Wax sealing manipulator for nursery stock grafting robot

Abstract

The utility model discloses a wax sealing manipulator for a nursery stock grafting robot, which comprises a nursery stock transfer assembly and a wax sealing manipulator assembly, and is characterized in that the wax sealing manipulator assembly is mounted at the rear end of the nursery stock transfer assembly, and the nursery stock transfer assembly is used for taking grafted seedlings out and transferring the grafted seedlings to the wax sealing manipulator assembly; the nursery stock transferring assembly comprises a transferring base, a sliding table air cylinder, a transferring air cylinder and a first nursery stock finger sleeve; a front cylinder support and a rear cylinder support are respectively fixed at the two ends of the sliding table cylinder, and the front cylinder support and the rear cylinder support are mounted on the transfer base; the transfer air cylinder is installed on a sliding base of the sliding table air cylinder through an air cylinder connecting base. The number of the first nursery stock finger sleeves is two, and the two pneumatic fingers of the transfer air cylinder are sleeved with the first nursery stock finger sleeves respectively. The utility model relates to the field of automatic seedling grafting, in particular to a wax sealing manipulator for a seedling grafting robot, which can complete wax sealing, cooling and fixing of grafted seedlings, collection of the grafted seedlings and the like.

Description

Technical Field

[0001] The utility model relates to the field of automatic seedling grafting, and in particular to a wax sealing manipulator for a seedling grafting robot. Background Art

[0002] Fruit trees are the third largest agricultural planting industry after grain and vegetables. Grafting cultivation can enrich varieties, improve quality, and enhance ecological resistance, and is currently the main way to breed fruit trees. Mechanical grafting uses automatic seedling grafting equipment to complete the grafting process. Compared with traditional manual grafting methods, it has the advantages of high grafting efficiency, low labor intensity for workers, and easy to ensure grafting quality. It has important practical significance for realizing factory production of seedlings and promoting the healthy development of the seedling planting industry.

[0003] The wax sealing device is an important part of the automatic seedling grafting equipment. After the rootstock and scion are joined, the wax sealing robot completes the wax sealing, cooling and fixing at the rootstock-scion interface, and collecting the grafted seedlings. The operation quality of the wax sealing robot directly affects the fixation effect and grafting success rate of the grafted seedlings.

[0004] At present, the research on automatic seedling grafting equipment is still in its infancy, and there are few reports on wax sealing devices and wax sealing manipulators.

[0005] Authorization announcement number CN208739649U discloses a grafting machine wax sealing device, including a grafting conveying device and a pneumatic rod grabbing device. The grafting conveying device is provided with an inclined belt conveyor, and the nylon conveyor belt of the inclined belt conveyor is provided with correction splints arranged at equal intervals. The intervals between the correction splints are used to place and convey the grafted branches; the discharge end of the nylon conveyor belt is provided with a branch temporary storage platform, and one side of the nylon conveyor belt is provided with a pneumatic rod grabbing device, and the pneumatic rod grabbing device is provided with a rotating platform, and a fixed manipulator is connected through the rotating platform. The device is applied to the above-mentioned grafting machine, and the grafted branches are transported, and wax is sealed after transportation, so that the grafting machine completes the final wax sealing work.

[0006] In a seedling grafting machine disclosed in authorization announcement No. CN112154796B, a sealing device is designed for wax sealing operations of grafted seedlings, which includes a servo drive group, a groove wheel mechanism, a rotating disk, a sealing frame, a telescopic clamping mechanism, a seedling unloading mechanism and a liquid holding device; the grafted seedlings are sent to the sealing device by the conveying mechanism, and the telescopic clamping mechanism installed on the rotating disk clamps the grafted seedlings, and the rotating disk rotates intermittently under the drive of the servo drive group and the groove wheel mechanism, pausing for a few seconds every 60° rotation and then continuing to rotate; during the few seconds of pause, the telescopic clamping mechanisms in six positions respectively perform seedling removal and rotation, primary sealing, primary cooling, secondary sealing, secondary cooling and loosening of the grafted seedlings.

[0007] The above-mentioned technology has the following shortcomings: the structure is complex and the versatility is poor, and it is difficult to be used in other types of automatic seedling grafting devices. Summary of the invention

[0008] The utility model aims to provide a wax sealing manipulator for a seedling grafting robot which has a simple structure, good versatility and is easy to control.

[0009] To achieve the above-mentioned purpose, the utility model provides a wax sealing manipulator for a seedling grafting robot, comprising a seedling transport component and a wax sealing manipulator component, characterized in that: the wax sealing manipulator component is installed at the rear end of the seedling transport component, and the seedling transport component is used to take out the grafted seedling and transfer it to the wax sealing manipulator component;

[0010] The seedling transport assembly includes a transport base, a slide cylinder, a transport cylinder and a first seedling finger sleeve;

[0011] The two ends of the slide cylinder are respectively fixed with a cylinder front support and a cylinder rear support, and the cylinder front support seat and the cylinder rear support seat are installed on the transfer base; the transfer cylinder is installed on the slide seat of the slide cylinder through a cylinder connecting seat; the first seedling finger sleeve is provided with two, which are respectively mounted on the two pneumatic fingers of the transfer cylinder.

[0012] The wax sealing manipulator assembly is used to clamp the grafted seedlings to complete wax sealing, cooling and collection operations, and the wax sealing manipulator assembly includes a manipulator base, an electric turntable, a lifting cylinder, a first connecting seat, a second connecting seat, a finger cylinder and a second seedling finger sleeve;

[0013] The manipulator base is installed at the rear end of the transfer base; the electric turntable is installed on the manipulator base through a turntable support, and the lifting cylinder is installed on the rotating table of the electric turntable through a lifting cylinder support, the lifting cylinder support is L-shaped, the vertical plate of the first connecting seat is installed on the sliding seat of the lifting cylinder, the horizontal plate of the first connecting seat is fixedly connected to the horizontal plate of the second connecting seat, and the vertical plate of the second connecting seat is fixedly connected to the finger cylinder, and the second seedling finger sleeves are respectively installed on the two pneumatic fingers of the finger cylinder.

[0014] As a further limitation of the technical solution, the first connecting seat is provided with a connecting key groove at a connecting portion with the second connecting seat; and the second connecting seat is provided with a connecting key groove at a connecting portion with the finger cylinder.

[0015] As a further limitation of the present technical solution, both the first seedling finger sleeve and the second seedling finger sleeve are provided with shallow arc grooves for facilitating clamping of the grafted seedlings, and the shallow arc grooves are arranged relative to each other.

[0016] As a further limitation of the present technical solution, the transfer base and the manipulator base are both made of aluminum profiles.

[0017] As a further limitation of the present technical solution, the slide cylinder and the lifting cylinder are both rodless cylinders, and the transfer cylinder is a swing finger cylinder.

[0018] As a further limitation of the technical solution, it also includes a wax sealing box, a water cooling box and a seedling collection box. The wax sealing box is arranged on one side of the wax sealing manipulator assembly, the seedling collection box is arranged on the other side of the wax sealing manipulator assembly, and the water cooling box is arranged at the rear end of the wax sealing manipulator assembly.

[0019] The beneficial effects of the utility model are:

[0020] (1) The invention can cooperate with the seedling grafting device to automatically complete the operations of wax sealing, cooling and fixing of grafted seedlings, and collecting of grafted seedlings, and has a simple structure and good versatility.

[0021] (2) The actuators are mostly driven by various types of cylinders, which have fast execution speed, simple control, and high motion accuracy. Through precise cylinder control and manipulator design, the manipulator can accurately clamp and handle the grafted seedlings, reducing damage to the grafted seedlings and improving the success rate of grafting. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 The local three-dimensional structure of the embodiment of the utility model is shown in FIG. Figure 1 ;

[0024] Figure 2 It is a three-dimensional structural schematic diagram of an embodiment of the utility model;

[0025] Figure 3 The local three-dimensional structure of the embodiment of the utility model is shown in FIG. Figure 2 ;

[0026] Figure 4 The local three-dimensional structure of the embodiment of the utility model is shown in FIG. Figure 3 ;

[0027] Figure 5 The local three-dimensional structure of the embodiment of the utility model is shown in FIG. Figure 4 ;

[0028] In the figure:

[0029] 1-seedling transfer assembly, 2-wax sealing manipulator assembly, 4-wax sealing box, 5-water cooling box, 6-seedling collection box, 11-transfer base, 12-slide cylinder, 13-transfer cylinder, 14-first seedling finger sleeve, 15-cylinder front support, 16-cylinder rear support, 17-cylinder connecting seat, 21-manipulator base, 22-electric turntable, 23-lifting cylinder, 24-first connecting seat, 25-second connecting seat, 26-finger cylinder, 27-second seedling finger sleeve, 28-turntable support, 29-lifting cylinder support. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0031] The utility model provides a wax sealing manipulator for a seedling grafting robot, comprising a seedling transport component 1 and a wax sealing manipulator component 2, wherein the wax sealing manipulator component 2 is installed at the rear end of the seedling transport component 1, and the seedling transport component 1 is used to take out the grafted seedling and transfer it to the wax sealing manipulator component 2;

[0032] The seedling transport assembly 1 includes a transport base 11, a slide cylinder 12, a transport cylinder 13 and a first seedling finger sleeve 14;

[0033] The two ends of the slide cylinder 12 are respectively fixed with a cylinder front support 15 and a cylinder rear support 16, and the cylinder front support seat 15 and the cylinder rear support seat 16 are installed on the transfer base 11; the transfer cylinder 13 is installed on the slide seat of the slide cylinder 12 through the cylinder connecting seat 17; the first seedling finger sleeve 14 is provided with two, which are respectively mounted on the two pneumatic fingers of the transfer cylinder 13.

[0034] In this embodiment, the transfer cylinder 13 adopts a swing finger cylinder, which is composed of a swing cylinder and a finger cylinder. The swing cylinder can swing 90 degrees, and the finger cylinder can realize clamping and releasing actions.

[0035] The wax sealing manipulator assembly 2 is used to clamp the grafted seedlings to complete wax sealing, cooling and collection operations, and the wax sealing manipulator assembly 2 includes a manipulator base 21, an electric turntable 22, a lifting cylinder 23, a first connecting seat 24, a second connecting seat 25, a finger cylinder 26 and a second seedling finger sleeve 27;

[0036] The manipulator base 21 is installed at the rear end of the transfer base 11; the electric turntable 22 is installed on the manipulator base 21 through the turntable support 28, and the lifting cylinder 23 is installed on the rotating table of the electric turntable 22 through the lifting cylinder support 29, and the lifting cylinder support 29 is L-shaped, and the vertical plate of the first connecting seat 24 is installed on the sliding seat of the lifting cylinder 23, and the horizontal plate of the first connecting seat 24 is fixedly connected to the horizontal plate of the second connecting seat 25, and the vertical plate of the second connecting seat 25 is fixedly connected to the finger cylinder 26, and the two pneumatic fingers of the finger cylinder 26 are respectively installed with the second seedling finger sleeves 27.

[0037] The first connecting seat 24 is provided with a connecting keyway at the connecting portion with the second connecting seat 25; the second connecting seat 25 is provided with a connecting keyway at the connecting portion with the finger cylinder 26, which can conveniently adjust the installation distance and installation height of the finger cylinder 26 relative to the lifting cylinder 23.

[0038] The first seedling finger sleeve 14 and the second seedling finger sleeve 27 are both provided with shallow arc grooves for clamping the grafted seedlings, and the shallow arc grooves are arranged opposite to each other.

[0039] The transfer base 11 and the manipulator base 21 are both made of 30150 aluminum profiles, which can be easily connected.

[0040] The slide cylinder 12 and the lifting cylinder 23 are both rodless cylinders, and the transfer cylinder 13 is a swing finger cylinder.

[0041] It also includes a wax sealing box 4, a water cooling box 5 and a seedling collecting box 6, wherein the wax sealing box 4 is arranged on one side of the wax sealing manipulator assembly 2, the seedling collecting box 6 is arranged on the other side of the wax sealing manipulator assembly 2, and the water cooling box 5 is arranged at the rear end of the wax sealing manipulator assembly 2.

[0042] In this embodiment, the wax sealing robot assembly 2 can pass through the seedling transfer assembly 1, wax sealing box 4, water cooling box 5 and seedling collection box 6 in sequence as the electric turntable 22 rotates. Correspondingly, the finger cylinder 26 will be located above the pneumatic fingers of the slide cylinder 12, the wax sealing box 4, the water cooling box 5 and the seedling collection box 6 respectively.

[0043] Specifically, when in use, first control the telescopic rod of the slide cylinder 12 to extend and control the pneumatic fingers of the transfer cylinder 13 to open, thereby driving the first seedling finger sleeve 14 to open, waiting for the pre-prepared grafting machine to send out the engaged grafted seedlings, so that the grafted seedlings enter between the shallow arc grooves of the first seedling finger sleeve 14, and after receiving the grafted seedlings, the pneumatic fingers of the transfer cylinder 13 are closed, thereby driving the first seedling finger sleeve 14 to close, and the first seedling finger sleeve 14 clamps the grafted seedlings, and then control the transfer cylinder 13 to rotate so that the grafted seedlings are in a vertical state, and then control the telescopic rod of the slide cylinder 12 to retract, and send the grafted seedlings to the finger cylinder 26 in the wax sealing manipulator assembly 2; then, the finger cylinder 26 is closed to drive the second seedling finger sleeve 27 to close, and the second seedling finger sleeve 27 clamps the grafted seedlings, the pneumatic fingers of the transfer cylinder 13 are opened, and the grafted seedlings are released, completing the transportation of the grafted seedlings, and then the electric The turntable 22 drives the wax sealing manipulator assembly 2 to the wax sealing box 4, controls the telescopic rod of the lifting cylinder 23 to move downward, so that the joint part of the grafted seedling is immersed in the molten wax of the wax sealing box 4, and after 1 to 2 seconds, controls the telescopic rod of the lifting cylinder 23 to move upward, so that the grafted seedling is withdrawn from the wax sealing box 4, controls the electric turntable 22 to drive the wax sealing manipulator assembly 2 to the upper side of the water cooling box 5, and then controls the telescopic rod of the lifting cylinder 23 to move downward, so that the joint part of the grafted seedling is immersed in the cooling water of the water cooling box 5, and after 1 to 2 seconds, controls the telescopic rod of the lifting cylinder 23 to move downward and upward, so that the grafted seedling is withdrawn from the water cooling box 5, and then the electric turntable 22 continues to work and drives the wax sealing manipulator assembly 2 to the top of the seedling collection box 6, at this time, the finger cylinder 26 is released to control the second seedling finger sleeve 27 to release, and the grafted seedling enters the seedling collection box, and then, the electric turntable 22 drives the wax sealing manipulator assembly 2 to the initial position, waiting for the next grafted seedling.

[0044] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A wax sealing manipulator for a seedling grafting robot, comprising a seedling transport component (1) and a wax sealing manipulator component (2), characterized in that: The wax sealing robot assembly (2) is installed at the rear end of the seedling transport assembly (1), and the seedling transport assembly (1) is used to take out the grafted seedlings and transfer them to the wax sealing robot assembly (2); The seedling transport assembly (1) comprises a transport base (11), a slide cylinder (12), a transport cylinder (13) and a first seedling finger sleeve (14); The two ends of the slide cylinder (12) are respectively fixed with a cylinder front support (15) and a cylinder rear support (16), and the cylinder front support (15) and the cylinder rear support (16) are installed on the transfer base (11); the transfer cylinder (13) is installed on the slide seat of the slide cylinder (12) through a cylinder connecting seat (17); the first seedling finger sleeve (14) is provided with two, which are respectively mounted on the two pneumatic fingers of the transfer cylinder (13); The wax sealing manipulator assembly (2) is used to hold the grafted seedlings to complete wax sealing, cooling and collection operations, and the wax sealing manipulator assembly (2) comprises a manipulator base (21), an electric turntable (22), a lifting cylinder (23), a first connecting seat (24), a second connecting seat (25), a finger cylinder (26) and a second seedling finger sleeve (27); The manipulator base (21) is installed at the rear end of the transfer base (11); the electric turntable (22) is installed on the manipulator base (21) through a turntable support (28); the lifting cylinder (23) is installed on the rotating table of the electric turntable (22) through a lifting cylinder support (29); the lifting cylinder support (29) is L-shaped; the vertical plate of the first connecting seat (24) is installed on the sliding seat of the lifting cylinder (23); the horizontal plate of the first connecting seat (24) is fixedly connected to the horizontal plate of the second connecting seat (25); the vertical plate of the second connecting seat (25) is fixedly connected to the finger cylinder (26); and the second seedling finger sleeves (27) are respectively installed on the two pneumatic fingers of the finger cylinder (26).

2. The wax sealing manipulator for a seedling grafting robot according to claim 1, characterized in that: The first connecting seat (24) is provided with a connecting key groove at a connecting portion with the second connecting seat (25); and the second connecting seat (25) is provided with a connecting key groove at a connecting portion with the finger cylinder (26).

3. The wax sealing manipulator for a seedling grafting robot according to claim 1, characterized in that: The first seedling finger sleeve (14) and the second seedling finger sleeve (27) are both provided with shallow arc grooves for clamping the grafted seedlings, and the shallow arc grooves are arranged opposite to each other.

4. The wax sealing manipulator for a seedling grafting robot according to claim 1, characterized in that: The transfer base (11) and the manipulator base (21) are both made of 30150 aluminum profiles.

5. The wax sealing manipulator for a seedling grafting robot according to claim 1, characterized in that: The slide cylinder (12) and the lifting cylinder (23) are both rodless cylinders, and the transfer cylinder (13) is a swing finger cylinder.

6. The wax sealing manipulator for a seedling grafting robot according to claim 1, characterized in that: It also comprises a wax sealing box (4), a water cooling box (5) and a seedling collecting box (6), wherein the wax sealing box (4) is arranged on one side of the wax sealing manipulator assembly (2), the seedling collecting box (6) is arranged on the other side of the wax sealing manipulator assembly (2), and the water cooling box (5) is arranged at the rear end of the wax sealing manipulator assembly (2).

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