Clip supply device

Abstract

The utility model relates to a clamp supplying device, which solves the technical problem of how to improve the automation level of an automatic grafting machine and improve the butt joint accuracy of a scion and a stock, and comprises a positioning plate, a clamp supplying finger cylinder, a first grafting clamp clamping jaw, a clamp fixing finger cylinder, a second grafting clamp clamping jaw, a clamp supplying telescopic cylinder, an automatic shearing mechanism and a support frame, the clamping supply finger air cylinder is connected with a telescopic rod of the clamping supply telescopic air cylinder, the first grafting clamp clamping jaw is connected with two fingers of the clamping supply finger air cylinder, the fixed finger clamping air cylinder is connected with the positioning plate, the second grafting clamp clamping jaw is connected with two fingers of the fixed finger clamping air cylinder, and the second grafting clamp clamping jaw is located below the first grafting clamp clamping jaw. And scissors of the automatic shearing mechanism are positioned below the clamping jaw of the second grafting clamp. The gardening vegetable grafting device is widely applied to the technical field of gardening vegetable grafting.

Description

TECHNICAL FIELD

[0001] The utility model relates to the grafting technology field of horticultural vegetables, and more particularly to a clamping device. BACKGROUND

[0002] Grafting seedling is to graft the scion of one vegetable onto the stock of another vegetable, making them grow together. Compared with self-rooting seedling, grafting seedling not only enhances the ability to resist diseases and pests, but also has the advantages of improving low-temperature tolerance and stress resistance, overcoming continuous cropping obstacles, enhancing nutrient absorption capacity, and improving yield and quality. This is because grafted seedlings usually have more developed root systems, can absorb nutrients more efficiently, and have thick stems and wide leaves with strong photosynthetic capacity, thereby significantly improving plant growth and fruit quality, and effectively dealing with adverse environments such as low temperature and soil degradation.

[0003] Due to the various advantages of grafting seedling, this technology has been widely promoted and applied. The demand for grafted seedlings of solanaceous vegetables is also growing, and currently grafting seedlings are mainly carried out by manual grafting. The manual grafting method has limitations, such as being time-consuming and labor-intensive, low efficiency, and difficult to meet the demand of large-scale batch production. To solve this problem, automatic grafting technology has emerged. Automatic grafting technology is an advanced technology based on grafting agronomic requirements, which uses precision machinery for precise cutting and automatic docking of seedlings. Through automatic grafting, the grafting efficiency can be significantly improved, ensuring the quality consistency and stability of grafted seedlings, and guaranteeing the standardization and high-quality production of vegetable seedlings.

[0004] Current mainstream automatic grafting equipment can be divided into two categories according to the seedling supply method: one is a semi-automatic grafting machine that relies on manual seedling supply, and the other is a full-automatic grafting machine based on whole tray seedling supply. The full-automatic machine type effectively reduces the work intensity through integrated seedling supply system, but its technical implementation highly depends on the standardization of seedling shape, requiring the grafting seedlings to strictly meet the set parameters in terms of stem diameter, shape, and stock emergence position, and to be used with specific standardization tray. These technical constraints not only significantly increase the cost of equipment procurement and matching, but also affect the grafting qualification rate due to individual differences in seedlings, making it difficult for the comprehensive benefits of the equipment to meet the actual needs of large-scale production. In contrast, the semi-automatic grafting machine adopts a flexible seedling supply mechanism, mainly through manual selection to remove morphologically abnormal seedlings such as curved stems. Although it can adapt to individual differences between scions and stocks to some extent, it also causes some qualified seedlings to be discarded or subjected to manual secondary processing, objectively increasing the cost of seedling cultivation. In addition, the semi-automatic grafting machine still has obvious shortcomings in terms of per capita production efficiency, which is also an important factor restricting its popularization and application. In addition, the accuracy of the interface between the scion and the stock needs to be improved.

[0005] Several grafting methods commonly used in eggplant grafting seedling technology include the methods of butt grafting, wedge grafting and flat grafting. Each method has its own advantages and disadvantages, so it is crucial to choose the appropriate grafting method according to the regional characteristics, crop types and production habits. These factors not only increase the difficulty of meeting multiple needs when developing a grafting machine, but also make it difficult for the same type of grafting machine to fully adapt to different production requirements in actual application. SUMMARY

[0006] In order to solve the technical problem of how to improve the automation level of automatic grafting machine and improve the grafting accuracy of scion and stock, the application provides a grafting device for improving the automation level of automatic grafting and improving the grafting accuracy of scion and stock.

[0007] The utility model provides a grafting device for, including positioning board, grafting finger air cylinder, first grafting clamp jaw, clamping fixed finger air cylinder, second grafting clamp jaw, grafting telescopic air cylinder, automatic shearing mechanism and support frame, grafting telescopic air cylinder fixed connection is established in the positioning board, grafting finger air cylinder is connected with the telescopic link of grafting telescopic air cylinder, first grafting clamp jaw is connected with the two fingers of grafting finger air cylinder, clamping fixed finger air cylinder is connected with the positioning board, second grafting clamp jaw is connected with the two fingers of clamping fixed finger air cylinder, second grafting clamp jaw is located below first grafting clamp jaw, automatic shearing mechanism is equipped with scissors, and the scissors are located below second grafting clamp jaw, the positioning board is fixedly connected with the support frame, and the automatic shearing mechanism is fixedly connected with the support frame.

[0008] Preferably, the grafting device further comprises a first guide clamp pulley and a second guide clamp pulley, and the first guide clamp pulley and the second guide clamp pulley are respectively rotatably connected with the positioning plate.

[0009] Preferably, the grafting device further comprises an automatic tongs mechanism and an automatic tongs front extension linear module, and the automatic tongs mechanism is connected with the automatic tongs front extension linear module, and the automatic tongs mechanism is provided with a pair of tongs.

[0010] Preferably, the grafting device further comprises a first Y-axis direction linear module, a second Y-axis direction linear module and a bottom plate, the first Y-axis direction linear module is provided with a first slider and a second slider, and the second Y-axis direction linear module is provided with a first slider; the support frame is connected with the first slider of the first Y-axis direction linear module, a part of the bottom plate is fixedly connected with the second slider of the first Y-axis direction linear module, and another part of the bottom plate is fixedly connected with the first slider of the second Y-axis direction linear module; and the automatic tongs front extension linear module is connected with the bottom plate.

[0011] Preferably, the grafting device further comprises a feeding mechanism, and the feeding mechanism comprises a frame, a tray, an oscillating arm and a material guiding roller, the tray is connected with the frame through a tray support, the oscillating arm is connected with the tray support, and the material guiding roller is connected with the oscillating arm.

[0012] The utility model discloses beneficial effect is: realize grafting clamp automatic, continuous fixed length supply, be favorable to improve the automation level of automatic grafting machine, reduce the labor intensity of artificial intervention, be favorable to promote the grafting operation efficiency and per capita productivity of automatic grafting equipment, satisfy the batch production demand.

[0013] The upper end of the stock stem and the lower end of the scion stem are automatically surrounded and cut, and the automatic buckling is completed.

[0014] It is favorable to improve the butt joint accuracy of the scion and the stock.

[0015] Further features and aspects of the present disclosure will be made clear in the following detailed description of embodiments, with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is the axonometric view of the double-mode adjustable solanaceae fruit and vegetable grafting machine;

[0017] Figure 2 is the structural schematic view of the ear seedling turnover device;

[0018] Figure 3 is the structural schematic view of the end effector and SCARA four-axis mechanical arm connected together;

[0019] Figure 4 is the axonometric view of the end effector;

[0020] Figure 5 is Figure 4 the front view of the end effector shown in the figure;

[0021] Figure 6 is Figure 4 the structural schematic view of the first stage execution unit in the end effector shown in the figure;

[0022] Figure 7 is Figure 4 the structural schematic view of the second stage and third stage execution unit in the end effector shown in the figure;

[0023] Figure 8 is Figure 4 the structural schematic view of the third stage and fourth stage execution unit in the end effector shown in the figure;

[0024] Figure 9 is Figure 4 the structural schematic view of the fourth stage execution unit in the end effector shown in the figure;

[0025] Figure 10 is Figure 9 the structural schematic view of the ear seedling cutting blade installed on the ear seedling cutting blade connecting frame in the structure shown in the figure;

[0026] Figure 11 is a schematic diagram of the structure of the scion cutting blade installed on the scion cutting blade connecting frame for forming a wedge-shaped bevel on the scion stem;

[0027] Figure 12 is a working state diagram of the end effector entering the waiting grafting position after the end effector scion taking is completed;

[0028] Figure 13 is a state diagram of the end effector action allowing the first seedling clamping jaw and the first locking push to translate a certain distance backward with the scion;

[0029] Figure 14 is a schematic diagram of the structure of the hole tray conveyor and the stock plant carrying device;

[0030] Figure 15 is a schematic diagram of the structure of the seedling grabbing mechanism;

[0031] Figure 16 is a schematic diagram of the structure of the stock plant placing mechanism;

[0032] Figure 17 is a working state diagram of the stock plant clamping and carrying;

[0033] Figure 18 is a schematic diagram of the structure of the feeding and clamping device;

[0034] Figure 19 is Figure 18 is a schematic diagram of the structure of the feeding and clamping mechanism in the feeding and clamping device shown in the figure;

[0035] Figure 20 is a state diagram of the automatic pliers mechanism with the pliers located below the scissors in the automatic shearing mechanism;

[0036] Figure 21 is a schematic diagram of the structure of the automatic pliers mechanism installed on the linear module;

[0037] Figure 22 is a schematic diagram of the structure of a cutting blade of a certain shape connected to a cylinder;

[0038] Figure 23 is a schematic diagram of the structure of a cutting blade of another shape connected to a cylinder;

[0039] Figure 24 is a state diagram of the first level execution unit of the end effector clamping and positioning the scion;

[0040] Figure 25 is a schematic diagram of the scion and the stock plant in the state of waiting for grafting;

[0041] Figure 26 is a state diagram of the end effector achieving three-point positioning on the root of the stock plant stem;

[0042] Figure 27 is Figure 26 is a partial structure diagram of the positions of the second seedling clamping jaw, the second locking push block and the third seedling clamping jaw in the structure shown in FIG. 2;

[0043] Figure 28 is a working state diagram when the scion and the stock are butted and clamped upward;

[0044] Figure 29 is Figure 28 is a partial structure diagram of the positions of the first seedling clamping jaw, the second seedling clamping jaw and the third seedling clamping jaw in the structure shown in FIG. 2;

[0045] Figure 30 is Figure 29 is a top view schematic diagram of the grafting clamp in an open state, which surrounds the stem of the cut stock;

[0046] Figure 31 is a schematic diagram of the grafting clamp in an original state, which is not clamped by the forceps;

[0047] Figure 32 is a schematic diagram of the state in which the multiple clamping jaws 803 in the variable-distance module 801 clamp the grafted seedling;

[0048] Figure 33 is a state diagram in which the first-level execution unit of the end effector clamps and positions the scion seedling.

[0049] Explanation of symbols in the figure:

[0050] 100. rack; 200. plug seedling turnover device, 201. rotating platform, 201-1. servo motor, 202. finger cylinder positioning plate, 203. finger cylinder, 204. electromagnetic valve, 205. plug seedling clamping jaw; 300. SCARA four-axis mechanical arm; 400. end effector, 401. upper bearing hanger, 402-1. upper support, 402-2. lower support, 403. fixed rod, 404. lifting cylinder, 405. lifting plate, 406. sliding table cylinder, 406-1. sliding table, 407. linear bearing connecting plate one, 408. first linear bearing, 409. second linear bearing, 410. first locking push block driving cylinder, 411. telescopic block, 412. second upper guide shaft, 413. first upper guide shaft, 414. first locking push block, 415. first seedling gathering clamping jaw driving finger cylinder, 416. first seedling gathering clamping jaw, 417. second seedling gathering clamping jaw driving finger cylinder, 418. sliding platform driving cylinder, 418-1. telescopic rod, 419. sliding platform, 420. first linear bearing seat, 421. sliding platform driving cylinder telescopic rod fixing seat, 422. sliding base plate, 423. second seedling gathering clamping jaw, 423-1. left jaw, 423-1-1. notch, 423-2. right jaw, 423-2-1. notch, 424. third seedling gathering clamping jaw driving finger cylinder, 425. third seedling gathering clamping jaw, 425-1. left jaw, 425-1-1. locking push block accommodating hole, 425-2. right jaw, 425-2-1. locking push block accommodating hole, 426. second locking push block driving cylinder, 427. guide shaft connecting plate, 428. first middle guide shaft, 429. second middle guide shaft, 430. linear bearing connecting plate two, 431. third linear bearing, 432. fourth linear bearing, 433. second locking push block, 433-1. groove, 434. double shaft cylinder, 434-1. telescopic block, 435. first lower guide shaft, 436. second lower guide shaft, 437. third linear bearing seat, 438. fourth linear bearing seat, 439. plug seedling cutting blade connecting frame, 440. plug seedling cutting blade, 441. plug seedling cutting blade, 443. sensor terminal table, 444. integrated valve island; 500. plug tray conveyor; 600. lifting mechanism, 601. first linear module, 602. second linear module, 603. lifting support plate, 700. stock placement mechanism, 701. first fixing seat, 702. second fixing seat, 703. first slide rail assembly, 704. second slide rail assembly, 705. stock support plate, 706. translation driving motor, 707. rack, 708. stock placement box; 800. seedling grabbing mechanism, 801. variable distance module, 801-1. moving block, 802. finger cylinder, 803. clamping jaw; 900. feeding and clamping device, 901. frame, 902. tray, 902-1. grafting clamp raw material, 903. swing arm, 904. material guiding roller, 905. pulley positioning plate, 906.907. First guide clamp pulley; 908. Second guide clamp pulley; 909. Finger clamping cylinder; 910. First grafting clamp jaw; 911. Finger clamping and fixing cylinder; 912. Finger clamping telescopic cylinder; 913. Automatic cutting mechanism; 913-1. Scissors; 914. Automatic clamping mechanism; 914-1. Pliers; 915. Automatic clamping forward extension linear module; 916. First Y-axis linear module; 917. Second... Y-axis linear module, 918. Support frame, 919. Base plate; 1000. Rootstock cutting mechanism, 1001. Base, 1002. Cylinder, 1003. Cutting blade connecting frame, 1004. Cutting blade, 1005. Cutting blade assembly, 1005-1. First blade, 1005-2. Second blade; 1. Scion, 2. Scion, 3. Rootstock seedling tray, 4. Rootstock, 4-1. Cut rootstock stem, 5. Grafting clip. Detailed Implementation

[0051] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] The specific embodiments described below are merely preferred embodiments of this application, and the scope of protection of this application is not limited thereto. Those skilled in the art can make modifications or variations based on the principles, concepts, and spirit of this application, and the resulting technical solutions should all be covered within the scope of protection of this application.

[0053] like Figure 1 As shown, the dual-mode adjustable solanaceous fruit and vegetable grafting machine includes a frame 100, a scion-seedling transfer device 200, a SCARA four-axis robotic arm 300, an end effector 400, a seedling tray conveyor 500, a lifting mechanism 600, a rootstock placement mechanism 700, a seedling gripping mechanism 800, a feeding and clamping device 900, and a rootstock cutting mechanism 1000. The scion-seedling transfer device 200 can transfer scions and seedlings to designated positions. The SCARA four-axis robotic arm 300 is mounted on the frame 100 and can move the end effector 400 to designated positions, such as closer to the scion-seedling transfer device 200 or closer to the rootstock placement mechanism 700. The seedling tray conveyor 500 can transport rootstock seedling trays. The lifting mechanism 600 can raise or lower the seedling gripping mechanism 800. The seedling grasping mechanism 800 can grasp rootstocks from the rootstock seedling tray and also grasp grafted seedlings. The rootstock placement mechanism 700 can be used to place rootstocks. The feeding and clamping device 900 can provide grafting clamps. The rootstock cutting mechanism 1000 can cut the stems of the rootstocks.

[0054] like Figure 2As shown, the earl shoot turnover device 200 includes a rotating platform 201, a finger cylinder positioning plate 202, a finger cylinder 203, and an earl shoot clamping jaw 205. The rotating platform 201 is provided with a rotating part, and the finger cylinder positioning plate 202 is connected with the rotating part of the rotating platform 201. The rotating platform 201 is usually provided with a servo motor 201-1 as a power source, and when the rotating platform 201 works, it can drive the finger cylinder positioning plate 202 to rotate. The finger cylinder positioning plate 202 is located in a horizontal plane, and a plurality of finger cylinders 203 are fixedly installed on the finger cylinder positioning plate 202 (8 finger cylinders 203 are shown in the figure, and the 8 finger cylinders 203 are uniformly distributed in the circumferential direction). The earl shoot clamping jaw 205 is connected with the finger cylinder 203 (two parts of the earl shoot clamping jaw 205 are connected with two fingers of the finger cylinder 203, respectively), and the earl shoot clamping jaw 205 can clamp the earl shoot 1. Eight earl shoot clamping jaws 205 can clamp eight earl shoots, respectively. An electromagnetic valve 204 is installed on the finger cylinder positioning plate 202, and the electromagnetic valve 204 is used for supplying gas to the finger cylinder 203. One electromagnetic valve corresponds to one finger cylinder. When the finger cylinder positioning plate 202 rotates, the eight finger cylinders 203 can be displaced, and when the finger cylinder positioning plate 202 rotates by a certain angle, each finger cylinder 203 and the earl shoot clamping jaw 205 can be displaced by a certain distance.

[0055] The rotating platform 201 is installed on the rack 100.

[0056] As shown in Figure 3 The end effector 400 is connected with the free end of the SCARA four-axis mechanical arm 300, and the upper bearing hanger 401 is connected with the free end of the SCARA four-axis mechanical arm 300.

[0057] As shown in Figures 4-9As shown, the end effector 400 comprises an upper bearing hanger 401, an upper support 402-1, a lower support 402-2, a fixed rod 403, a lifting cylinder 404, a lifting plate 405, a first-stage execution unit, a second-stage execution unit, a third-stage execution unit, and a fourth-stage execution unit. The upper support 402-1 is fixedly connected with the upper bearing hanger 401. The lower support 402-2 is fixedly connected with the upper support 402-1 through a plurality of fixed rods 403. The lifting cylinder 404 is fixedly installed on the upper support 402-1. The lifting plate 405 is connected with the telescopic rod of the lifting cylinder 404. The lifting cylinder 404 can drive the lifting plate 405 to ascend or descend along the vertical direction. The first-stage execution unit comprises a sliding table cylinder 406, a sliding base plate 422, a linear bearing connecting plate one 407, a first linear bearing 408, a second linear bearing 409, a first locking push block driving cylinder 410, a telescopic block 411, a second upper guide shaft 412, a first upper guide shaft 413, a first locking push block 414, a first seedling gathering clamp driving finger cylinder 415, and a first seedling gathering clamp 416. The sliding table 406-1 is provided on the sliding table cylinder 406. The sliding table 406-1 is fixedly connected with the lifting plate 405. The linear bearing connecting plate one 407 is fixedly connected with the sliding base plate 422. The first linear bearing 408 and the second linear bearing 409 are fixedly connected on the linear bearing connecting plate one 407, respectively. The first upper guide shaft 413 passes through the first linear bearing 408 (the first upper guide shaft 413 can slide in the first linear bearing 408). The second upper guide shaft 412 passes through the second linear bearing 409 (the second upper guide shaft 412 can slide in the second linear bearing 409). The sliding base plate 422 is fixedly connected with the cylinder body of the sliding table cylinder 406. The first locking push block driving cylinder 410 is fixedly connected with the sliding base plate 422. The telescopic block 411 is connected with the telescopic rod of the first locking push block driving cylinder 410. The rear end of the first upper guide shaft 413 is fixedly connected with the telescopic block 411. The front end of the first upper guide shaft 413 is fixedly connected with one end of the first locking push block 414. The rear end of the second upper guide shaft 412 is fixedly connected with the telescopic block 411. The front end of the second upper guide shaft 412 is fixedly connected with the other end of the first locking push block 414. The first seedling gathering clamp driving finger cylinder 415 is fixedly connected with the sliding base plate 422. The first seedling gathering clamp 416 is connected with the two fingers of the first seedling gathering clamp driving finger cylinder 415. The two fingers of the first seedling gathering clamp driving finger cylinder 415 are closed to make the first seedling gathering clamp 416 closed. The two fingers of the first seedling gathering clamp driving finger cylinder 415 are opened to make the first seedling gathering clamp 416 opened. When the telescopic rod of the first locking push block driving cylinder 410 extends to drive the telescopic block 411 to move backward, the first locking push block 414 moves backward. When the telescopic rod of the first locking push block driving cylinder 410 retracts, the first locking push block 414 moves forward.When the sliding table cylinder 406 is actuated, the cylinder body of the sliding table cylinder 406 moves forward or backward, the cylinder body of the sliding table cylinder 406 drives the sliding base plate 422 to move forward or backward, the sliding base plate 422 drives the first locking push block driving cylinder 410 and the first seedling clamping jaw driving finger cylinder 415 to move forward or backward, and the first seedling clamping jaw driving finger cylinder 415 drives the first seedling clamping jaw 416 to move forward or backward.

[0058] The second-stage execution unit includes a second seedling clamping jaw driving finger cylinder 417, a sliding platform driving cylinder 418, a sliding platform 419, a first linear bearing seat 420, a second linear bearing seat, a sliding platform driving cylinder telescopic rod fixing seat 421, and a second seedling clamping jaw 423. The sliding platform driving cylinder telescopic rod fixing seat 421 is fixedly connected with the lower support 402-2. The sliding platform driving cylinder 418 is provided with a telescopic rod 418-1, and the telescopic rod 418-1 is fixedly connected with the sliding platform driving cylinder telescopic rod fixing seat 421. The sliding platform 419 is fixedly connected with the cylinder body of the sliding platform driving cylinder 418. The first linear bearing seat 420 and the second linear bearing seat are respectively fixedly connected with the two sides of the sliding platform 419. The second seedling clamping jaw driving finger cylinder 417 is fixedly installed on the sliding platform 419. The second seedling clamping jaw 423 is connected with the two fingers of the second seedling clamping jaw driving finger cylinder 417. The two fingers of the second seedling clamping jaw driving finger cylinder 417 can open or close the second seedling clamping jaw 423. The second middle guide shaft 429 of the third-stage execution unit passes through the first linear bearing seat 420 to slide fit, and the first middle guide shaft 428 passes through the second linear bearing seat to slide fit. The sliding platform driving cylinder 418 can drive the sliding platform 419 to move forward or backward (the first linear bearing seat 420 and the second linear bearing seat slide with the second middle guide shaft 429 and the first middle guide shaft 428 as the reference), the sliding platform 419 drives the second seedling clamping jaw driving finger cylinder 417 to move forward or backward, and then the second seedling clamping jaw 423 moves forward or backward as a whole.

[0059] The third level execution unit includes a third seedling clamping jaw driving finger cylinder 424, a third seedling clamping jaw 425, a second locking push block driving cylinder 426, a guide shaft connecting plate 427, a first middle guide shaft 428, a second middle guide shaft 429, a linear bearing connecting plate two 430, a third linear bearing 431, a fourth linear bearing 432, and a second locking push block 433. The third seedling clamping jaw driving finger cylinder 424 is fixedly connected with the lower support 402-2. The third seedling clamping jaw 425 is connected with two fingers of the third seedling clamping jaw driving finger cylinder 424. The opening and closing of the two fingers of the third seedling clamping jaw driving finger cylinder 424 can make the third seedling clamping jaw 425 open or close. The second locking push block driving cylinder 426 is fixedly connected with the lower support 402-2. The guide shaft connecting plate 427 is fixedly connected with the telescopic rod of the second locking push block driving cylinder 426. The linear bearing connecting plate two 430 is fixedly connected with the lower support 402-2. The third linear bearing 431 and the fourth linear bearing 432 are respectively fixedly connected with the linear bearing connecting plate two 430. The first middle guide shaft 428 passes through the third linear bearing 431 (the first middle guide shaft 428 can slide). The second middle guide shaft 429 passes through the fourth linear bearing 432 (the second middle guide shaft 429 can slide). The rear end of the first middle guide shaft 428 is fixedly connected with one end of the guide shaft connecting plate 427. The front end of the first middle guide shaft 428 is fixedly connected with one end of the second locking push block 433. The rear end of the second middle guide shaft 429 is fixedly connected with the other end of the guide shaft connecting plate 427. The front end of the second middle guide shaft 429 is fixedly connected with the other end of the second locking push block 433. When the telescopic rod of the second locking push block driving cylinder 426 extends, the guide shaft connecting plate 427 moves backward, and the second locking push block 433 moves backward. When the telescopic rod of the second locking push block driving cylinder 426 retracts, the second locking push block 433 moves forward.

[0060] The fourth level execution unit is a seedling cutting mechanism, the seedling cutting mechanism comprises a double-shaft air cylinder 434, a first lower guide shaft 435, a second lower guide shaft 436, a third linear bearing seat 437, a fourth linear bearing seat 438, a seedling cutting blade connecting frame 439, and a seedling cutting blade 440, the double-shaft air cylinder 434 is fixedly installed on the bottom surface of the lower support 402-2, the double-shaft air cylinder 434 is provided with an expansion block 434-1, the third linear bearing seat 437 and the fourth linear bearing seat 438 are fixedly connected to the bottom surface of the lower support 402-2 respectively, the first lower guide shaft 435 passes through the third linear bearing seat 437 (the first lower guide shaft 435 can slide in the third linear bearing seat 437), the second lower guide shaft 436 passes through the fourth linear bearing seat 438 (the second lower guide shaft 436 can slide in the fourth linear bearing seat 438), the seedling cutting blade connecting frame 439 is fixedly connected with the expansion block 434-1, the front end of the first lower guide shaft 435 is fixedly connected with the seedling cutting blade connecting frame 439, the front end of the second lower guide shaft 436 is fixedly connected with the seedling cutting blade connecting frame 439, and the seedling cutting blade 440 is fixedly installed at the front of the seedling cutting blade connecting frame 439; the seedling cutting blade 440 is arranged obliquely. When the double-shaft air cylinder 434 works, the seedling cutting blade connecting frame 439 moves forward or backward.

[0061] As can be seen from the figure, the first seedling clamping jaw 416, the second seedling clamping jaw 423, and the third seedling clamping jaw 425 are arranged in an upper, middle, and lower orientation.

[0062] Participate Figure 8 The third seedling clamping jaw 425 comprises a left jaw 425-1 and a right jaw 425-2, the left jaw 425-1 is provided with a locking push block containing hole 425-1-1, the right jaw 425-2 is provided with a locking push block containing hole 425-2-1, the left part of the second locking push block 433 is located in the locking push block containing hole 425-1-1, and the right part of the second locking push block 433 is located in the locking push block containing hole 425-2-1. The left jaw 425-1 and the right jaw 425-2 are respectively connected with two fingers of the third seedling clamping jaw driving finger air cylinder 424.

[0063] The structure of the first seedling clamping jaw 416 is the same as that of the third seedling clamping jaw 425, the first seedling clamping jaw 416 comprises a left jaw and a right jaw, the left jaw and the right jaw are both provided with a locking push block containing hole, the left part of the first locking push block 414 is located in the locking push block containing hole of the left jaw, and the right part of the first locking push block 414 is located in the locking push block containing hole of the right jaw.

[0064] As Figure 12As shown, the second seedling clamping jaw 423 includes a left jaw 423-1 and a right jaw 423-2, the left jaw 423-1 is provided with a notch 423-1-1, and the right jaw 423-2 is provided with a notch 423-2-1. The front part of the scion cutting blade connecting frame 439 is located in the notch 423-1-1 and the notch 423-2-1.

[0065] As shown in Figure 12 and 8 As shown, the middle part of the second locking push block 433 is provided with a groove 433-1. When the second locking push block 433 abuts against the stem of the stock plant, the stem of the stock plant is embedded in the groove 433-1 and is abutted. It should be noted that the groove 433-1 is a preferred structural design, and the groove 433-1 can also not be provided. The middle part of the second locking push block 433 can have any other shape as long as it can abut against the stem of the stock plant.

[0066] The structure of the first locking push block 414 is the same as that of the second locking push block 433, and the middle part of the first locking push block 414 is provided with a groove. It should be noted that when the first locking push block 414 abuts against the stem of the scion, the stem of the scion is embedded in the groove and is abutted. It should be noted that the groove is a preferred structural design, and the groove can also not be provided. The middle part of the first locking push block 414 can have any other shape as long as it can abut against the stem of the scion.

[0067] Figures 4-10 As shown, the structure of the scion cutting blade 440 can form a bevel on the stem of the scion.

[0068] Figure 11 As shown, the structure of the scion cutting blade 441 installed on the scion cutting blade connecting frame 439 is shown in the structure diagram. The structure of the scion cutting blade 441 can form a wedge-shaped bevel on the stem of the scion.

[0069] As shown in Figure 5 As shown, the sensor terminal table 443 and the integrated valve island 444 can be installed on the upper bearing hanger 401.

[0070] As shown in Figure 14 As shown, the plug tray conveyor 500 is installed on the rack 100.

[0071] As shown in Figure 14As shown, the stock plant carrying device includes a lifting mechanism 600 and a seedling grabbing mechanism 800. The lifting mechanism 600 can lift or lower the seedling grabbing mechanism 800 in the vertical direction. One specific implementation of the lifting mechanism 600 is that it includes a first linear module 601, a second linear module 602, and a lifting support plate 603. The first linear module 601 and the second linear module 602 are arranged side by side in the vertical direction. One end of the lifting support plate 603 is connected to the slider of the first linear module 601, and the other end of the lifting support plate 603 is connected to the slider of the second linear module 602. The seedling grabbing mechanism 800 is installed on the lifting support plate 603. The first linear module 601 and the second linear module 602 are fixedly connected to the rack 100.

[0072] As shown in Figure 15 The seedling grabbing mechanism 800 includes a variable distance module 801, a finger cylinder 802, and a clamping jaw 803. The variable distance module 801 adopts a conventional structure and is provided with a plurality of movable blocks 801-1 with variable distances. A plurality of finger cylinders 802 and a plurality of clamping jaws 803 are provided, one clamping jaw 803 corresponding to one finger cylinder 802. The clamping jaw 803 is connected to the movable block 801-1, and one movable block 801-1 corresponds to one clamping jaw 803. The variable distance module 801 can make the plurality of finger cylinders 802 distributed at a certain distance, i.e., make the plurality of clamping jaws 803 distributed at a certain distance. The structure composed of the finger cylinder 802 and the clamping jaw 803 is one specific implementation of a mechanical hand. The variable distance module 801 is fixedly installed on the lifting support plate 603. The distance between the plurality of clamping jaws 803 is adjustable, which can meet the plurality of stock plants with different distances and meet the stock plant seedling trays with different specifications.

[0073] As shown in Figure 16As shown, the stock placing mechanism 700 comprises a first fixed seat 701, a second fixed seat 702, a first sliding rail assembly 703, a second sliding rail assembly 704, a stock supporting plate 705, a translation driving motor 706, a rack 707, and a stock placing box 708. The first sliding rail assembly 703 is fixedly installed on the first fixed seat 701, the second sliding rail assembly 704 is fixedly installed on the second fixed seat 702, one end of the stock supporting plate 705 is fixedly connected with the sliding block of the first sliding rail assembly 703, the other end of the stock supporting plate 705 is fixedly connected with the sliding block of the second sliding rail assembly 704, a plurality of stock placing boxes 708 are fixedly installed on the stock supporting plate 705, and the plurality of stock placing boxes 708 are distributed at equal intervals. The stock placing box 708 can adopt a profiling structure, and the placing space of the stock placing box 708 matches the root system of the stock. The translation driving motor 706 is fixedly installed on the bottom surface of the end portion of the stock supporting plate 705, the rack 707 is fixedly connected with the second fixed seat 702, a gear is connected with the output shaft of the translation driving motor 706, and the gear is engaged with the rack 707. When the translation driving motor 706 works, the stock supporting plate 705 can be translated under the support of the first sliding rail assembly 703 and the second sliding rail assembly 704. The translation driving motor 706, the rack 707, and the gear are a specific implementation manner of the translation driving mechanism, and those skilled in the art can understand that other specific structures can also be adopted to realize the translation of the stock supporting plate 705.

[0074] With reference to Figure 14 and 17 , the first fixed seat 701 and the second fixed seat 702 are fixedly installed on the rack 100 respectively. The stock placing mechanism 700 is close to the lifting mechanism 600.

[0075] As Figures 18-21As shown, the feeding and clamping device 900 includes a feeding mechanism and a clamping mechanism. The feeding mechanism includes a frame 901, a tray 902, a swing arm 903, and a guide roller 904. The tray 902 is connected to the frame 901 through a support, the swing arm 903 is connected to the support, and the guide roller 904 is connected to the swing arm 903. The grafting clamp raw material 902-1 on the tray 902 is conveyed downward around the guide roller 904. The clamping mechanism includes a pulley positioning plate 905, a first guide pulley 906, a second guide pulley 907, a clamping finger cylinder 908, a first grafting clamp jaw 909, a clamping fixed finger cylinder 910, a second grafting clamp jaw 911, a clamping telescopic cylinder 912, an automatic shearing mechanism 913, an automatic pliers mechanism 914, an automatic pliers front extension linear module 915, a first Y-axis direction linear module 916, a second Y-axis direction linear module 917, a support frame 918, and a bottom plate 919. The first guide pulley 906 and the second guide pulley 907 are respectively rotatably connected to the pulley positioning plate 905. The clamping telescopic cylinder 912 is fixedly installed on the pulley positioning plate 905. The cylinder body of the clamping finger cylinder 908 is connected to the telescopic rod of the clamping telescopic cylinder 912. The first grafting clamp jaw 909 is connected to the two fingers of the clamping finger cylinder 908. The cylinder body of the clamping fixed finger cylinder 910 is fixedly connected to the pulley positioning plate 905. The second grafting clamp jaw 911 is connected to the two fingers of the clamping fixed finger cylinder 910, and is located below the first grafting clamp jaw 909. The automatic shearing mechanism 913 is provided with a scissors 913-1, and the automatic shearing mechanism 913 can generally adopt a pneumatic mode. The automatic pliers mechanism 914 is provided with a pliers 914-1, and the automatic pliers mechanism 914 can adopt a pneumatic mode. The scissors 913-1 is located below the second grafting clamp jaw 911. In the initial state, the pliers 914-1 is located below the scissors 913-1. The automatic pliers mechanism 914 is connected to the sliding block of the automatic pliers front extension linear module 915. The first Y-axis direction linear module 916 is provided with a first sliding block and a second sliding block (the first sliding block is a driving sliding block, and the second sliding block is a driven sliding block). The second Y-axis direction linear module 917 is provided with a first sliding block (which is a driving sliding block). The support frame 918 is fixedly connected to the first sliding block of the first Y-axis direction linear module 916. The automatic shearing mechanism 913 is fixedly installed on the support frame 918. The pulley positioning plate 905 is fixedly connected to the support frame 918. The automatic pliers front extension linear module 915 is fixedly connected to the bottom plate 919. Part of the bottom plate 919 is fixedly connected to the second sliding block of the first Y-axis direction linear module 916, and another part of the bottom plate 919 is fixedly connected to the first sliding block of the second Y-axis direction linear module 917.

[0076] The frame 901 is fixedly connected to the rack 100. The grafting clamp raw material 902-1 sequentially passes around the first guide pulley 906 and the second guide pulley 907.

[0077] As Figure 21 and22 As shown, the stock cutting mechanism 1000 includes a base 1001, a cylinder 1002, a cutting blade connecting frame 1003, and a cutting blade 1004. The cylinder 1002 is fixedly installed on the base 1001, the cutting blade connecting frame 1003 is connected with the telescopic rod of the cylinder 1002, and the cutting blade 1004 is connected with the cutting blade connecting frame 1003. The base 1001 is fixedly connected with the bottom plate 919. The cutting blade 1004 is planar and arranged obliquely.

[0078] The cutting blade 1004 can be replaced to achieve another cutting effect, such as Figure 23 As shown, the cutting blade set 1005 is adopted, which includes a first blade 1005-1 and a second blade 1005-2. The first blade 1005-1 is connected with the cutting blade connecting frame 1003, and the second blade 1005-2 is connected with the cutting blade connecting frame 1003. The first blade 1005-1 is planar and located in a horizontal plane, and the second blade 1005-2 is planar and located in a vertical direction. The second blade 1005-2 is located below the first blade 1005-1. The second blade 1005-2 exceeds the cutting edge of the first blade 1005-1, and the cutting edge of the second blade 1005-2 is in front and the cutting edge of the first blade 1005-1 is in back. When cutting the stock stem, the second blade 1005-2 first performs a vertical splitting action, and then the first blade 1005-1 performs a horizontal cross-cutting, thereby achieving a ladder-type composite cutting effect.

[0079] The working process of the feeding and clamping device 900 is as follows: the feeding and clamping finger cylinder 908 is actuated to close the first grafting clamp clamping jaw 909 to clamp the grafting clamp raw material; the clamping fixed finger cylinder 910 is actuated to open the second grafting clamp clamping jaw 911; the telescopic rod of the feeding and clamping telescopic cylinder 912 extends downward by a certain distance to provide a fixed-length feeding of the next grafting clamp; the above process is repeated to continuously provide a small section of the grafting clamp; the second grafting clamp clamping jaw 911 is closed to clamp the grafting clamp raw material, achieving a double-clamping-jaw cooperative clamping state and ensuring stable positioning of the grafting clamp; the forceps 914-1 located directly below the second grafting clamp clamping jaw 911 is closed to accurately clamp a part of the grafting clamp raw material, and the clamped part of the grafting clamp is opened; the scissors 913-1 performs a shearing action (closed and then opened) to cut off a small section of the grafting clamp raw material, and the forceps 914-1 obtains a grafting clamp of a certain length (which is in an open state under the clamping force of the forceps, as shown in Figure 30The first grafting clamp jaw 909 is opened; next, the retractable rod of the clamp retracting air cylinder 912 is retracted to return the first grafting clamp jaw 909 to the initial position; next, the first grafting clamp jaw 909 is closed; next, the second grafting clamp jaw 911 is opened; next, the retractable rod of the clamp retracting air cylinder 912 is extended downward by a certain distance for the fixed-length supply of the next grafting clamp. Such a cycle can continuously provide a small section of grafting clamp.

[0080] The entire grafting operation process is described below:

[0081] Step S1, the operator manually loads the scion turnover device 200, places the scion 1 at the scion clamp jaw 205, and the scion clamp jaw 205 is closed to clamp the scion 1.

[0082] Step S2, the rotating platform 201 works to rotate the finger air cylinder positioning plate 202 by a certain angle, so that the scion clamp jaw 205 with the scion 1 is transferred to the scion taking station.

[0083] Step S3, the end effector operates the scion 1 located at the scion taking station, as shown in Figure 24 The third scion gathering clamp jaw 425 and the second scion gathering clamp jaw 423 are both in the open state, the first scion gathering clamp jaw driving finger air cylinder 415 is actuated to first close the first scion gathering clamp jaw 416 to gather the stem of the scion 1 (to correct the stem bending in the left and right directions and ensure that the stem is in the vertical direction); next, the retractable rod of the first locking push block driving air cylinder 410 is retracted to move the first locking push block 414 forward, the middle part of the first locking push block 414 abuts against the stem of the scion (the stem of the scion is embedded in the groove in the middle part of the first locking push block 414 to be abutted), to correct the stem bending in the front and back directions and ensure that the stem is in the vertical direction, achieving three-point positioning; next, the fourth-level execution unit is actuated, the double-shaft air cylinder 434 works to move the scion cutting blade connecting frame 439 forward, the scion cutting blade connecting frame 439 moves forward with the scion cutting blade 440, and then the scion cutting blade 440 cuts the upper part of the stem of the scion, cutting off the upper part of the stem of the scion; next, the retractable rod of the lifting air cylinder 404 is retracted to move the first locking push block 414 and the first scion gathering clamp jaw 416 upward by a certain distance; next, the fourth-level execution unit is actuated, the double-shaft air cylinder 434 works to move the scion cutting blade connecting frame 439 backward, and the scion cutting blade 440 moves backward and withdraws. At this time, the first scion gathering clamp jaw 416 and the first locking push block 414 jointly obtain a scion 2, as shown in Figure 3 、 5 , 6. Since the shape of the scion cutting blade 440 is planar and inclined, the lower end surface of the stem of the scion 2 is an inclined surface.

[0084] It should be noted that this method can be used: before the first seedling clamp 416 closes due to the action of the finger cylinder 415 driving the first seedling clamp, the third seedling clamp 425 is in the position as follows: Figure 24 The first claw is in the open position, while the second claw 423 is not in the open position. Figure 24 The position shown is the retracted position when the telescopic rod of the sliding platform drive cylinder 418 is retracted (e.g. Figure 33 As shown), it avoids the obstacle, and then in the following step S4, the telescopic rod of the sliding platform drive cylinder 418 extends, causing the second seedling gripper 423 to extend forward to... Figure 4 The location shown.

[0085] Step S4: The SCARA four-axis robotic arm moves 300 degrees, carrying the end effector. The end effector moves away from the scaffold picking station. (Refer to...) Figure 1 and 3 As the end effector moves away from the scion-picking station, the slide cylinder 406 operates, causing the first seedling gripper 416 and the first locking push 414 to move backward. The first seedling gripper 416 and the first locking push 414 then move the scion 2 backward a certain distance, as... Figure 13 As shown. Furthermore, the SCARA four-axis robotic arm 300 moves the end effector to the grafting station.

[0086] In step S5, the seedling turnover device 200 rotates at a certain angle to transfer the seedling base residue formed after cutting to the waste station. Then, the corresponding finger cylinders open the seedling grippers, and the seedling base residue falls freely into the collection device.

[0087] Step S6: Place the rootstock.

[0088] Step S601, refer to Figure 14 After the operator has completed the positioning and loading of the rootstock seedling tray 3 in advance (the tray specifications include 5, 6 or 7 seedlings / row), the rootstock seedling tray 3 is placed on the tray conveyor 500.

[0089] In step S602, the variable pitch module 801 operates to distribute multiple grippers 803 at equal intervals so that they match the holes in the cavity tray. The initial state of the grippers 803 is the open state.

[0090] In step S603, the first linear module 601 and the second linear module 602 work to lower the lifting support plate 603, which in turn lowers the pitch-changing module 801, which is located in the initial position.

[0091] Step S604, the plug tray conveyor 500 works to move the stock plug tray 3 to be directly below the seedling grabbing mechanism 800, and the stems of a row of stocks in the stock plug tray 3 are located between the two claws of the clamp jaw 803 (the stem of one stock enters between the two claws of one clamp jaw 803, and the stems of multiple stocks enter between the two claws of multiple clamp jaws 803 respectively).

[0092] Step S605, the multiple clamp jaws 803 are closed to clamp the stems of a row of stocks on the plug tray conveyor 500.

[0093] Step S606, the lifting support plate 603 is raised, and the multiple clamp jaws 803 take out a row of stocks from the stock plug tray 3, realizing equidistant grabbing of the whole row of stocks, as shown in Figure 15 .

[0094] Step S607, the variable distance module 801 works to make the distance between the multiple clamp jaws 803 larger, and the multiple clamp jaws 803 are expanded in proportion, realizing that the distance between the multiple stocks matches the distance between the stock placing boxes 708 on the stock supporting plate 705.

[0095] Step S608, the translation driving motor 706 in the stock placing mechanism 700 works to move the stock supporting plate 705 from the initial position to be directly below the variable distance module 801, as shown in Figure 17 . The stock placing box 708 is located directly below the stock 4, and one stock placing box corresponds to one stock.

[0096] Step S609, the clamp jaw 803 is opened, and the stock 4 is freely dropped into the stock placing box 708.

[0097] Step S610, the translation driving motor 706 in the stock placing mechanism 700 works to return the stock supporting plate 705 to the initial position, and at this time, the stock in the stock placing box 708 is located at the grafting waiting station.

[0098] Step S611, the variable distance module 801 returns to the initial position to avoid.

[0099] Step S7, referring to Figure 25 , the end effector starts the cooperative clamping work at the grafting waiting station to stably clamp the stem of the stock.

[0100] The end effector approaches a rootstock on the rootstock tray 705 in the rootstock placement mechanism. The third seedling gripper is driven by the finger cylinder 424, which actuates the third seedling gripper 425 to close, thereby gathering the stem of the rootstock (correcting the stem bending in the left and right directions to ensure the stem is vertical). Next, the second locking push block is driven by the cylinder 426, which actuates the second locking push block 433 to move forward. The middle part of the second locking push block 433 abuts against the stem of the rootstock (the stem of the rootstock is embedded in the groove 433-1 and abutted), completing the correction of the rootstock stem bending in the front and back directions, ensuring the rootstock stem is vertical and achieving three-point positioning. Next, the second seedling gripper 423 closes to gather the upper part of the rootstock stem, achieving rigid constraint on the upper part of the rootstock stem. Figure 26 and 27 As shown, this forms a dual-segment stable clamping system.

[0101] In step S8, the initial position of the cutting blade 1004 is aligned with the upper part of the rootstock stem, while the initial position of the second grafting clamp 911 is directly above the pliers 914-1. The extension rod of the cylinder 1002 extends, causing the cutting blade 1004 to move forward. The cutting blade 1004 cuts the upper part of the rootstock stem (the cutting blade 1004 cuts the stem located in the gap between the upper and lower ends of the second grafting clamp 423), as shown. Figure 27 As shown, a small section of the upper part of the rootstock stem is cut off. Because the cutting blade 1004 is flat and angled, the end face of the upper part of the rootstock stem after cutting is a bevel, forming a cut surface that matches the bevel of the scion cut. Next, the telescopic rod of the cylinder 1002 retracts, and the cutting blade 1004 withdraws. It can be seen that the end effector can stably and reliably position the rootstock stem to cooperate with the cutting blade to achieve rapid and reliable cutting of the rootstock stem.

[0102] In step S9, the second seedling clamp 423 opens; next, the slide cylinder 406 of the end effector operates to move the first seedling clamp 416 and the first locking push 414 forward, which in turn move the scion 2 forward, and the scion 2 is positioned above the cut rootstock; next, the second seedling clamp 423 closes, with the upper end of the second seedling clamp 423 embracing the stem of the scion 2 and the lower end of the second seedling clamp 423 embracing the stem of the cut rootstock.

[0103] In step S10, the first grafting clamp claw 909, the second grafting clamp claw 911, the clamping telescopic cylinder 912, the automatic cutting mechanism 913, and the automatic clamping mechanism 914 are linked together, so that the clamps 914-1 clamp and obtain a small section of the grafting clamp.

[0104] Step Sll, the second Y-axis linear module 917 is actuated to move the base plate 919 by a certain distance, and the base plate 919 moves the automatic clamp mechanism 914 to a position where the clamp 914-1 is aligned with the upper end of the cut stem of the stock.

[0105] Step S12, the automatic clamp linear module 915 is actuated to move the automatic clamp mechanism 914 forward, and the clamp 914-1 moves a section of the grafting clip 5 forward, so that the section of the grafting clip 5 surrounds the upper end of the cut stem of the stock and the lower end of the stem of the scion 2, as shown in Figure 29 and 31 .

[0106] Step S13, the lifting cylinder 404 is actuated to move the first grafting clip jaw 416 and the first locking push 414 downward along the Z-axis direction, so that the lower end surface of the stem of the scion 2 is in contact with the upper end surface of the cut stem of the stock, as shown in Figure 28 and 29 .

[0107] Step S14, the clamp 914-1 is loosened, and the grafting clip 5 is buckled at the joint between the stem of the scion 2 and the cut stem of the stock, completing the grafting task and forming a grafted seedling; then, the automatic clamp linear module 915 is actuated to move the automatic clamp mechanism 914 backward, and the clamp 914-1 is withdrawn.

[0108] Step S15, the first locking push 414 is moved backward to withdraw, the first grafting clip jaw 416 is opened, the second grafting clip jaw 423 is opened, the second locking push block 433 is moved backward to withdraw, and the third grafting clip jaw 425 is opened.

[0109] Step S16, the first Y-axis linear module 916 is actuated to move the support frame 918, and the support frame 918 drives the pulley positioning plate 905, the clip supply telescopic cylinder 912, the clip finger cylinder 908, the clip fixing finger cylinder 910, and the automatic shearing mechanism 913 to move, so that the second grafting clip jaw 911 is located directly above the clamp 914-1. The process of following the clamp 914-1 is realized.

[0110] Step S17, the SCARA four-axis robot arm 300 is actuated to move the end effector to a position close to the scion turnover device 200, preparing to operate the next scion.

[0111] When all the grafted seedlings are placed in the grafting seedling placing boxes 708 on the stock supporting plate 705, the following backfilling operation is performed:

[0112] Step 1), the first linear module 601 and the second linear module 602 work to move the lifting support plate 603, and the lifting support plate 603 moves the variable distance module 801 to a position where the multiple clamping jaws 803 are aligned with the stems of the graft seedlings in the horizontal plane, so that the spacing of the multiple clamping jaws 803 matches the spacing of the multiple graft seedlings, and the clamping jaws 803 are in the open state.

[0113] Step 2), the translation drive motor 706 in the stock placing mechanism 700 works to move the stock support plate 705 to the lower side of the multiple clamping jaws 803 in the variable distance module 801, at which time the stems of the graft seedlings enter between the two jaws of the clamping jaws 803 (specifically, the stem part below the grafting clamp).

[0114] Step 3), the multiple clamping jaws 803 are closed to clamp the graft seedlings, as shown in Figure 32

[0115] Step 4), the lifting support plate 603 is raised by a certain distance, so that the graft seedlings are separated from the stock placing box 708.

[0116] Step 5), the translation drive motor 706 in the stock placing mechanism 700 works to return the stock support plate 705 to the initial position.

[0117] Step 6), the lifting support plate 603 is lowered, and the multiple clamping jaws 803 move downward with the row of graft seedlings. During the lowering of the lifting support plate 603, the variable distance module 801 works to match the spacing of the multiple clamping jaws 803 with the spacing of the empty positions in the stock plug tray 3, until the row of graft seedlings is placed in the empty positions in the stock plug tray 3.

[0118] Step 7), the multiple clamping jaws 803 are opened.

[0119] Step 8), the lifting support plate 603 is raised, and the variable distance module 801 is moved to a position ready for the next row of stock operation in the stock plug tray 3.

[0120] The above grafting operation process realizes the butt grafting method by using the scion cutting blade 440 and the cutting blade 1004. If the scion cutting blade connecting frame 439 is replaced to replace the scion cutting blade 440 with the scion cutting blade 441, as shown in Figure 11 ​As shown, the scion cutting blade 441 comprises two plane blades forming an included angle; and the cutting blade 1004 is replaced by a cutting blade set 1005, the cutting blade set 1005 comprises a first blade 1005-1 and a second blade 1005-2, the second blade 1005-2 exceeds the cutting edge range of the first blade 1005-1, the cutting edge of the second blade 1005-2 is in front, and the cutting edge of the first blade 1005-1 is behind; then the wedge grafting method can be realized (specifically, the second blade 1005-2 first splits the stem in the axial direction, and the first blade 1005-1 then removes a small piece above to form a structure that meets the wedge grafting of the upper end of the stock stem). It can be seen that by replacing different types of scion cutting blades and stock stem cutting blades, the needs of different grafting processes can be effectively met.

[0121] For the scion cutting blade, a complete set of scion cutting blade connecting frame 439 and scion cutting blade 440 can be replaced, thereby realizing the installation and use of different inclined angle scion cutting blades; correspondingly, the inclined angle of the cutting blade 1004 is adjusted for matching.

[0122] Under the driving of the mechanical arm, the end effector as a whole can move in the Z-axis direction, thereby adjusting the position of the first scion clamping jaw 416 and the first locking push 414 in the Z-axis direction. In the scion obtaining process, by adjusting the position of the first scion clamping jaw 416 and the first locking push 414 in the Z-axis direction, the position of the scion positioning is adjusted, and the cutting position of the scion stem is adjusted, so that scions with different stem lengths can be obtained according to different actual needs.

Claims

1. A clamp device, characterized by The grafting device comprises a positioning plate, a clamping finger air cylinder, a first grafting clamp clamping jaw, a clamping fixed finger air cylinder, a second grafting clamp clamping jaw, a clamping telescopic air cylinder, an automatic shearing mechanism and a support frame, the clamping telescopic air cylinder is fixedly connected to the positioning plate, the clamping finger air cylinder is connected to the telescopic rod of the clamping telescopic air cylinder, the first grafting clamp clamping jaw is connected to the two fingers of the clamping finger air cylinder, the clamping fixed finger air cylinder is connected to the positioning plate, the second grafting clamp clamping jaw is connected to the two fingers of the clamping fixed finger air cylinder, and the second grafting clamp clamping jaw is located below the first grafting clamp clamping jaw; the automatic shearing mechanism is provided with a scissors, and the scissors are located below the second grafting clamp clamping jaw; the positioning plate is fixedly connected to the support frame; and the automatic shearing mechanism is fixedly connected to the support frame.

2. The tongs apparatus of claim 1, wherein, The clamping device further comprises a first clamping guide pulley and a second clamping guide pulley, and the first clamping guide pulley and the second clamping guide pulley are respectively rotatably connected to the positioning plate.

3. The tongs apparatus of claim 1, wherein, The clamping device further comprises an automatic pincer mechanism and an automatic pincer front extension linear module, the automatic pincer mechanism is connected to the automatic pincer front extension linear module, and the automatic pincer mechanism is provided with a pincer.

4. The tongs apparatus of claim 3, wherein, The clamping device further comprises a first Y-axis direction linear module, a second Y-axis direction linear module and a bottom plate, the first Y-axis direction linear module is provided with a first slider and a second slider, the second Y-axis direction linear module is provided with a first slider, the support frame is connected to the first slider of the first Y-axis direction linear module, a part of the bottom plate is fixedly connected to the second slider of the first Y-axis direction linear module, and another part of the bottom plate is fixedly connected to the first slider of the second Y-axis direction linear module, and the automatic pincer front extension linear module is connected to the bottom plate.

5. The tongs of claim 1 wherein, The clamping device further comprises a feeding mechanism, the feeding mechanism comprises a frame, a tray, a swing arm and a guide roller, the tray is connected to the frame through a tray support, the swing arm is connected to the tray support, and the guide roller is connected to the swing arm.

Images