Grafting method for accurately applying pre-tightening force to scions and stocks

Abstract

The invention discloses a grafting method for accurately applying pre-tightening force to scions and stocks, which comprises the following steps of: firstly, realizing stable clamping and axis alignment of the stocks and the scions through a first clamping jaw and a second clamping jaw which are axially arranged; an optimal pre-tightening force threshold value is set according to the hardness difference of stems of the stock and the scion, and a pneumatic and electric combined mode is adopted to realize a pneumatic-electric two-stage butt joint mode, so that a diagonal plane of the scion and a diagonal plane of the stock are in butt joint to realize accurate and tight fitting of cutting surfaces of the stock and the scion; in the attaching stage, the pre-tightening force is fed back and adjusted in real time by means of a pressure sensor, the vascular bundle is prevented from being damaged by too large pre-tightening force or untight attaching caused by too small pre-tightening force is avoided, and the problems that in traditional grafting, the vascular bundle attaching degree is poor, and the pre-tightening force is controlled by experience are solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of grafting, and particularly relates to a grafting method for precisely applying pre-tightening force to a graft and a stock. BACKGROUND

[0002] In traditional grafting, the alignment of the graft and the stock and the control of the pre-tightening force of the joint surface completely depend on the experience of the operator. Meanwhile, the graft and the stock are fixed by using ordinary plastic clamps, and there are two core problems: first, the pre-tightening force cannot be quantified, and the graft and the stock are easily extruded by the vascular bundles of the cut surface, resulting in damaged healing tissue, and the graft and the stock are not fully attached to the cut surface of the stock due to insufficient contact area of the vascular bundles, and the transportation of water, inorganic salt and nutrients is blocked; second, the hardness of the stems of the graft and the stock is different, and it is difficult to adjust the pre-tightening force according to the two by manual operation, and it is difficult to ensure the accuracy of the joint and the appropriate pre-tightening force by manual jointing and clamping, and the grafting is easily failed due to the mispositioning of the vascular bundles. SUMMARY

[0003] The application aims to overcome the deficiencies of the prior art and provide a grafting method for precisely applying pre-tightening force to a graft and a stock.

[0004] The application is implemented by the following technical scheme:

[0005] A grafting method for precisely applying pre-tightening force to a graft and a stock comprises the following steps:

[0006] Step 1: the stock and the graft are prepared, the graft is installed on the first clamp jaw, the stock is installed on the second clamp jaw, the first clamp jaw and the second clamp jaw are on the same axis, and the axis of the graft and the stock is aligned;

[0007] Step 2: the position of the stock is kept fixed, the first clamp jaw is driven to move towards the stock by using a combination of pneumatic and electric driving, so that the inclined surface of the graft and the inclined surface of the stock are jointed; during the jointing process, the first clamp jaw is first driven to quickly approach the inclined surface of the stock by using pneumatic driving, a trigger signal is generated when the photoelectric sensor detects that the inclined surface of the graft reaches a certain set position close to the inclined surface of the stock, at this time, the pneumatic driving of the first clamp jaw is stopped, and then the driving mode of the electric gear is switched to drive the first clamp jaw to continue to slowly move towards the stock, and the subsequent jointing and pre-tightening process is performed;

[0008] Step 3: during the slow movement of the first clamping jaw to the stock in the process of the electric gear driving, when the bevel surface of the scion and the bevel surface of the stock are completely matched, the pressure value P0 between the first clamping jaw and the second clamping jaw at this time is detected and recorded by the pressure sensor vertically arranged between the first clamping jaw and the second clamping jaw; with the continuous movement of the first clamping jaw to the stock, the pressure value detected by the pressure sensor continues to increase, and when the pressure sensor detects that the increase value relative to P0 reaches the set pre-tightening force, the electric gear stops driving, so that the effect of applying the set pre-tightening force between the butt joint surface of the scion and the stock is achieved.

[0009] Step 4: after the set pre-tightening force is applied between the butt joint surface of the scion and the stock, the elastic grafting clamp or the sprayed quick-curing glue is used to fix the butt joint.

[0010] In the above technical solution, the pressure sensor comprises an outer cylinder, an inner rod, a spring and a strain pressure detection module, the inner rod is slidingly installed in the outer cylinder, the top of the inner rod is exposed to the outer cylinder, the strain pressure detection module is arranged at the bottom of the inner cylinder, and the spring is arranged between the bottom of the inner rod and the strain pressure detection module; in operation, the first clamping jaw presses down the inner rod, the inner rod presses down the spring, and the pressure is transmitted to the strain pressure detection module to detect the pressure change.

[0011] In the above technical solution, the reflection type laser sensor is used to detect whether the bevel surface of the scion and the bevel surface of the stock are matched.

[0012] In the above technical solution, the image recognition device is used to detect whether the bevel surface of the scion and the bevel surface of the stock are matched.

[0013] In the above technical solution, the first clamping jaw is slidingly installed on the pneumatic sliding block through the sliding mounting piece, the sliding mounting piece is fixedly installed with the first clamping jaw, the sliding mounting piece is slidingly installed with the pneumatic sliding block, and the electric gear mechanism is connected with the sliding mounting piece; in operation, the first clamping jaw is driven to move quickly by the pneumatic driving mode of the pneumatic sliding block, and the first clamping jaw is driven to move slowly and accurately and to be controlled in position by the electric driving mode of the electric gear mechanism.

[0014] The advantages and beneficial effects of the present application are as follows:

[0015] This invention aligns the contact surfaces of the rootstock and scion and applies pre-tightening force, constructing a grafting system of "axis alignment + two-stage docking + precise application of pre-tightening force": First, the first and second clamps set along the axis achieve stable clamping and axis alignment of the rootstock and scion; then, an optimal pre-tightening force threshold is set according to the hardness difference between the stems of the rootstock and scion, and a two-stage docking method of pneumatic first and then electric is achieved through a combination of pneumatic and electric methods, so that the oblique cut surfaces of the scion and the rootstock are docked to achieve precise and tight contact between the cut surfaces of the rootstock and scion; during the docking stage, the pressure sensor provides real-time feedback and adjusts the magnitude of the pre-tightening force to avoid damage to the vascular bundles due to excessive pre-tightening force or loose contact due to insufficient pre-tightening force, thus solving the problems of poor vascular bundle contact and experience-based control of pre-tightening force in traditional grafting. Attached Figure Description

[0016] Figure 1 This is a flowchart of a grafting method that precisely applies pre-tightening force to the scion and rootstock.

[0017] Figure 2 This is a schematic diagram of the grafting device.

[0018] Figure 3 This is a schematic diagram of the first gripper mechanism of the grafting device.

[0019] Figure 4 This is a schematic diagram of the pressure sensor structure of the grafting device.

[0020] For those skilled in the art, other related figures can be obtained from the above figures without any creative effort. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below with reference to specific embodiments.

[0022] Example 1

[0023] This embodiment designs a grafting method for precisely applying pre-tightening force to the scion and rootstock. (See Appendix) Figure 1 This includes the following steps:

[0024] Step 1: Prepare the rootstock and scion. Install the scion on the first clamp and the rootstock on the second clamp. The first and second clamps are on the same axis to achieve axis alignment suitable for scions and rootstocks of different diameters.

[0025] Step 2: Keep the stock position fixed (i.e. the second clamping jaw position is not changed), and drive the first clamping jaw to move towards the stock by a combination of pneumatic and electric driving, so that the bevel surface of the scion and the bevel surface of the stock are butted. During the butting process, first drive the first clamping jaw to quickly approach the bevel surface of the stock by pneumatic driving, and when the photoelectric sensor detects that the bevel surface of the scion reaches a certain set position close to the bevel surface of the stock, a trigger signal is generated, at which time the pneumatic driving of the first clamping jaw is stopped, and then the electric gear driving is switched to drive the first clamping jaw to continue to slowly move towards the stock, and the subsequent butting and pre-tightening process is carried out. By using the electric gear electric driving mode, the process of applying pre-tightening force can be accurately controlled.

[0026] Step 3: During the process of driving the first clamping jaw to continue to slowly move towards the stock by the electric gear, when it is detected that the bevel surface of the scion and the bevel surface of the stock are completely fitted, the pressure value P0 between the first clamping jaw and the second clamping jaw at this time is detected and recorded by the pressure sensor vertically arranged between the first clamping jaw and the second clamping jaw; as the first clamping jaw continues to move towards the stock, the pressure value detected by the pressure sensor continues to increase, and when the pressure sensor detects that the increase value relative to P0 reaches the set pre-tightening force, the electric gear stops driving, so that the pre-tightening force between the butting surface of the scion and the stock is accurately applied.

[0027] Step 4: After the pre-tightening force between the butting surface of the scion and the stock is applied, the butting place is fixed by using an elastic grafting clamp or spraying a quick-curing glue to ensure that the butting surface has no displacement, and then the grafted seedling is placed in a suitable healing environment for healing period management.

[0028] Example Two

[0029] This embodiment designs a grafting device capable of realizing the grafting method of example one, which is specifically as follows:

[0030] Referring to the accompanying drawings Figure 2 - the accompanying drawings Figure 4 The grafting device comprises a mounting frame 1, a first clamping jaw mechanism 2 and a second clamping jaw mechanism 3 are arranged on the mounting frame 1; the first clamping jaw mechanism 2 and the second clamping jaw mechanism 3 are coaxially arranged. The first clamping jaw mechanism 2 is used for clamping the scion 100 and driving the scion 100 to move up and down, and the second clamping jaw mechanism 3 is used for clamping the stock 200.

[0031] Referring to the accompanying drawings Figure 3The first clamping jaw mechanism 2 comprises a first clamping jaw 21, a sliding mounting 22, a pneumatic slide 23 and an electric gear mechanism 24. The first clamping jaw 21 is a conventional technology, which mainly comprises a mounting cross 211 and two oppositely arranged clamping jaws 212 arranged on the mounting cross 211. The two clamping jaws are synchronously opened and closed by pneumatic or electric drive. The first clamping jaw 21 is vertically slidably mounted on the pneumatic slide 23 through the sliding mounting 22 (the sliding mounting 22 is fixedly mounted on the mounting cross 211 of the first clamping jaw 21, and the sliding mounting 22 is slidably mounted on the pneumatic slide 23), and the electric gear mechanism 24 is connected with the sliding mounting 22, so that the first clamping jaw 21 is driven to move up and down by the electric gear mechanism 24. Specifically, the electric gear mechanism 24 comprises a rack 241, a gear 242 and a motor 243. The rack 241 is mounted on the side wall of the sliding mounting 22, the rack 241 and the gear 242 are engaged, the gear 242 is mounted on the output shaft of the motor 243, and the motor 243 is fixedly mounted on the pneumatic slide 23 and synchronously moves with the pneumatic slide 23. In operation, the first clamping jaw 21 clamps the scion 100, the pneumatic slide 23 drives the scion 100 to vertically and rapidly move, and the electric gear mechanism 24 drives the scion 100 to vertically and accurately slowly move and positionally control. Further, a flexible layer is arranged on the inner wall of the first clamping jaw 21 to reduce damage to the scion.

[0032] The second clamping jaw mechanism 3 comprises a second clamping jaw, which is a conventional technology and has the same structure as the first clamping jaw 21, which will not be described herein.

[0033] The mounting frame 1 is further provided with a pair of photoelectric sensors 4 for detecting whether the bottom bevel surface of the scion reaches the set position of the bevel surface of the stock. When the bottom of the scion reaches the set position (at this time, the light of the pair of photoelectric sensors 4 is blocked by the bottom bevel surface of the scion), the pair of photoelectric sensors 4 sends a trigger signal to the controller, the controller controls the pneumatic slide 23 of the first clamping jaw mechanism 2 to stop moving, and switches to the driving mode of the electric gear mechanism 24 to drive the first clamping jaw 21 to continue to slowly move towards the stock.

[0034] The mounting frame 1 is further provided with a pressure sensor 6 arranged between the first clamping jaw mechanism 2 and the second clamping jaw mechanism 3 for detecting the pressure change generated when the first clamping jaw 21 moves (the bottom end of the pressure sensor 6 is fixed on the second clamping jaw mechanism 3, and the top end of the pressure sensor 6 is used to contact the first clamping jaw 21), and the data output end of the pressure sensor 6 is connected to the controller. Specifically, referring to FIG. 2, the pressure sensor 6 is arranged between the first clamping jaw 21 and the second clamping jaw mechanism 3, and the bottom end of the pressure sensor 6 is fixed on the second clamping jaw mechanism 3. When the first clamping jaw 21 moves, the top end of the pressure sensor 6 is used to contact the first clamping jaw 21, and the data output end of the pressure sensor 6 is connected to the controller. Figure 4The pressure sensor 6 comprises an outer cylinder 61, an inner rod 62, a spring 63 and a strain pressure detection module 64, the inner rod 62 is slidingly installed in the outer cylinder 61, the top of the inner rod 62 is exposed outside the outer cylinder 61, the strain pressure detection module 64 is arranged at the bottom of the inner cylinder 61, and the spring 63 is arranged between the bottom of the inner rod 62 and the strain pressure detection module 64; in operation, the first clamping jaw 21 presses down the inner rod 62, the inner rod 62 presses down the spring 63, the pressure is transmitted to the strain pressure detection module 64, the pressure change is detected, and the detection data is transmitted to the controller.

[0035] The mounting frame 1 is further provided with a detection unit 5 for detecting whether the bevel surface of the scion and the bevel surface of the stock are fitted. The detection unit 5 can adopt a reflective laser sensor, the detection unit 5 is aligned with the bevel surface of the stock (the height and the bevel surface angle of each stock are the same specifications), when the bevel surface of the scion and the bevel surface of the stock are completely fitted, the reflective laser sensor generates a trigger signal to the controller, and the controller records the detection pressure value of the pressure sensor 6 at this time. Alternatively, the detection unit 5 can also adopt an image recognition device to detect whether the bevel surface of the scion and the bevel surface of the stock are fitted.

[0036] For ease of description, spatial relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to describe the relationship of one element or feature to another element or feature as shown in the drawings. It should be understood that, in addition to the orientation shown in the drawings, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the drawing is inverted, the element described as being "below" other elements or features will be positioned "above" the other elements or features. Therefore, the exemplary term "below" can include both upward and downward orientations. The spatial relative description used herein can be interpreted accordingly if the device is positioned in other ways (rotated 90 degrees or positioned in other orientations).

[0037] Moreover, relational terms such as "first" and "second" and the like are used only to distinguish one component from another component having the same name, and do not necessarily require or imply any such actual relationship or order between the components.

[0038] The above has described the embodiments of the present application, it should be noted that, without departing from the core of the present application, any simple modification, modification or other equivalent replacement which can not cost the creative labor of the person skilled in the art falls within the protection scope of the present application.

Claims

1. A grafting method for precisely applying pre-tightening force to the scion and rootstock, characterized in that, Includes the following steps: Step 1: Prepare the rootstock and scion. Install the scion on the first clamp and the rootstock on the second clamp. The first and second clamps are on the same axis to align the axes of the scion and rootstock. Step 2: Keep the rootstock in a fixed position, and use a combination of pneumatic and electric power to drive the first gripper towards the rootstock so that the oblique surface of the scion and the oblique surface of the rootstock are aligned. During the alignment process, the first gripper is first pneumatically driven to quickly approach the oblique surface of the rootstock. When the photoelectric sensor detects that the oblique surface of the scion has reached a certain set position close to the oblique surface of the rootstock, a trigger signal is generated. At this time, the pneumatic drive of the first gripper is stopped, and then the electric gear drive mode is switched to drive the first gripper to continue to move slowly towards the rootstock for the next alignment and pre-tightening process. Step 3: As the electric gear drives the first gripper to continue moving slowly toward the rootstock, when the oblique cut surfaces of the scion and the rootstock are detected to be completely in contact, a pressure sensor vertically positioned between the first and second grippers detects and records the pressure value P0 between the first and second grippers at this moment. As the first gripper continues to move toward the rootstock, the pressure value detected by the pressure sensor continues to increase. When the pressure sensor detects that the increase relative to P0 reaches the set preload, the electric gear stops driving, thereby achieving the effect of applying a set preload between the mating surfaces of the scion and the rootstock. Step 4: After applying a set pre-tightening force between the joint surfaces of the scion and rootstock, fix the joint using an elastic grafting clip or by spraying quick-curing adhesive.

2. The grafting method for precisely applying pre-tightening force to the scion and rootstock according to claim 1, characterized in that: The pressure sensor includes an outer cylinder, an inner rod, a spring, and a strain gauge pressure detection module. The inner rod is slidably installed inside the outer cylinder, with its top protruding from the outer cylinder. The strain gauge pressure detection module is installed at the bottom of the inner cylinder. The spring is installed between the bottom of the inner rod and the strain gauge pressure detection module. During operation, the first gripper presses down on the inner rod, which in turn presses down on the spring, transmitting the pressure to the strain gauge pressure detection module to detect pressure changes.

3. The grafting method for precisely applying pre-tightening force to the scion and rootstock according to claim 1, characterized in that: A reflective laser sensor is used to detect whether the oblique cut surfaces of the scion and the rootstock fit together.

4. The grafting method for precisely applying pre-tightening force to the scion and rootstock according to claim 1, characterized in that: An image recognition device is used to detect whether the oblique cut surfaces of the scion and the rootstock fit together.

5. The grafting method for precisely applying pre-tightening force to the scion and rootstock according to claim 1, characterized in that: The first gripper is slidably mounted on the pneumatic slider via a sliding mounting component. The sliding mounting component is fixedly mounted to the first gripper and slidably mounted to the pneumatic slider. The electric gear mechanism is connected to the sliding mounting component. During operation, the pneumatic slider drives the first gripper to move quickly, and the electric gear mechanism drives the first gripper to move precisely and slowly and control its position.

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