Vegetable grafting robot

Abstract

The utility model relates to the technical field of grafting devices, in particular to a vegetable grafting robot which comprises a rack, a cutting mechanism and a grafting mechanism, and the cutting mechanism is assembled on one side of the rack and used for cutting stocks and vegetables; the grafting mechanism comprises a conveying assembly and clamping assemblies, and the clamping assemblies are installed on the two sides of the rack and used for clamping vegetables; the conveying assembly is installed on the rack, located between the clamping assemblies and used for conveying grafted vegetables. The objective of the utility model is to improve the automation degree of grafting and increase the success rate of grafting based on the beveling attachment grafting method as the operation process basis of the grafting robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to grafting device technical field especially relates to a kind of vegetable grafting robot. BACKGROUND

[0002] China is the big country of vegetable production and marketing, and vegetables are crucial to rural economy. With the expansion of planting area, continuous cropping and heavy cropping lead to soil deterioration and disease aggravation, affecting vegetable yield and quality. Although chemical methods can alleviate the problem, but easy to pollute soil. Vegetable grafting technology becomes the key to solve the problem, using resistant rootstock can enhance disease resistance and improve vegetable quality. Grafting technology is one of the key means to solve continuous cropping obstacles and soil-borne diseases, but manual grafting seriously restricts the promotion and application of vegetable grafting seedling technology. In recent years, grafting robot technology, as a high-tech integrating machinery, automatic control and horticultural technology, can greatly improve grafting speed and survival rate, and is hailed as a revolutionary technology for grafting seedling.

[0003] China has made progress in the research of automatic grafting technology, but the current technology is still limited to partial grafting operation mechanization, and the automation degree is not high and the speed is slow. In addition, the technology has strict requirements on the thickness of rootstock and scion, so most of the grafting operations still rely on manual work. SUMMARY

[0004] Therefore, the utility model aims at providing a kind of vegetable grafting robot, based on oblique cutting grafting method as the grafting robot operating process basis, can improve the degree of automation of grafting, improve the success rate of grafting.

[0005] The utility model solves the above-mentioned technical problem by the following technical means:

[0006] A kind of vegetable grafting robot, including rack, cutting mechanism and grafting mechanism, the cutting mechanism is assembled in the side of rack, for the cutting of rootstock and vegetable;The grafting mechanism includes conveying assembly and clamping assembly, the clamping assembly is installed in the two sides of rack, for clamping vegetable;The conveying assembly is installed on rack, and is located between clamping assembly, for the conveying of vegetable after grafting.

[0007] Further, the conveying assembly includes first conveying assembly and second conveying assembly, the first conveying assembly and second conveying assembly are installed side by side on rack, the first conveying assembly and second conveying assembly are all with clamping assembly correspond, for collecting vegetable after cutting, grafting.

[0008] According to the above technical means, through the mutual cooperation of first conveying assembly and second conveying assembly, rootstock and vegetable can be conveyed after grafting.

[0009] Further, the first conveying assembly comprises a conveying frame, transmission shafts, a driving source and a conveying belt, the conveying frame is fixedly installed on the frame, the two transmission shafts are rotatably installed at two ends of the conveying frame respectively, the conveying belt is tensioned on the two transmission shafts, and the output shaft of the driving source is in transmission connection with the transmission shafts.

[0010] According to the technical scheme, when the driving source works, the transmission shafts can drive the conveying belt to rotate, so that the stock and the vegetable are conveyed to the preset position, and subsequent grafting is facilitated.

[0011] Further, the first conveying assembly comprises a conveying frame, transmission shafts, a driving source and a conveying belt, the conveying frame is fixedly installed on the frame, the two transmission shafts are rotatably installed at two ends of the conveying frame respectively, the conveying belt is tensioned on the two transmission shafts, and the output shaft of the driving source is in transmission connection with the transmission shafts.

[0012] According to the technical scheme, through the cooperation of the first clamping structure and the second clamping structure, the stock and the vegetable can be clamped, so that grafting is facilitated, and through the auxiliary structure, the vegetable after grafting can be fixed.

[0013] Further, the first clamping structure comprises a first telescopic member, a first flexible clamping jaw, a second telescopic member and a second flexible clamping jaw, the first telescopic member is installed on the frame, the first flexible clamping jaw is installed at the output end of the first telescopic member, the second telescopic member is installed on the frame and located below the first telescopic member, and the second flexible clamping jaw is installed at the output end of the second telescopic member.

[0014] According to the technical scheme, through the cooperation of the first flexible clamping jaw and the second flexible clamping jaw, the stock or the vegetable can be clamped, so that grafting is facilitated.

[0015] Further, the second clamping structure comprises a third telescopic member, a third flexible clamping jaw, a fourth telescopic member and a fourth flexible clamping jaw, the third telescopic member is installed on the frame, the third flexible clamping jaw is installed at the output end of the third telescopic member, the fourth telescopic member is installed on the frame and located below the third telescopic member, and the fourth flexible clamping jaw is installed at the output end of the fourth telescopic member.

[0016] According to the technical scheme, through the cooperation of the third flexible clamping jaw and the fourth flexible clamping jaw, the stock or the vegetable can be clamped, and in cooperation with the first flexible clamping jaw and the second flexible clamping jaw, the stock and the vegetable can be clamped before and after grafting.

[0017] Further, the auxiliary structure comprises an auxiliary frame, a rotating shaft, a conveying belt, an auxiliary piece and a power source, the auxiliary frame is fixedly installed on the rack, the rotating shaft is rotatably installed at two ends of the auxiliary frame, the conveying belt is tensioned on the two rotating shafts, the output end of the power source is in transmission connection with the rotating shaft, and the auxiliary piece is arranged on the auxiliary frame and used for fixing the grafted vegetables.

[0018] According to the above technical means, through the auxiliary structure, the grafted vegetables can be fixed, so as to avoid loosening of the grafted vegetables in the subsequent transportation process and reduce the possibility of rework.

[0019] Further, the auxiliary piece comprises a height limiting frame, a pushing plate and a clamp, the height limiting frame is installed on the auxiliary frame, the pushing plate is fixedly installed on the transmission belt, and the clamp is movably installed on the transmission belt and used for clamping the grafted vegetables.

[0020] According to the above technical means, through the cooperation of the height limiting frame and the pushing plate, the clamp can be stably conveyed on the transmission belt, and through the clamp, the grafting part of the grafted vegetables can be clamped.

[0021] Further, the cutting mechanism comprises a fifth telescopic piece, a mounting seat and a cutting knife, the fifth telescopic piece is installed on the rack, the mounting seat is fixedly installed on the output end of the fifth telescopic piece, and the cutting knife is installed on the mounting seat and used for oblique cutting of the vegetables to be grafted.

[0022] According to the above technical means, through the cooperation of the fifth telescopic piece and the cutting knife, the cutting of the vegetables and the stock can be realized, so as to realize grafting.

[0023] Further, the vegetable grafting robot further comprises a PLC control system, and the PLC control system is electrically connected with the cutting mechanism and the grafting mechanism.

[0024] According to the above technical means, through the PLC control system, the automatic control of the cutting mechanism and the grafting mechanism is realized, so that the use of the whole robot is more convenient.

[0025] The application adopting the above scheme has the following beneficial effects:

[0026] 1. In the application, the cutting mechanism and the grafting structure are installed on the rack, and the oblique cutting and splicing method is used as the operation process basis of the grafting robot, so that the automation degree of grafting is improved, and the success rate of grafting is improved.

[0027] 2. In the application, the conveying assembly is arranged as the first conveying assembly and the second conveying assembly, so that the stock and the vegetables can be conveyed after grafting, and the grafting efficiency is improved.

[0028] 3. In the application, by setting the clamping assembly as the first clamping structure, the second clamping structure and the auxiliary structure, the first clamping structure and the second clamping structure can clamp the stock and the tomato seedling respectively, so that after cutting, the cutting mechanism can graft the tomato seedling on the stock, and through cooperation with the auxiliary structure, the grafted part of the grafted tomato seedling can be fastened, which is convenient for subsequent processing, has high automation degree and strong practicality.

[0029] 4. In the application, not only the grafting of tomato seedlings can be carried out, but also the grafting of other root vegetables can be carried out, so the application range is wide. BRIEF DESCRIPTION OF DRAWINGS

[0030] The application can be further illustrated by the non-limiting embodiments shown in the drawings;

[0031] Figure 1 is a structural schematic view of a vegetable grafting robot in the embodiment of the application;

[0032] Figure 2 is a schematic view of the installation structure of the first clamping structure and the cutting mechanism in the embodiment of the application;

[0033] Figure 3 is a schematic view of the installation structure of the second clamping structure and the auxiliary structure in the embodiment of the application;

[0034] Figure 4 is a schematic view of the structure of the clamp in the auxiliary part in the embodiment of the application;

[0035] Figure 5 is a schematic view of the structure of the conveying assembly in the embodiment of the application;

[0036] MAIN SYMBOL ELEMENT DESCRIPTION:

[0037] 100, rack; 110, base frame; 120, placing plate; 130, cross frame; 140, first vertical frame; 150, second vertical frame; 200, PLC control system; 210, PLC controller; 220, air switch; 230, switch;

[0038] 300, cutting mechanism; 310, telescopic seat; 320, fifth telescopic part; 330, mounting seat; 340, knife holder; 350, cutting knife;

[0039] 400, first clamping structure; 401, air compressor; 410, first telescopic part; 420, first flexible clamping jaw; 430, second telescopic part; 440, second flexible clamping jaw; 441, second seat body; 442, connecting shaft; 443, second support; 444, connecting seat; 445, jaw body; 446, hollow pipe;

[0040] 500, second clamping structure; 510, auxiliary frame; 511, rotating shaft; 512, conveying belt; 513, second tension belt; 514, power source; 520, third telescopic member; 530, third flexible clamping jaw; 540, fourth telescopic member; 550, fourth flexible clamping jaw; 560, height limiting frame; 570, pushing plate; 580, clamp;

[0041] 600, conveying assembly; 610, first conveying assembly; 611, conveying frame; 612, transmission shaft; 613, conveying belt; 614, driving source; 615, first tension pulley; 616, first tension belt; 617, second tension pulley; 620, second conveying assembly. DETAILED DESCRIPTION

[0042] The advantages and effects of the present application can be understood by those skilled in the art from the disclosure of the specification. It should be noted that the drawings provided in the following examples are only used for exemplary description, and the drawings are only schematic drawings and not actual drawings, and should not be understood as a limitation of the present application. In order to better illustrate the embodiments of the present application, some components in the drawings may be omitted, enlarged or reduced, and do not represent the actual size of the product; for those skilled in the art, some well-known structures and their descriptions may be omitted.

[0043] In the drawings of the embodiments of the present application, the same or similar reference numerals correspond to the same or similar components. In the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, they are only used for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation. Therefore, the terms used to describe the positional relationship in the drawings are only used for exemplary description and should not be understood as a limitation of the present application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances, and in the description of the present application, the terms "first", "second" and the like are only used for differentiation and should not be understood as indicating or implying relative importance.

[0044] It should be noted that the drawings provided in the following examples only illustrate the basic concept of the present application in a schematic manner, and the drawings only show the components related to the present application, not the number, shape and size of the components during actual implementation. The actual implementation of each component may be arbitrarily changed, and the layout pattern of the components may be more complex.

[0045] As Figures 1-4As shown, the embodiment of the present application discloses a vegetable grafting robot, which comprises a rack 100, a cutting mechanism 300 and a grafting mechanism. The cutting mechanism 300 is assembled on one side of the rack 100 and used for cutting the stock and the vegetable. The grafting mechanism comprises a conveying assembly 600 and a clamping assembly, which is installed on both sides of the rack 100 and used for clamping the vegetable. The conveying assembly 600 is installed on the rack 100 and located between the clamping assemblies and used for conveying the grafted vegetable.

[0046] In some embodiments, as shown in Figure 1 As shown, the rack 100 comprises a base frame 110, a cross frame 130, a first vertical frame 140 and a second vertical frame 150. The cross frame 130 is fixedly installed on the base frame 110, and the conveying assembly 600 is installed on the cross frame 130. The first vertical frame 140 and the second vertical frame 150 are respectively fixedly installed on both sides of the cross frame 130, and the clamping assembly is installed on the first vertical frame 140 and the second vertical frame 150.

[0047] In the embodiment, the vegetable grafting robot further comprises a PLC control system 200, which comprises a PLC controller 210, a switch 230 and an air switch 220. The PLC controller 210 is electrically connected with the cutting mechanism 300, the conveying assembly 600 and the clamping assembly, and used for controlling the working of the cutting mechanism 300, the conveying assembly 600 and the clamping assembly. The switch 230 and the air switch 220 are fixedly installed on the cross frame 130 and used for controlling the opening and closing of the vegetable grafting robot and protecting the circuit of the vegetable grafting robot.

[0048] In some embodiments, as shown in Figure 5 As shown, the conveying assembly 600 comprises a first conveying assembly 610 and a second conveying assembly 620. The first conveying assembly 610 and the second conveying assembly 620 are installed side by side on the cross frame 130, and the first conveying assembly 610 and the second conveying assembly 620 are both corresponding to the clamping assembly and used for collecting the cut and grafted vegetable.

[0049] In the embodiment, the first conveying assembly 610 and the second conveying assembly 620 are used for respectively conveying the cut part of the vegetable and the stock and the grafted vegetable. The vegetable can be a tomato seedling or other root vegetables. The first conveying assembly 610 and the second conveying assembly 620 are the same in structure, and the first conveying assembly 610 is taken as an example for description as follows.

[0050] The first conveying assembly 610 comprises a conveying frame 611, transmission shafts 612, a driving source 614 and a conveying belt 613. The conveying frame 611 is fixedly installed on the cross frame 130, the two transmission shafts 612 are rotatably installed at the two ends of the conveying frame 611 respectively, the conveying belt 613 is tensioned on the two transmission shafts 612, and the output shaft of the driving source 614 is in transmission connection with the transmission shaft 612. When the driving source 614 works, the conveying belt 613 can be driven to rotate by the transmission shaft 612, so that the grafted vegetables and the cut-off stock plants and vegetables can be conveyed, and the subsequent grafting is facilitated.

[0051] In some embodiments, the driving source 614 can be provided as two, and the output shafts of the two driving sources 614 are in transmission connection with the transmission shaft 612 respectively.

[0052] In the embodiment, a first tensioning wheel 615 is fixedly installed on the output shaft of the driving source 614, a second tensioning wheel 617 is installed on the side of the conveying frame 611 away from the transmission shaft 612, and a first tensioning belt 616 is tensioned between the first tensioning wheel 615 and the second tensioning wheel 617. Compared with the direct connection between the driving source 614 and the transmission shaft 612, the conveying assembly 600 can reduce the damage to the driving source 614 when working.

[0053] In the embodiment, the base frame 110 is fixedly installed with a placing plate 120, and the related components of the PLC control system are placed on the placing plate 120.

[0054] In some embodiments, as shown in Figures 1-2 The first clamping structure 400 is installed on the first vertical frame 140, the second clamping structure 500 is installed on the second vertical frame 150, and the first clamping structure 400 and the second clamping structure 500 can clamp the stock plants and the vegetables, thereby facilitating the grafting. The auxiliary structure is installed on the second vertical frame 150 and located at the second clamping structure 500, and is used for fixing the grafted vegetables.

[0055] In the embodiment, the first clamping structure 400 comprises a first telescopic member 410, a first flexible clamping jaw 420, a second telescopic member 430 and a second flexible clamping jaw 440. The first telescopic member 410 is installed on the upper side of the first vertical frame 140, and the first flexible clamping jaw 420 is installed on the output end of the first telescopic member 410. The second telescopic member 430 is installed on the lower side of the first vertical frame 140 and located below the first telescopic member 410, and the second flexible clamping jaw 440 is installed on the output end of the second telescopic member 430. The first flexible clamping jaw 420 and the second flexible clamping jaw 440 can clamp the stock plants or the vegetables, thereby facilitating the grafting.

[0056] In the embodiment, the cutting mechanism 300 is installed on the first vertical frame 140 and located between the first telescopic member 410 and the second telescopic member 430, for beveling the stock and the vegetables.

[0057] In the embodiment, the second clamping structure 500 includes a third telescopic member 520, a third flexible clamping jaw 530, a fourth telescopic member 540 and a fourth flexible clamping jaw 550. The third telescopic member 520 is installed on the upper side of the second vertical frame 150, and the third flexible clamping jaw 530 is installed on the output end of the third telescopic member 520. The fourth telescopic member 540 is installed on the lower side of the second vertical frame 150 and located below the third telescopic member 520, and the fourth flexible clamping jaw 550 is installed on the output end of the fourth telescopic member 540. Through the cooperation of the third flexible clamping jaw 530 and the fourth flexible clamping jaw 550, the stock or the vegetables can be clamped, and in cooperation with the first flexible clamping jaw 420 and the second flexible clamping jaw 440, the stock and the vegetables can be clamped before grafting.

[0058] In the embodiment, the auxiliary structure is installed on the second vertical frame 150 and located between the third telescopic member 520 and the fourth telescopic member 540, for conveying the grafted vegetables.

[0059] In the embodiment, as shown in Figures 1-2 The first telescopic member 410, the second telescopic member 430, the third telescopic member 520 and the fourth telescopic member 540 are the same structure, and are fixedly installed through the fixing frame. Hereinafter, the first telescopic member 410 will be taken as an example for description. The first telescopic member 410 is provided as a pneumatic cylinder, which is fixedly installed on the rack 100 through the fixing frame.

[0060] In the embodiment, the first telescopic member 410 and the second telescopic member 430 are fixedly installed on the first vertical frame 140 through the fixing frame, and the third telescopic member 520 and the fourth telescopic member 540 are fixedly installed on the second vertical frame 150 through the fixing frame. The pneumatic cylinder is connected with a gas pipe between the first telescopic member 410 and the second telescopic member 430, and the input end of the gas pipe is connected with an external gas source or an air compressor 401. The pneumatic cylinder is connected with the same gas pipe between the third telescopic member 520 and the fourth telescopic member 540, and the input end of the gas pipe is connected with an external gas source or an air compressor 401, so as to provide a gas source for the working of the pneumatic cylinder.

[0061] In some other embodiments, the first telescopic member 410, the second telescopic member 430, the third telescopic member 520 and the fourth telescopic member 540 can also be provided as a hydraulic cylinder, an electric telescopic rod or other devices with telescopic function, and can also be provided as a gear-driven rack mode for telescoping. In addition, according to the actual situation, a suitable device can be selected.

[0062] In the embodiment, the first flexible clamping jaw 420 and the fourth flexible clamping jaw 550 are the same in structure, and the second flexible clamping jaw 440 and the third flexible clamping jaw 530 are the same in structure, and are used for clamping the stock or the vegetable. The first flexible clamping jaw 420 and the fourth flexible clamping jaw 550 each include a first seat body and a first clamping jaw. The second flexible clamping jaw 440 and the third flexible clamping jaw 530 each include a second seat body and a second clamping jaw.

[0063] In the embodiment, as shown in the figure, the first flexible clamping jaw 420 installed on the first telescopic member 410 is taken as an example for description, the first seat body includes a first seat body, a first motor and a first support. The first seat body is fixedly installed on the output shaft of the first telescopic member 410. The first motor is fixedly installed on the first seat body, the first support is fixedly installed on the output shaft of the first motor, and the first clamping jaw is fixedly installed on the first support, so that when the first motor works, the first clamping jaw can be driven to rotate, thereby adapting to the clamping of the stock and the vegetable in different situations. Figure 2

[0064] In the embodiment, the second flexible clamping jaw 440 installed on the second telescopic member 430 is taken as an example for description, the second seat body includes a second seat body 441, a second motor, a connecting shaft 442 and a second support 443. The second seat body 441 is fixedly installed on the output shaft of the second telescopic member 430. The second motor is fixedly installed on the second seat body 441, the connecting shaft 442 is fixedly installed on the output shaft of the second motor, one end of the second support 443 is fixedly installed on the connecting shaft 442, and the second clamping jaw is fixedly installed on the second support 443, so that when the second motor works, the second clamping jaw can be driven to rotate, thereby adapting to the clamping of the stock and the vegetable in different situations.

[0065] In the embodiment, the first clamping jaw and the second clamping jaw are the same in structure, and the second clamping jaw is taken as an example for description as follows:

[0066] The second clamping jaw includes a hollow pipe 446, a connecting seat 444 and a jaw body 445, the hollow pipe 446 is fixedly connected with the jaw body 445, the connecting seat 444 is fixedly installed on the hollow pipe 446, and the free end of the second support 443 is fixedly connected on the connecting seat 444, so that when the second support 443 rotates, the jaw body 445 can be driven to rotate. When the jaw body 445 is a pneumatic clamping jaw, the free end of the hollow pipe 446 is connected with the gas source or the air compressor 401 through the gas conveying pipe, so that the degree of clamping can be controlled through the conveyed gas, thereby avoiding the damage to the stock or the vegetable.

[0067] ​In some other embodiments, the claw body 445 can also be provided as an electrically operated clamp claw, or a suitable clamping device can be selected according to actual conditions. In some other embodiments, the first flexible clamp claw 420 and the second flexible clamp claw 440 can also be mounted on the corresponding first telescopic member 410 or the second telescopic member 430 through the cooperation of the first seat body or the second seat body and the bolt, at this time, the first motor and the second motor are not installed, the initial positions of the first flexible clamp claw 420 and the second flexible clamp claw 440 are fixed, and when adjustment is needed, the adjustment can be performed by loosening the bolt.

[0068] In the embodiment, the claws of the first flexible clamp claw 420 and the second flexible clamp claw 440 are preferably pneumatic clamp claws, which can cooperate with the air source of the air cylinder and can adopt the same air source, thereby reducing the use cost.

[0069] In the embodiment, as shown in Figure 3 , the auxiliary structure includes an auxiliary frame 510, a rotating shaft 511, a transmission belt 512, an auxiliary member, and a power source 514. The auxiliary frame 510 is fixedly installed on the cross frame 130 and the second vertical frame 150, the rotating shaft 511 is rotatably installed at both ends of the auxiliary frame 510, the transmission belt 512 is tensioned on the two rotating shafts 511, and the output end of the power source 514 is in transmission connection with the rotating shaft 511, so that the power source 514 can drive the transmission belt 512 to rotate through the rotating shaft 511 when the power source 514 is working. The auxiliary member is arranged on the auxiliary frame 510 and is used for assisting in fixing the grafted vegetables.

[0070] In the embodiment, the power source 514 is provided as two, and the two power sources 514 are fixedly installed on the two sides of the auxiliary frame 510 through two motor seats. Taking one side as an example, a third tensioning wheel is fixedly installed on the output shaft of the power source 514, a fourth tensioning wheel is fixedly installed on the side of the auxiliary frame 510 where the rotating shaft 511 penetrates, and the second tensioning belt 513 is tensioned between the third tensioning wheel and the fourth tensioning wheel. Compared with the direct connection between the power source 514 and the rotating shaft 511, the auxiliary structure can reduce the damage to the power source 514 when the auxiliary structure is working.

[0071] In the embodiment, as shown in Figure 4 , the auxiliary member includes a height limiting frame 560, a pushing plate 570, and a clamp 580. The height limiting frame 560 is installed on the auxiliary frame 510, the pushing plate 570 is fixedly installed on the transmission belt, and the clamp 580 is movably installed on the transmission belt and is used for clamping the grafted vegetables.

[0072] In the embodiment, the height limiting frame 560 has a spacing between the height limiting frame 560 and the transmission belt, which is used to cooperate with the pushing plate 570 to keep the transmission belt as flat as possible, so that the pushing plate 570 and the clamp can smoothly pass through the height limiting frame 560. The bottom of the height limiting frame 560 is fixedly provided with two opening blocks, which are located at the ends of the transmission belt and are used to pre-open the clamp 580, so that the clamp 580 can more smoothly clamp the grafted part of the grafted vegetable.

[0073] In the embodiment, the clamp 580 is in a U shape or a V shape as a whole, the end of the U shape or the V shape has a through hole, a fixed rod is fixedly installed on the transmission belt, the clamp 580 is sleeved on the fixed rod through the through hole, and the length of the fixed rod is smaller than the through length of the through hole, so that the clamp 580 can be separated from the transmission belt and the fixed rod when passing through the end of the transmission belt. The clamp 580 can be made of elastic plastic material or aluminum alloy material. The side of the U shape or the V shape close to the end can be further connected with a spring to enhance the clamping force of the clamp. In actual implementation, the fixed rod can be a screw or a screw rod, which is convenient to install.

[0074] In the embodiment, a plurality of clamps 580 are provided, the plurality of clamps 580 are uniformly arranged on the transmission belt and are all sleeved with the fixed rod, that is, one clamp 580 is arranged between the two pushing plates 570. When the clamp 580 moves to the two opening blocks along with the transmission belt, the arms of the clamp 580 can be folded by the two opening blocks, so that the clamp 580 is pre-opened towards one end of the vegetable, which is beneficial to clamp the grafted part of the grafted vegetable by the clamp 580. In actual situation, the clamp 580 can also be a long-tail clamp or a triangular clamp, which can also be selected according to actual situation.

[0075] In some embodiments, as shown in Figure 2 The cutting mechanism 300 includes a fifth telescopic piece 320, a mounting seat 330 and a cutting knife 350. The fifth telescopic piece 320 is fixedly installed on the first vertical frame 140 through the telescopic seat 310, the mounting seat 330 is fixedly installed on the output end of the fifth telescopic piece 320, and the cutting knife 350 is locked on the mounting seat 330 through bolts, which is used for oblique cutting of the vegetable to be grafted.

[0076] In the embodiment, the fifth telescopic piece 320 can be a pneumatic cylinder, a hydraulic cylinder or an electric telescopic rod, and a suitable device with telescopic function can also be selected according to actual situation. The driving source 614, the power source 514, the first motor and the second motor are all step motors, and other motors such as servo motors can also be provided.

[0077] In the embodiment, the cutter holder 340 is fixedly installed on the mounting seat 330 through a nut, and the cutting knife 350 is fixedly installed on the cutter holder 340, so that the cutting knife 350 is convenient to install and adjust. In the embodiment, the sliding cutting angle a (the angle between the cutting speed and the normal line of the blade) of the cutting knife 350 is set to 30°, so that the bevel cutting is formed, and the grafted tomato seedling can be attached to the stock.

[0078] In the embodiment, the stock is placed on the first flexible clamping jaw 420 and the second flexible clamping jaw 440, and the upper end and the lower end of the stock are clamped by the first flexible clamping jaw 420 and the second flexible clamping jaw 440; the tomato seedling is placed on the third flexible clamping jaw 530 and the fourth flexible clamping jaw 550, and the upper end and the lower end of the tomato seedling are clamped by the third flexible clamping jaw 530 and the fourth flexible clamping jaw 550;

[0079] The fifth telescopic member 320 starts to work and drives the cutting knife 350 to extend, so that the middle part of the stock is bevel cut. At this time, the first telescopic member 410 starts to extend, so that the upper part of the stock cut off is separated, and when the stock cut off is located at the second conveying assembly 620, the first flexible clamping jaw 420 is loosened, so that the upper part of the stock cut off falls on the second conveying assembly 620, and the first telescopic member 410 is reset;

[0080] The third telescopic member 520 starts to work and drives the third flexible clamping jaw 530 to extend, and at the same time, the fourth telescopic member 540 starts to work and drives the fourth flexible clamping jaw 550 to extend. The fifth telescopic member 320 continues to work and drives the cutting knife 350 to continue to extend, so that the tomato seedling is bevel cut, and the fifth telescopic member 320 is reset. The third telescopic member 520 continues to extend and drives the lower part of the tomato seedling cut off to separate, so that when the lower part of the tomato seedling cut off is located at the second conveying assembly 620, the third flexible clamping jaw 530 is loosened, and the lower part of the tomato seedling cut off falls on the second conveying assembly 620;

[0081] The second telescopic part 430 and the fourth telescopic part 540 continue to work, so that the lower part of the stock and the upper part of the tomato seedling are attached, and after being attached, the stock and the tomato seedling after being attached are close to the end of the transmission belt. In this process, the transmission belt moves, and the two arms of the clamp 580 are driven by the two opening blocks to pre-open the clamp 580 towards the end of the vegetable grafting, and the clamp 580 can be pre-opened by the two opening blocks. After being pre-opened, the clamp 580 is moved along with the continuous movement of the transmission belt, so that the opening of the clamp 580 is in contact with the grafting part of the grafted vegetable, and is clamped. With the continuous movement of the transmission belt, the clamp 580 is separated from the fixed rod and clamped at the grafting part, at the same time, the clamp 580 is reset, the second telescopic part 430 and the fourth telescopic part 540 continue to work, and the vegetable after being grafted and with the clamp 580 is moved to the first conveying assembly 610. The clamping jaw is loosened, so that the vegetable after being grafted and with the clamp 580 falls on the first conveying assembly 610 and is conveyed to the next step. The above steps are repeatedly repeated to complete the repeated grafting.

[0082] The vegetable grafting robot provided by the application is described in detail above. The description of the specific embodiments is only used to help understand the method of the application and its core idea. It should be pointed out that for ordinary skilled persons in the art, without departing from the principles of the application, some improvements and modifications can be made to the application, and these improvements and modifications also fall within the protection scope of the claims of the utility model.

[0083] It should be pointed out that in the specification, "one embodiment", "embodiment", "some optional embodiments", "exemplary embodiment", "some embodiments" and the like mean that the described embodiments can include a specific feature, structure or property, but not necessarily every embodiment includes the specific feature, structure or property. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or property is described in combination with an embodiment, it is within the knowledge of those skilled in the art to realize such feature, structure or property in combination with other embodiments described explicitly or implicitly.

[0084] The above embodiments are only used to illustrate the technical solutions of the utility model and not to limit. Although the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the utility model can be modified or replaced equivalently without departing from the purpose and scope of the technical solutions of the utility model, which should be covered in the claim scope of the utility model. The technical, shape and structure parts not described in detail in the utility model are well-known technologies.

Claims

1. A vegetable grafting robot, characterized by: The utility model relates to a grafting machine, including frame (100), cutting mechanism (300) and grafting mechanism, cutting mechanism (300) is assembled in one side of frame (100) is used for cutting to stock and vegetable, grafting mechanism includes conveying assembly (600) and clamping assembly, clamping assembly is installed in both sides of frame (100) is used for clamping to vegetable, conveying assembly (600) is installed on frame (100) and is located between clamping assembly is used for conveying after grafting vegetable.

2. The vegetable grafting robot according to claim 1, characterized by: Conveying assembly (600) includes first conveying assembly (610) and second conveying assembly (620), first conveying assembly (610) and second conveying assembly (620) are installed side by side on frame (100), first conveying assembly (610) and second conveying assembly (620) all with clamping assembly correspond, are used for collecting cutting, grafting after vegetable.

3. The vegetable grafting robot according to claim 2, characterized by: First conveying assembly (610) includes conveying frame (611), transmission shaft (612), drive source (614) and conveying belt (613), conveying frame (611) is fixedly installed on frame (100), two transmission shafts (612) are rotatably installed at both ends of conveying frame (611) respectively, conveying belt (613) is tensioned on two transmission shafts (612), and the output shaft of drive source (614) is in transmission connection with transmission shaft (612).

4. The vegetable grafting robot according to claim 1 or 3, characterized by: Clamping assembly includes first clamping structure (400), second clamping structure (500) and auxiliary structure, first clamping structure (400) is installed in one side of frame (100), second clamping structure (500) is installed in the other side of frame (100), and auxiliary structure is installed on frame (100) and is located at second clamping structure (500).

5. The vegetable grafting robot according to claim 4, characterized by: First clamping structure (400) includes first telescopic part (410), first flexible clamping jaw (420), second telescopic part (430) and second flexible clamping jaw (440), first telescopic part (410) is installed on frame (100), first flexible clamping jaw (420) is installed at the output end of first telescopic part (410), second telescopic part (430) is installed on frame (100) and is located at the lower part of first telescopic part (410), and second flexible clamping jaw (440) is installed at the output end of second telescopic part (430).

6. The vegetable grafting robot according to claim 4, characterized by: Second clamping structure (500) includes third telescopic part (520), third flexible clamping jaw (530), fourth telescopic part (540) and fourth flexible clamping jaw (550), third telescopic part (520) is installed on frame (100), third flexible clamping jaw (530) is installed at the output end of third telescopic part (520), fourth telescopic part (540) is installed on frame (100) and is located at the lower part of third telescopic part (520), and fourth flexible clamping jaw (550) is installed at the output end of fourth telescopic part (540).

7. The vegetable grafting robot according to claim 4, characterized by: The auxiliary structure comprises an auxiliary frame (510), rotating shafts (511), a conveying belt (512), an auxiliary member and a power source (514), the auxiliary frame (510) is fixedly installed on the rack (100), the rotating shafts (511) are rotatably installed at two ends of the auxiliary frame (510), the conveying belt (512) is tensioned on the two rotating shafts (511), the output end of the power source (514) is in transmission connection with the rotating shafts (511), and the auxiliary member is arranged on the auxiliary frame (510) and used for assisting in fixing the grafted vegetables.

8. The vegetable grafting robot according to claim 7, characterized by: The auxiliary member comprises a height limiting frame (560), a pushing plate (570) and a clamp (580), the height limiting frame (560) is installed on the auxiliary frame (510), the pushing plate (570) is fixedly installed on the conveying belt, and the clamp (580) is movably installed on the conveying belt and used for clamping the grafted vegetables.

9. The vegetable grafting robot according to claim 1, characterized by: The cutting mechanism (300) comprises a fifth telescopic member (320), a mounting seat (330) and a cutting knife (350), the fifth telescopic member (320) is installed on the rack (100), the mounting seat (330) is fixedly installed at the output end of the fifth telescopic member (320), and the cutting knife (350) is installed on the mounting seat (330) and used for obliquely cutting the vegetables to be grafted.

10. The vegetable grafting robot according to claim 1, characterized by: The vegetable grafting robot further comprises a PLC control system (200), and the PLC control system (200) is electrically connected with the cutting mechanism (300) and the grafting mechanism.

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