Lifting correction clamping device

Abstract

The invention relates to the technical field of automatic grafting machines, and discloses a lifting correction clamping device which comprises a seedling taking clamping jaw mechanism, a lifting assembly and a cutting assembly, the lifting assembly is used for driving the seedling taking clamping jaw mechanism and the cutting assembly to do lifting motion, and the cutting assembly is used for cutting seedlings clamped by the seedling taking clamping jaw mechanism so as to reserve needed parts. The seedling taking clamping jaw mechanism comprises a clamping assembly used for clamping hypocotyls of seedlings, the clamping assembly comprises a pair of clamping bases capable of being opened and closed, and correction rods are rotationally installed on the two clamping bases. According to the device disclosed by the invention, through the arranged correction rods, when the clamping assembly clamps the seedlings, the positions of hypocotyls of the seedlings can be synchronously pushed and corrected; by means of the arranged seedling stroking assembly, seedling cotyledons can be stroked open in the length direction of the hypocotyls of the seedlings in a limited mode, so that when the seedling taking clamping jaw mechanism drives the cut stocks to enter the grafting and binding station, the cotyledons cannot interfere with stable operation of the working procedure, and the final quality of the grafted finished seedlings is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of automatic grafting machine technology, specifically to a lifting, straightening, and clamping device. Background Technology

[0002] Existing automated grafting machines mainly consist of several modules working in tandem: a seedling supply system, a cutting execution system, a grafting clamp delivery system, a control system, and a machine body structure. First, the seedling supply system (including rootstock and scion trays) automatically transports the seedlings to the work station. Then, guided by a machine vision system, the cutting execution system (usually a precision rotating blade or laser cutting head) makes precise oblique or sleeve-type cuts on the rootstock and scion seedlings to create high-quality grafting incisions. Next, the grafting clamp delivery system automatically delivers the grafting clamps to the incision and clamps them, completing the grafting and fixing process. The entire process is coordinated and directed by a central control system, with the machine body structure providing support and protection for each component.

[0003] However, the existing cutting execution system has the following problems: First, after the seedling is picked up, the position of the seedling hypocotyl is easily affected by vibration or other factors, which makes it impossible for the hypocotyl to maintain a perfect vertical grafting posture. After the rootstock is obtained after cutting and grafting, the survival rate of the grafted seedling is affected. Second, after the rootstock is obtained after cutting and grafted with the scion, the cotyledons of the scion are easy to interfere with the stable operation of grafting and wrapping, affecting the final grafting quality of the grafted seedling. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a lifting and correcting clamping device, which solves the problem that in existing automatic grafting machines, the position of the hypocotyl of the seedling is unstable after the cutting execution system clamps the seedling, and there is a lack of effective countermeasures. At the same time, when the rootstock and scion are grafted and wrapped after cutting, the cotyledons of the scion can easily interfere with the stable operation of grafting and wrapping, affecting the final grafting quality of the grafted seedling.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A lifting and straightening clamping device includes a seedling clamping mechanism, a lifting assembly, and a cutting assembly. The lifting assembly drives the seedling clamping mechanism and the cutting assembly to move up and down. The cutting assembly cuts the seedlings clamped by the seedling clamping mechanism to retain the desired parts. The seedling clamping mechanism includes a clamping assembly for holding the seedling hypocotyl. The clamping assembly includes a pair of openable clamping bases, and a straightening rod is rotatably mounted on each clamping base. The adjacent ends of the two straightening rods pass through... The springs are elastically connected, and both clamping bases are equipped with seedling straightening components. The seedling straightening components include a liftable seedling straightening plate with notches that match the seedlings. The seedling straightening plate and the straightening rods move synchronously with the clamping bases. When the clamping bases are in the open state, the springs are in the normal state. When the clamping bases are fully closed, the ends of the two straightening rods away from the springs retract inwards, and the springs are in the maximum tension state. After the clamping bases are closed, the seedling straightening plate can rise along the direction of the seedling hypocotyl to straighten the seedling cotyledons.

[0006] Preferably, the clamping assembly further includes a pair of rotatably arranged rotating seats, the clamping base is fixedly connected to the rotating seats, the clamping base is provided with a clamping slot, a sponge block is fixedly connected in the clamping slot, and the rotating seats are driven by the first telescopic drive module to realize rotational opening and closing.

[0007] Preferably, the seedling gripper mechanism further includes an anti-deviation component, which includes a pair of limiting posts. When the gripping base is in the seedling gripping position, the limiting posts are distributed on both sides of the lower part of the seedling.

[0008] Preferably, the anti-deviation component further includes an extension plate, an extension block is fixedly connected to the lower end face of the extension plate, and a pair of limiting posts are detachably installed on the lower part of the extension block; a first limiting groove is provided on the clamping base to slide with the extension plate.

[0009] Preferably, the ends of the two correcting rods away from the spring are staggered vertically, and a second limiting groove is also provided on the clamping base. When the correcting rods are closed, the ends of the correcting rods away from the spring are screwed into the second limiting groove.

[0010] Preferably, the seedling straightening assembly further includes a first lifting drive module and a guide rod, the guide rod being fixedly connected to the seedling straightening plate and slidably connected to the clamping base, and the seedling straightening plate being fixedly connected to the movable end of the first lifting drive module.

[0011] Preferably, the lifting assembly includes a second lifting drive module, the movable end of the second lifting drive module is fixedly connected to a synchronization seat, the seedling gripper mechanism is fixedly connected to the synchronization seat, and the cutting assembly includes a transverse drive module, a second telescopic drive module and a cutting blade mounted on the synchronization seat. The second telescopic drive module can move along the length direction of the synchronization seat via the transverse drive module, and the movable end of the second telescopic drive module is detachably mounted with a cutting blade.

[0012] Preferably, each of the seedling picking gripper mechanism, lifting component and cutting component is a set of seedling picking and cutting gripper modules. Multiple seedling picking and cutting gripper modules, which are the same number as the number of seedling loading stations, are uniformly installed on a mobile base, which is driven by a third telescopic drive module.

[0013] The present invention has the following beneficial effects: This lifting and straightening clamping device, through the setting of a straightening rod that cooperates with the clamping base, can further push and straighten the hypocotyl of the clamped seedling after the clamping base has clamped the seedling, so as to make its posture stable and make it easy to ensure that the posture of the cut rootstock or scion seedling meets the requirements of subsequent precise grafting. By arranging a liftable seedling straightening plate along with the clamping base, the cotyledons of the scion seedling can be straightened up during grafting and wrapping after the clamping base has clamped the cut rootstock, effectively preventing the cotyledons from interfering with the stable operation of the grafting and wrapping process. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall main view structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the invention from a low angle. Figure 3 This is a schematic diagram of the layout structure of the anti-deviation component of the present invention; Figure 4 This is a schematic diagram of the disassembled structure of the seedling-picking gripper mechanism of the present invention; Figure 5 This is a schematic diagram of the clamping base and the straightening rod in the open state of the present invention; Figure 6 This is a schematic diagram of the closed state structure of the seedling straightening board of the present invention; Figure 7 This is a schematic diagram of the closed state structure of the clamping base and the straightening rod of the present invention; Figure 8 This is a schematic diagram showing the state of seedlings being transported to the seedling loading station according to the present invention.

[0015] In the diagram: 1. Seedling gripper mechanism; 11. Clamping assembly; 111. Clamping base; 112. Clamping slot; 113. Sponge block; 114. First limiting slot; 115. Rotating seat; 116. First telescopic drive module; 117. Correcting rod; 118. Spring; 119. Second limiting slot; 12. Seedling straightening assembly; 121. First lifting drive module; 122. Seedling straightening plate; 123. Guide rod; 13. Anti-deviation assembly; 131. Extending plate; 132. Extension block; 133. Limiting post; 2. Lifting assembly; 21. Second lifting drive module; 22. Synchronizing seat; 31. Lateral movement drive module; 3. Cutting assembly; 32. Second telescopic drive module; 33. Cutting blade; 4. Seedling; 5. Camera; 6. Third telescopic drive module; 7. Moving base. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Example 1 A lifting and straightening clamping device includes a seedling clamping mechanism 1, a lifting assembly 2, and a cutting assembly 3. The lifting assembly 2 drives the seedling clamping mechanism 1 and the cutting assembly 3 to move up and down. The cutting assembly 3 cuts the seedling 4 clamped by the seedling clamping mechanism 1 to retain the desired parts. The seedling clamping mechanism 1 includes a clamping assembly 11 for clamping the hypocotyl of the seedling 4. The clamping assembly 11 includes a pair of openable clamping bases 111. A straightening rod 117 is rotatably mounted on each of the two clamping bases 111. The adjacent ends of the two straightening rods 117 are elastically connected by a spring 118. Each holding base 111 is equipped with a seedling straightening component 12, which includes a liftable seedling straightening plate 122. The seedling straightening plate 122 has a notch that matches the seedling 4. The seedling straightening plate 122 and the straightening rod 117 move synchronously with the holding base 111. The holding base 111 is in the open state, and the spring 118 is in the normal state. When the holding base 111 is completely closed, the ends of the two straightening rods 117 away from the spring 118 are both retracted inward, and the spring 118 is in the maximum tension state. After the holding base 111 is closed, the seedling straightening plate 122 can rise along the hypocotyl direction of the seedling 4 to straighten the cotyledons of the seedling 4.

[0018] like Figure 1-3 As shown, in the above technical solution, the corrective rod 117, which cooperates with the clamping base 111, can further push and straighten the hypocotyl of the clamped seedling 4 after the clamping base 111 clamps the seedling 4, so as to stabilize its posture and ensure that the posture of the cut rootstock or scion meets the requirements of subsequent precise grafting. By arranging a liftable seedling straightening plate 122 along with the clamping base 111, the cotyledons of the scion can be straightened up during grafting and wrapping after the clamping base 111 clamps the cut rootstock, effectively preventing the cotyledons from interfering with the stable operation of the grafting and wrapping process.

[0019] The clamping assembly 11 also includes a pair of rotatably arranged rotating seats 115. The clamping base 111 is fixedly connected to the rotating seats 115. The clamping base 111 is provided with a clamping slot 112. A sponge block 113 is fixedly connected in the clamping slot 112. The rotating seats 115 are driven by the first telescopic drive module 116 to achieve rotational opening and closing.

[0020] like Figure 4As shown, in this technical solution, the sponge block 113 arranged on the clamping base 111 can reduce the pressure on the hypocotyl of the seedling 4 when the rotating seat 115 drives the clamping base 111 to rotate and close to clamp the seedling 4, thus avoiding damage to the hypocotyl. In practical applications, the movable end of the first telescopic drive module 116 can be hinged to the rotating seat 115, and the rotating seat 115 itself can rotate on a fixed axis. Thus, through telescopic linear motion, the rotating seat 115 can synchronously drive the clamping seat to rotate, thereby realizing the open and closed state of the clamping base 111. The first telescopic drive module 116 can be a linear motor, a cylinder, or other drive structure capable of linear movement.

[0021] The seedling gripper mechanism 1 also includes an anti-deviation component 13, which includes a pair of limiting posts 133. When the gripping base 111 is in the seedling 4 gripping position, the limiting posts 133 are distributed on both sides of the lower part of the seedling 4. Figure 4 and Figure 6 As shown, in this technical solution, by setting the limiting post 133, the hypocotyl containing the substrate (also called rootstock) can be prevented from swinging during the process of moving the seedling 4 after it is clamped by the clamping base 111, so as to avoid collision between adjacent hypocotyls containing the substrate, thereby affecting the quality of the rootstock.

[0022] The anti-deviation assembly 13 also includes an extension plate 131, with an extension block 132 fixedly connected to the lower end face of the extension plate 131. A pair of limiting posts 133 are detachably installed on the lower part of the extension block 132; a first limiting groove 114 is provided on the clamping base 111 to slide and engage with the extension plate 131. Figure 4 and Figure 7 As shown, in this technical solution, the extension plate 131 and extension block 132 facilitate the replacement and disassembly of the limiting post 133 as needed in daily operations. At the same time, the first limiting groove 114 guides and limits the opening and closing of the clamping base 111, improving the stability of the opening and closing movement of the clamping base 111 and helping to accurately clamp the preset spindle position of the system.

[0023] Example 2 The two corrective rods 117 are arranged vertically with their ends away from the spring 118 staggered. A second limiting groove 119 is also provided on the clamping base 111. When the corrective rods 117 are closed, the ends of the corrective rods 117 away from the spring 118 are screwed into the second limiting groove 119. Figure 3 and Figure 7As shown, in this technical solution, the second limiting groove 119 can be set so that after the base 111 is closed, one end of the correction rod 117 can be screwed into the second limiting groove 119, thereby pushing and correcting the hypocotyl of the seedling 4 held by the substrate of the base 111, so that the hypocotyl of the seedling 4 is completely perpendicular to the base 111, so as to ensure that the rootstock and scion seedling are accurately grafted in the subsequent grafting process.

[0024] The seedling straightening assembly 12 also includes a first lifting drive module 121 and a guide rod 123. The guide rod 123 is fixedly connected to the seedling straightening plate 122 and slidably connected to the clamping base 111. The seedling straightening plate 122 is fixedly connected to the movable end of the first lifting drive module 121. Figure 4 As shown, in this technical solution, by setting a first lifting drive module 121, the seedling straightening plate 122 can be used to straighten the cotyledons of the seedlings vertically, avoiding interference with the subsequent grafting or wrapping process. At the same time, the guide rod 123 ensures the stability and accuracy of the movement of the seedling straightening plate 122. The lifting drive module can use a cylinder, linear motor or other linear drive module to achieve the lifting movement.

[0025] Example 3 The lifting assembly 2 includes a second lifting drive module 21, the movable end of which is fixedly connected to a synchronization seat 22, and the seedling gripper mechanism 1 is fixedly connected to the synchronization seat 22. The cutting assembly 3 includes a transverse drive module 31, a second telescopic drive module 32, and a cutting blade 33 mounted on the synchronization seat 22. The second telescopic drive module 32 can move along the length direction of the synchronization seat 22 via the transverse drive module 31, and the movable end of the second telescopic drive module 32 is detachably mounted with the cutting blade 33.

[0026] like Figure 1 , 2 As shown in Figure 8, in the above technical solution, the lifting component 2 can drive the seedling clamping mechanism 1 and the cutting component 3 to rise or fall synchronously. This allows the camera 5 to analyze and calculate the position of the hypocotyl stem node of the seedling 4 at the feeding station and send lifting parameters to the second lifting drive module 21. This allows for individual adjustment of the height of the seedling clamping mechanism 1, thus avoiding gripping the stem node of the seedling 4 and making the cut rootstock easier to wrap later. After the seedling clamping mechanism 1 stably clamps the seedling 4, the transverse drive module 31 drives the second telescopic module and its cutting blade 33 to move towards the seedling 4. The cutting blade 33 of the second telescopic module extends to cut the seedling 4, and the seedling clamping mechanism 1 stably clamps the remaining rootstock. Then, the other actuators drive the scion and rootstock to perform grafting and wrapping work.

[0027] Each of the seedling-picking gripper mechanism 1, lifting component 2, and cutting component 3 forms a set of seedling-picking and cutting gripper modules. Multiple seedling-picking and cutting gripper modules, matching the number of seedling loading stations, are uniformly installed on a movable base 7, which is driven by a third telescopic drive module 6. Figure 8 As shown, in this technical solution, the multiple sets of seedling cutting gripper modules can match the gripping and seedling removal needs of multiple sets of seedlings 4 at the feeding station, and can cooperate to realize the synchronous grafting and wrapping work of multiple stations, greatly improving the working efficiency of the entire grafting machine.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A lifting and correcting clamping device, comprising a seedling clamping mechanism, a lifting assembly, and a cutting assembly, wherein the lifting assembly drives the seedling clamping mechanism and the cutting assembly to move up and down, and the cutting assembly cuts the seedlings clamped by the seedling clamping mechanism to retain the desired portion, characterized in that: The seedling taking clamping jaw mechanism comprises a clamping assembly for clamping the seedling hypocotyl, the clamping assembly comprises a pair of openable and closable clamping bases, a correcting rod is rotatably arranged on each of the clamping bases, the two correcting rods are elastically connected through a spring at adjacent ends, a seedling straightening assembly is arranged on each of the clamping bases, the seedling straightening assembly comprises a seedling straightening plate which is liftable, and a notch matching the seedling is formed in the seedling straightening plate; the seedling straightening plate and the correcting rod move synchronously with the clamping base, the clamping base is in an open state, the spring is in a normal state, when the clamping base is completely closed, the two correcting rods are inwardly folded at the ends away from the spring, the spring is in a maximum stretching state, and the seedling straightening plate can be lifted along the direction of the seedling hypocotyl after the clamping base is closed, and the seedling cotyledon is straightened.

2. The lifting and correcting gripper device according to claim 1, characterized in that The clamping assembly further comprises a pair of rotationally arranged rotating bases, the clamping base is fixedly connected with the rotating base, a clamping notch is formed in the clamping base, a sponge block is fixedly connected in the clamping notch, and the rotating base is driven by a first telescopic drive module to realize rotation opening and closing.

3. The lifting and correcting gripper device according to claim 2, characterized in that: The seedling taking clamping jaw mechanism further comprises an anti-deviation assembly, the anti-deviation assembly comprises a pair of limiting columns, and when the clamping base is in a seedling clamping position, the limiting columns are distributed on both sides of the lower part of the seedling.

4. The lifting and correcting gripper device according to claim 3, characterized in that: The anti-deviation assembly further comprises an extending plate, the lower end surface of the extending plate is fixedly connected with an extending block, and a pair of limiting columns are detachably arranged on the lower part of the extending block; a first limiting groove is formed in the clamping base and slidably matched with the extending plate.

5. The lifting and correcting gripper device according to claim 1 or 2, characterized in that: The ends of the two correcting rods away from the spring are arranged in an up-down staggered manner, a second limiting groove is further formed in the clamping base, and when the correcting rod is closed, the end of the correcting rod away from the spring is screwed into the second limiting groove.

6. The lifting and correcting gripper device according to claim 5, characterized in that The seedling straightening assembly further comprises a first lifting drive module and a guide rod, the guide rod is fixedly connected with the seedling straightening plate and slidably connected with the clamping base, and the seedling straightening plate is fixedly connected with the movable end of the first lifting drive module.

7. The lifting and correcting gripper device according to claim 5, characterized in that: The lifting assembly comprises a second lifting drive module, the movable end of the second lifting drive module is fixedly connected with a synchronous base, the seedling taking clamping jaw mechanism is fixedly connected on the synchronous base, the cutting assembly comprises a transverse movement drive module, a second telescopic drive module and a cutting blade which are arranged on the synchronous base, the second telescopic drive module is driven by the transverse movement drive module and can move along the length direction of the synchronous base, and the movable end of the second telescopic drive module is detachably arranged with the cutting blade.

8. The lifting and correcting gripper device according to claim 7, characterized in that A plurality of seedling taking and cutting clamping jaw modules consistent with the number of seedling feeding stations are uniformly arranged on a moving base, and the moving base is driven by a third telescopic drive module.

Images