Multi-station automatic grafting machine

Abstract

The utility model discloses a multi-station automatic grafting machine which comprises a main body rack and a robot clamping part arranged on one side of the main body rack, and a plurality of first clamping jaws used for clamping seedling stems are arranged on the robot clamping part. According to the multi-station automatic grafting machine, seedling feeding operation is completed through the mechanical arm, cutting is automatically carried out, a scion and a stock are in butt joint through the mechanical arm, fastening is carried out through the fixing part, butt joint knife edges are unified, then butt joint is more fit, the survival rate after grafting is improved, meanwhile, full-automatic multi-station simultaneous operation is achieved, and the grafting efficiency is improved. The working efficiency of the grafting machine is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to grafting machine technical field especially a kind of multi-station automatic grafting machine. BACKGROUND

[0002] Grafting is the bud or branch of one plant is connected to another plant, so that the two parts are grown into a complete plant. The bud or branch that is connected is called the scion, and the plant that is connected is called the rootstock. The key to successful grafting is to tightly combine the cambium of the scion and the rootstock. Grafting seedlings can effectively overcome the obstacles of soil environment deterioration and serious soil-borne diseases caused by continuous cropping, and is a good way to improve yield.

[0003] The existing grafting method is manual grafting, which has low efficiency and cannot maintain uniform cutting surfaces, making it difficult to tightly connect during connection, which may affect the survival rate.

[0004] There are also grafting methods using grafting machines, but existing grafting machines can only work on a single plant and cannot work on multiple plants simultaneously. Manual operation is required to place the two plants to be grafted in the corresponding workstations, which is inefficient and not suitable for large-scale grafting work. SUMMARY

[0005] The utility model provides a kind of multi-station automatic grafting machine to solve the problems in the prior art.

[0006] To solve the above technical problems, the utility model solves the problems by the following technical solutions: a kind of multi-station automatic grafting machine, including main body frame and the robot clamping part of setting in the main body frame one side, robot clamping part is provided with multiple first clamping jaw for clamping seedling pole, main body frame is provided with mutually symmetrical rootstock cutting part and seedling cutting part, both include moving assembly and cutting unit, moving assembly is provided with the second clamping jaw for interacting with the first clamping jaw and the first track group for driving the second clamping jaw to move, cutting unit includes cutting knife and the first lifting unit for cutting knife lifting, the rootstock cutting part is used to cut seedling and keep root, seedling cutting part is used to cut seedling and keep seedling, and the cutting and retaining part is moved by moving assembly to contact the cutting surface, further including fixing part, fixing part is used to fix the combined position of root and seedling, and tightly connect root and seedling together.

[0007] Its beneficial effects are that the mechanical hand completes seedling delivery, automatically cuts and connects the scion and the rootstock, the fixed part is tightly connected, the cutting edge is uniform, the connection is more closely connected, the survival rate after grafting is improved, and the grafting machine is fully automatic and can work on multiple stations simultaneously, improving the work efficiency of the grafting machine.

[0008] Preferably, the robot clamping part is provided with two groups, which are located on both sides of the main body frame and are respectively used for supplying seedlings to the root cutting part and the seedling cutting part.

[0009] Preferably, the first track group is uniformly provided with a plurality of second clamping claws, and the second clamping claws are used for clamping the seedling stems transported by the robot clamping part.

[0010] Preferably, the cutting blade has an angle greater than 20 degrees and less than 60 degrees with the clamping direction of the seedling stem.

[0011] Preferably, the cutting knife is a high-frequency vibration knife, and high-frequency vibration cutting is performed on the seedling stem during cutting.

[0012] Preferably, the fixed part is arranged at the middle position of the main body frame.

[0013] Preferably, the method further comprises a transfer unit, which moves the combined seedling stem fastened by the fixed part out of the main body frame.

[0014] Preferably, the transfer unit comprises a second track, a second lifting member and a fourth clamping claw, the fourth clamping claw is used for clamping the combined seedling stem, is arranged on the second lifting member, and the second lifting member is used for moving the fourth clamping claw up and down, the second track is arranged on the main body frame, and the second lifting member is arranged on the second track and used for moving the second clamping claw out of the main body frame.

[0015] Preferably, the fourth clamping claw is provided with a plurality of clamping claws, and the number and spacing of the fourth clamping claws are consistent with those of the second clamping claws.

[0016] Preferably, the second track is perpendicular to the first track group.

[0017] The beneficial effects of the present application are as follows: the multi-station automatic grafting machine provided by the present application completes seedling feeding by a mechanical hand, automatically cuts and connects the scion and stock, fastens by a fixed part, unifies the connecting knife edge, and thus the connection is more fitted, the survival rate after grafting is improved, full-automatic multi-station simultaneous operation is realized, and the working efficiency of the grafting machine is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The present application is a schematic diagram.

[0019] Figure 2 The present application is a front view.

[0020] Figure 3 The present application is a top view.

[0021] Figure 4The utility model discloses a mobile assembly and cutting unit schematic view.

[0022] Figure 5 The utility model discloses a transfer unit schematic view. Specific implementation

[0023] The utility model will be described in further detail below in connection with the drawings and specific implementation: refer to Figures 1-5 A multi-station automatic grafting machine, including robot clamping part 1 and setting on the root stock cutting part 2 of frame body, seedling cutting part 3, fixed part 4, transfer unit 5 and frame body, the robot clamping part 1 has 5 axis robot and the first jaw 11 of configuration on the robot, for taking out seedling from the transport belt or storage tray, moves to the equipment, and 5 axis robot is fixedly arranged on the ground, and is provided with 2 groups, and one group supplies seedling to root stock cutting part 2, and another group supplies seedling to seedling cutting part 3.

[0024] The components of root stock cutting part 2 and seedling cutting part 3 are identical, and symmetrically arranged between the two, and root stock cutting part 2 includes mobile assembly 21 and cutting unit 22, and mobile assembly 21 includes first track group 211, and a connecting piece is arranged on first track group 211, and four groups of second jaws 212 are uniformly arranged on the connecting piece by bolt fixation, and the clamping opening of second jaw 212 is arranged upwards, facilitating exchange clamping with first jaw 11 in robot clamping part 1, and the number of first jaw 11 on robot clamping part 1 is consistent with that of second jaw 212, and the spacing is also consistent, first jaw 11 clamps and moves seedling to the clamping opening of second jaw 212, second jaw 212 clamps tightly, first jaw 11 releases, and then the first step automatic seedling operation is completed.

[0025] Wherein the first track group 211 is two straight line modules arranged on the frame main body, and the connecting piece is fixedly connected on the moving block of the two straight line modules by bolt, to provide a stable support force for the connecting piece, to ensure that the straight line module does not shake when driving the connecting piece to move.

[0026] The cutting unit 22 includes a cutting knife 221, a first lifting member 222, and a third jaw 223. The first lifting member 222 is fixedly arranged on the frame main body by bolts and located below the first track group 211. A fixed plate is arranged on the lifting end of the first lifting member 222. The cutting knife 221 and the third jaw 223 are arranged on the fixed plate. When the first lifting member 222 moves upwards, it drives the cutting knife 221 and the third jaw 223 to move upwards. The cutting knife 221 is an ultrasonic vibration knife that can vibrate at high frequency after being started. Therefore, after contacting the seedling, it can easily cut the seedling.

[0027] Wherein, since the ultrasonic vibrating cutter is used, the second clamping jaw 212 only needs to fix the seedling stem, and the cutting work can be implemented when the cutting knife 221 contacts the seedling stem in the process of the first lifting member 222 upwardly extending, the third clamping jaw 223 is in the open state in the upward process, and the third clamping jaw 223 is retracted to clamp after the ultrasonic vibrating cutter completes the cutting, so as to clamp the cut seedling stem, and the third clamping jaw 223 is released after the first lifting member 222 is lowered to the position, at which time the cut and discarded seedling stem part falls downward, and the third clamping jaw 223 is used to clamp after the cutting knife 221 cuts the seedling stem, so as to prevent the seedling stem from falling disorderly at the moment of cutting, and since the lifting force of the cutting knife to the seedling stem and the vibration force of the cutting knife itself exist, the seedling stem will fall disorderly and accidentally fall on the lower instrument equipment, thereby causing unnecessary operation errors.

[0028] The included angle between the cutting edge direction of the cutting knife 221 and the seedling stem direction is greater than 25 degrees and less than 65 degrees, so as to make the cut of the seedling stem be in an inclined shape, and the angle of the cutting edge is adjusted according to the different diameters of the seedling stem, so as to ensure that the length of the cut is moderate, wherein the adjustment mode here can be manual adjustment, and in the embodiment, a circular arc groove is formed on the fixed plate, and the bolt slides on the circular arc groove to make the cutting knife 221 be at different angles.

[0029] If automatic adjustment is needed, a rotating unit is arranged below the cutting knife 221, the diameter of the seedling is input when the seedling type or batch is input in the equipment control end, and then the control end controls the rotating unit to rotate according to the input value, so as to make the cutting knife 221 be at different angles, so as to ensure that the cut is moderate and is suitable for the length of the wrapping piece of the fixed part 4, and the rotating unit can be selected from a servo motor and other electrically controlled angle rotating components.

[0030] The seedling cutting part 3 and the root cutting part 2 are symmetrically arranged, the second clamping jaw 212 of the seedling cutting part 3 remains the seedling part after cutting, the second clamping jaw 212 of the root cutting part 2 remains the root part after cutting, and the cuts of the root part and the seedling part are matched with each other, the first track groups 211 on the two are moved towards each other after the cutting is completed, the cuts of the root part and the seedling part are butted with each other, and the combination is completed.

[0031] The transfer unit 5 includes a second track 51, a second lifting member 52 and a fourth clamping jaw 53, the second track 51 is arranged above the first track group 211 and is perpendicular to the first track group 211, the second track 51 is a straight line module, the second lifting member 52 is arranged on the sliding block of the second track 51 through a bolt, four groups of fourth clamping jaws 53 are uniformly arranged on the lifting head of the second lifting member 52, the jaws of the fourth clamping jaws 53 are downwardly arranged, and the second lifting member 52 also extends downwardly, and the spacing of the four groups of fourth clamping jaws 53 is consistent with the spacing of the second clamping jaw 212.

[0032] In this embodiment, a fixing part is further arranged in the middle part of the main frame, which is longitudinally movably arranged in the middle part of the main frame, and is used to wrap the two grafted plants that are well grafted into a finished seedling by the grafting clamp. The fixing part is arranged below the position where the cut surfaces of the two plants are butted. The specific structure of the fixing part can refer to the existing design. At least, the fixing part has a driving mechanism for conveying the grafting clamp from below to above the cut surface butting position. For the specific detailed structure, refer to the published patent documents CN115088494B and CN117643232A.

[0033] The combined seedling part and root part are fixed by the fixing part. The fourth clamping jaw 53 is moved above the grafting clamp by the second track 51. The second lifting piece 52 extends downward, so that the grafting clamp is located in the fourth clamping jaw 53. At this time, the fourth clamping jaw 53 is clamped to hold the grafting clamp. At the same time, the second clamping jaw 212 is released, so that the combined seedling stem is disconnected from the seedling cutting part 3 and the root cutting part 2, and is only clamped by the fourth clamping jaw 53. The second lifting piece 52 is retracted upward. The second track 51 moves the combined seedling stem to a transfer assembly line or a placement platform.

[0034] The working principle or method of use is as follows:

[0035] The two robot clamping parts 1 move the seedlings for root cutting to the root cutting part 2 and move the seedlings for seedling cutting to the seedling cutting part 3. The first clamping jaw 11 is handed over to the second clamping jaw 212 for clamping.

[0036] The first lifting piece 222 is started, and the cutting knife 221 cuts the seedling stem. The seedling cutting part 3 and the root cutting part 2 simultaneously perform high-frequency vibration cutting. After cutting is completed, the discarded part is clamped by the third clamping jaw 223. After the first lifting piece 222 is lowered, the third clamping jaw 223 is released, and the discarded part automatically falls downward.

[0037] The first track group 211 on the seedling cutting part 3 and the root cutting part 2 starts to move towards each other. The cutting position of the seedling part and the cutting position of the root part are closely fitted with inclined surfaces. The fixing part wraps the two grafted plants that are well grafted into a finished seedling by the grafting clamp.

[0038] The combined seedling part and root part are fixed by the fixing part. The fourth clamping jaw 53 is moved above the grafting clamp by the second track 51. The second lifting piece 52 extends downward, so that the grafting clamp is located in the fourth clamping jaw 53. At this time, the fourth clamping jaw 53 is clamped to hold the grafting clamp. At the same time, the second clamping jaw 212 is released, so that the combined seedling stem is disconnected from the seedling cutting part 3 and the root cutting part 2, and is only clamped by the fourth clamping jaw 53. The second lifting piece 52 is retracted upward. The second track 51 moves the combined seedling stem to a transfer assembly line or a placement platform.

[0039] The above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some technical features therein can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-station automated grafting machine, characterized in that: It includes a main frame and a robot gripping part (1) located on one side of the main frame. The robot gripping part (1) is provided with a plurality of first grippers (11) for gripping the seedlings. The main frame is provided with a root cutting section (2) and a seedling cutting section (3) that are symmetrical to each other. Both include a moving component (21) and a cutting unit (22). The moving component (21) is provided with a second gripper (212) that interacts with the first gripper (11) and a first track group (211) for driving the second gripper (212) to move. The cutting unit (22) includes a cutting blade (221) and a first lifting unit (222) for lifting the cutting blade (221). The root cutting part (2) is used to cut the root of the seedling and the seedling cutting part (3) is used to cut the seedling and the seedling part. The cut and retained parts are moved towards each other by the moving component (21) and the cut surfaces are in contact. It also includes a fixing part, which is used to fix the position of the root and the seedling, and to firmly connect the root and the seedling together.

2. The multi-station automated grafting machine according to claim 1, characterized in that: The robot clamping part (1) is provided in two sets, located on both sides of the main frame, and is used to supply seedlings to the root cutting part (2) and the seedling cutting part (3), respectively.

3. The multi-station automated grafting machine according to claim 1, characterized in that: The first track group (211) is evenly provided with a plurality of second grippers (212), which are used to grip the seedlings transported by the robot gripper (1).

4. The multi-station automated grafting machine according to claim 3, characterized in that: The angle between the cutting edge of the cutting blade (221) and the direction of clamping the seedling stem is greater than 20 degrees and less than 60 degrees.

5. A multi-station automated grafting machine according to claim 4, characterized in that: The cutting blade (221) is a high-frequency vibrating blade, which performs high-frequency vibration cutting when cutting the seedling stem.

6. The multi-station automated grafting machine according to claim 1, characterized in that: The fixing part is located in the middle of the main frame.

7. The multi-station automated grafting machine according to claim 1, characterized in that: It also includes a transfer unit (5), which moves the combined seedlings after the fixing part (4) is tightened out of the main frame.

8. A multi-station automated grafting machine according to claim 7, characterized in that: The transfer unit (5) includes a second track (51), a second lifting component (52), and a fourth gripper (53). The fourth gripper (53) is used to clamp the seedlings that are fastened together, and is mounted on the second lifting member (52); The second lifting component (52) is used to move the fourth gripper (53) up and down; The second track (51) is mounted on the main frame, and the second lifting component (52) is mounted on the second track (51) to move the second gripper (212) out of the main frame.

9. A multi-station automated grafting machine according to claim 8, characterized in that: The fourth gripper (53) is provided in multiples, and the number and spacing are the same as those of the second gripper (212).

10. A multi-station automated grafting machine according to claim 8, characterized in that: The second track (51) is perpendicular to the first track group (211).

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