face of the scion positioning clamp to the bottom end of the scion, and a deceleration threshold is calculated as L1+L2; Step 3: The scion positioning clamp is driven to move towards the stock positioning clamp at a first speed in a pneumatic driving mode, and the distance between the scion positioning clamp and the stock positioning clamp is monitored in real time by a laser ranging sensor during the movement of the scion positioning clamp; when the laser ranging sensor detects that the distance between the two positioning clamps reaches the deceleration threshold in step 2, the proportional flow valve for driving the scion positioning clamp is controlled to reduce the flow, so that the scion positioning clamp continues to move towards the stock at a second speed lower than the first speed; Step 4: During the low-speed movement of the scion positioning clamp towards the stock, the pressure change of the stock positioning clamp is detected by a pressure sensor; when the cutting surfaces of the scion and the stock are butted, the pressure applied to the pressure sensor by the stock positioning clamp will increase; when the pressure value detected by the pressure sensor increases to a set threshold, it indicates that the scion and the stock are completely butted, and a set pre-tightening force is reached between them, at which time the movement of the scion positioning clamp is stopped. Step 5: An elastic grafting clamp or a quick-curing glue is used to fix the butt joint, and then the grafted seedling is placed in a suitable healing environment for healing period management.
[0010] In the above technical solution, the laser ranging sensor is arranged on the scion positioning clamp or the stock positioning clamp.
[0011] In the above technical solution, the butt joint surfaces of the stock and the scion are subjected to 45-degree beveling processing by a cutting mechanism.
[0012] In the above technical solution, the scion positioning clamp comprises a mounting crossbar and two oppositely arranged clamping jaws arranged on the mounting crossbar, and the two clamping jaws are driven to perform synchronous opening and closing actions by pneumatic or electric driving.
[0013] In the above technical solution, the inner wall of the clamping jaw of the scion positioning clamp is arc-shaped, and a silica gel layer is arranged thereon to reduce damage to the scion.
[0014] In the above technical solution, the stock positioning clamp comprises a mounting crossbar and two oppositely arranged clamping jaws arranged on the mounting crossbar, and the two clamping jaws are driven to perform synchronous opening and closing actions by pneumatic or electric driving.
[0015] In the above technical solution, the inner wall of the clamping jaw of the stock positioning clamp is arc-shaped, and a silica gel layer is arranged thereon to reduce damage to the stock.
[0016] The advantages and beneficial effects of the present application are as follows: The application realizes the step-by-step control and accurate stop of the moving speed of the positioning clamp by real-time acquisition of the size data of the stock and the scion by the visual recognition device, dynamic calculation of the deceleration threshold, real-time distance monitoring of the laser ranging sensor and monitoring of the pressure change when the stock and the scion are connected, ensures the efficient complete lamination of the oblique cutting surfaces of the stock and the scion, and can reach the preset pre-tightening force, thereby improving the grafting quality. In addition, the positioning clamp adopts a silica gel inner wall and a circular arc structure to avoid damaging the plant during clamping. Meanwhile, the positioning clamp is switched to low-speed movement near the alignment by the deceleration threshold control, so as to eliminate the impact force in the stop moment and prevent the plant cutting from being damaged. BRIEF DESCRIPTION OF DRAWINGS
[0017] Figure 1 A flowchart of the self-adaptive accurate butt joint method of the stock and the scion.
[0018] Figure 2 A front view of the butt joint device of the stock and the scion.
[0019] Figure 3 A side view of the butt joint device of the stock and the scion (initial state).
[0020] Figure 4 A side view of the butt joint device of the stock and the scion (state of reaching the deceleration threshold).
[0021] Figure 5 A side view of the butt joint device of the stock and the scion (state of the butt joint of the stock and the scion).
[0022] For those skilled in the art, other related drawings can be obtained from the above drawings without creative labor. DETAILED DESCRIPTION
[0023] In order for those skilled in the art to better understand the technical scheme of the present application, the technical scheme of the present application will be further described below in combination with specific embodiments.
[0024] Embodiment one This embodiment designs a self-adaptive accurate butt joint method of a stock and a scion, as shown in the accompanying drawings Figure 1 , which comprises the following steps.
[0025] Step 1: The stock and the scion are prepared (the butt joint surfaces of the stock and the scion are obliquely cut at 45 degrees by a cutting mechanism), the scion is installed on a scion positioning clamp, the stock is installed on a stock positioning clamp, and the scion positioning clamp and the stock positioning clamp are on the same axis, which is used to realize the alignment of the axes of the scion and the stock; the scion positioning clamp is installed on the sliding block of a pneumatic linear slide, and the sliding block drives the scion positioning clamp to move linearly under the pneumatic drive, thereby realizing the approach or departure of the stock positioning clamp and the butt joint of the scion and the stock. In the initial state, there is enough space between the top end of the stock and the bottom end of the scion.
[0026] Step 2: Take images of the rootstock and scion with a camera, identify the images, and obtain the distance L1 from the upper end of the rootstock positioning clip to the top of the rootstock and the distance L2 from the lower end of the scion positioning clip to the bottom of the scion; calculate the deceleration threshold as L1+L2.
[0027] Step 3: Keep the rootstock positioning clip in a fixed position, and use a pneumatic drive to move the scion positioning clip quickly toward the rootstock positioning clip at a first speed. During the movement of the scion positioning clip, the distance between the scion positioning clip and the rootstock positioning clip is monitored in real time by a laser rangefinder. When the laser rangefinder detects that the distance between the two positioning clips reaches the deceleration threshold (L1+L2) of Step 2, the proportional flow valve of the pneumatic drive scion positioning clip is controlled to reduce the flow rate, so that the scion positioning clip continues to move toward the rootstock at a low speed of a second speed lower than the first speed, so as to avoid excessive impact force when it comes into contact with the cut surface of the rootstock later.
[0028] Step 4: During the slow movement of the scion positioning clamp towards the rootstock, the pressure (gravity) change of the rootstock positioning clamp is detected by a pressure sensor. When the scion and the rootstock are in contact, the pressure applied by the rootstock positioning clamp to the pressure sensor will increase. When the pressure value detected by the pressure sensor increases to the set threshold, it indicates that the scion and the rootstock are fully connected and the set pre-tightening force has been reached between them. At this time, the movement of the scion positioning clamp is stopped (i.e., the proportional flow valve of the pneumatically driven scion positioning clamp is closed).
[0029] Step 5: After applying a set pre-tightening force between the scion and rootstock, use an elastic grafting clip or spray quick-curing adhesive to fix the joint, ensuring that there is no displacement of the joint surface. Then place it in a suitable healing environment for healing period management of the grafted seedling.
[0030] Example 2 This embodiment designs a grafting device that can realize the adaptive and precise grafting method between rootstock and scion in Embodiment 1, as detailed below: See appendix Figure 2 -Appendix Figure 5 The docking device includes a base frame 1, on which a scion positioning clamp 2 and a rootstock positioning clamp 3 are provided; the scion positioning clamp 2 and the rootstock positioning clamp 3 are arranged coaxially, the scion positioning clamp 2 is used to hold the scion 100, and the rootstock positioning clamp 3 is used to hold the rootstock 200.
[0031] A pneumatic linear slide is provided on the base frame 1. The scion positioning clamp 2 is installed on the slider 11 of the pneumatic linear slide (the scion positioning clamp 2 is a conventional technology, mainly composed of a mounting frame 21 and two opposing grippers mounted on the mounting frame 21, which are driven by pneumatic or electric power to open and close synchronously; the mounting frame 21 of the scion positioning clamp 2 is fixedly installed on the slider 11 of the pneumatic linear slide). Under pneumatic drive, the slider 11 drives the scion positioning clamp 2 to move in a straight line, thus moving it closer to or away from the rootstock positioning clamp 3, thereby achieving the docking of the scion and the rootstock. Furthermore, the inner wall of the grippers of the scion positioning clamp 2 is arc-shaped and is provided with a silicone layer to reduce damage to the scion.
[0032] The rootstock positioning clamp 3 has the same structure as the scion positioning clamp 2, mainly consisting of a mounting frame 31 and two opposing grippers set on the mounting frame 31. The two grippers are driven to open and close synchronously by pneumatic or electric means.
[0033] A camera 6 is installed on the side of the base frame 1 to capture images of the clamped scion and rootstock. The captured images are then transmitted to a data processing system, which identifies the distance L1 from the upper surface of the rootstock positioning clamp 3 to the top of the rootstock 200 and the distance L2 from the lower surface of the scion positioning clamp 2 to the bottom of the scion 100 (see Appendix). Figure 3 ), and then the deceleration threshold L1+L2 is calculated.
[0034] A laser rangefinder 4 is installed on either the scion positioning clip 2 or the rootstock positioning clip 3 to monitor the distance between them in real time. During grafting, the scion positioning clip 2 is first driven to move towards the rootstock at a relatively fast speed. During this process, the laser rangefinder 4 monitors the distance between the scion positioning clip 2 and the rootstock positioning clip 3 in real time. When the laser rangefinder 4 detects that the distance between the two positioning clips reaches the deceleration threshold (L1+L2) (see Appendix...) Figure 4 (In the state of the scion positioning clamp 2), the proportional flow valve of the pneumatically driven scion positioning clamp 2 is controlled to reduce the flow rate, so that the scion positioning clamp 2 continues to move towards the rootstock at a low speed, so as to avoid excessive impact force when it is connected to the rootstock cut surface later.
[0035] The rootstock positioning clip 3 is not directly fixed to the base frame 1, but is mounted on the base frame 1 via a pressure sensor 5. During the slow movement of the scion positioning clip towards the rootstock, the pressure sensor 5 detects changes in pressure (gravity) on the rootstock positioning clip 3. When the scion 100 and the rootstock 200 are in contact, the pressure applied by the rootstock positioning clip 3 to the pressure sensor 5 increases. When the pressure value detected by the pressure sensor 5 increases to a set threshold, it indicates that the scion and rootstock are fully connected and the set pre-tightening force has been reached. At this point, the movement of the scion positioning clip 2 is stopped, completing the connection process (see Appendix).Figure 5 (state).
[0036] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein can be interpreted accordingly. Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, and do not necessarily require or imply any such actual relationship or order between the components.
[0037] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.
Claims
1. A method for adaptive and precise grafting of rootstock and scion, characterized in that, Includes the following steps: Step 1: Install the scion on the scion positioning clip and the rootstock on the rootstock positioning clip. The scion positioning clip and the rootstock positioning clip are on the same axis to achieve axis alignment between the scion and the rootstock. The scion positioning clip is installed on the slider of the pneumatic linear slide. Under pneumatic drive, the slider drives the scion positioning clip to move in a straight line. Step 2: Take images of the rootstock and scion with a camera, identify the images, and obtain the distance L1 from the upper end of the rootstock positioning clip to the top of the rootstock and the distance L2 from the lower end of the scion positioning clip to the bottom of the scion. Calculate the deceleration threshold: L1+L2. Step 3: The scion positioning clip is driven by pneumatic drive to move rapidly toward the rootstock positioning clip at a first speed. During the movement of the scion positioning clip, the distance between the scion positioning clip and the rootstock positioning clip is monitored in real time by a laser range sensor. When the laser range sensor detects that the distance between the two positioning clips reaches the deceleration threshold of Step 2, the proportional flow valve of the pneumatic drive scion positioning clip is controlled to reduce the flow rate, so that the scion positioning clip continues to move toward the rootstock at a low speed of a second speed lower than the first speed. Step 4: During the slow movement of the scion positioning clamp towards the rootstock, the pressure change of the rootstock positioning clamp is detected by a pressure sensor. When the cut surfaces of the scion and the rootstock are in contact, the pressure applied by the rootstock positioning clamp to the pressure sensor will increase. When the pressure value detected by the pressure sensor increases to the set threshold, it indicates that the scion and the rootstock are completely in contact and the set pre-tightening force has been reached between them. At this time, the movement of the scion positioning clamp is stopped. Step 5: Fix the graft union using a flexible grafting clip or by spraying quick-curing adhesive, and then place the grafted seedling in a suitable healing environment for healing period management.
2. The adaptive and precise grafting method for rootstock and scion according to claim 1, characterized in that: The laser rangefinder is mounted on the scion positioning clip or the rootstock positioning clip.
3. The adaptive and precise grafting method for rootstock and scion according to claim 1, characterized in that: The joint surfaces of the rootstock and scion are cut at a 45-degree angle by a cutting mechanism.
4. The adaptive and precise grafting method for rootstock and scion according to claim 1, characterized in that: The scion positioning clamp includes a mounting frame and two opposing grippers mounted on the mounting frame. The two grippers are driven to open and close synchronously by pneumatic or electric means.
5. The adaptive and precise grafting method for rootstock and scion according to claim 1, characterized in that: The inner wall of the scion positioning clip's claws is arc-shaped and has a silicone layer.
6. The adaptive and precise grafting method for rootstock and scion according to claim 1, characterized in that: The rootstock positioning clamp includes a mounting frame and two opposing grippers mounted on the mounting frame. The two grippers are driven to open and close synchronously by pneumatic or electric means.
7. The adaptive and precise grafting method for rootstock and scion according to claim 1, characterized in that: The inner wall of the gripper of the rootstock positioning clamp is arc-shaped and has a silicone layer.