CN104322293B - A kind of circular arc Grafting clip automatically pushes away clamp mechanism and pushes away clamping method - Google Patents
A kind of circular arc Grafting clip automatically pushes away clamp mechanism and pushes away clamping method Download PDFInfo
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- CN104322293B CN104322293B CN201410634833.3A CN201410634833A CN104322293B CN 104322293 B CN104322293 B CN 104322293B CN 201410634833 A CN201410634833 A CN 201410634833A CN 104322293 B CN104322293 B CN 104322293B
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- guide groove
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
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Abstract
The invention provides a kind of circular arc Grafting clip automatically push away clamp mechanism and push away clamping method, including base, it is characterized in that: on described base, be provided with push-rod assembly, one end of described push-rod assembly is provided with the transfer bar mechanism driving push-rod assembly motion, the other end of described push-rod assembly is provided with two slide blocks along described base longitudinal sliding motion, the corner assemblies end thereof contacts of the side of each slide block and transmitting forces, the other end of each described corner assemblies with can contact along the guide groove block of described base longitudinal sliding motion, one end of described guide groove block is provided with final singling assembly, the outside of two described slide blocks is provided with resetting-mechanism one, it is provided with resetting-mechanism two between two described guide groove blocks, between two described slide blocks and two described guide groove blocks are provided with the passage coordinating the turnover of described push-rod assembly.The advantage that the present invention has simple in construction, low cost, it is possible to realize solanaceous vegetable grafting circular arc Grafting clip and automatically push away folder operation.
Description
Technical field
The present invention relates to Grafting clip and push away clamp mechanism field, specifically, relate to a kind of circular arc Grafting clip and automatically push away clamp mechanism and push away clamping method.
Background technology
China's vegetable grafting cultivation the most still handwork; from now on along with the scale of vegetable growing district, the development of industrialization and Peasants' marginalization operation, the raising of mode of production consciousness, also will be deeply developed and popularization and application in China and the world with high-efficiency high-quality, the automatic grafting technology being characterized quick, laborsaving.The manual grafting of present stage vegetables the most far from adapts to the requirement of China's agricultural production, and vegetable grafting is cultivated in the urgent need to realizing mechanization, automation.
For the exploitation sending clamp mechanism, automatically the clipping system that send of the grafting robot of Sheng Yan mechanism of Japan exploitation uses single-revolution disk, the most uniformly place Grafting clip (modes of emplacement of Grafting clip is: one side of something of Grafting clip afterbody is stuck on rotating disk), when one of them Grafting clip is pushed out clamping the nursery stock grafted from pushing away folder position, rotary disk rotates an angle, allows adjacent next Grafting clip be placed exactly in and pushes away the position of folder and wait and be pushed out the next nursery stock of folder.Be achieved in that send clipping system relatively simple for structure automatically, and automaticity is the highest.
Summary of the invention:
The technical problem to be solved in the present invention is to provide a kind of circular arc Grafting clip and automatically pushes away clamp mechanism and push away clamping method, improves grafting success rate, reduces labour intensity.
The present invention uses following technological means to realize goal of the invention:
nullA kind of circular arc Grafting clip pushes away clamp mechanism automatically，Including base，It is characterized in that: on described base, be provided with push-rod assembly，One end of described push-rod assembly is provided with the transfer bar mechanism driving push-rod assembly motion，The other end of described push-rod assembly is provided with two slide blocks along described base longitudinal sliding motion，The corner assemblies end thereof contacts of the side of each slide block and transmitting forces，The other end of each described corner assemblies with can contact along the guide groove block of described base longitudinal sliding motion，One end of described guide groove block is provided with final singling assembly，The outside of two described slide blocks is provided with resetting-mechanism one，It is provided with resetting-mechanism two between two described guide groove blocks，Between two described slide blocks and two described guide groove blocks are provided with the passage coordinating the turnover of described push-rod assembly，Described push-rod assembly includes two ram seat，Described ram seat is each attached on described base，Be provided with in each described ram seat groove with，It is provided with push rod main body between two described grooves one，The front end of described push rod main body is provided with push rod cup，It is provided with groove on described push rod cup，The rear end of described push rod main body is provided with push rod annex，Described resetting-mechanism one includes back-moving spring one and the baffle plate being fixed on described base，Described resetting-mechanism two uses back-moving spring two.
As the further restriction to the technical program, described slide block being provided with slideway and trapezoid block one, described trapezoid block one is located exactly in the dovetail groove one of described base.
As the further restriction to the technical program, described guide groove block includes that groove two and trapezoid block two, described trapezoid block two are located exactly in the dovetail groove two of described base.
As the further restriction to the technical program, described corner assemblies includes turning, and described turning is bolted on described base by fixing and can be rotated along described fixing screw, and the two ends at described turning are respectively arranged with bearing.
As the further restriction to the technical program, described final singling assembly includes twin shaft cylinder one, twin shaft cylinder two, twin shaft cylinder three and the twin shaft cylinder four being arranged on corner bracket, described twin shaft cylinder one connects twin shaft cylinder four, described twin shaft cylinder two connects twin shaft cylinder three, the side of described corner bracket is provided with two final singling grippers, one end of each described final singling gripper connects rubber blanket, being provided with recess on each described rubber blanket, described slideway upper surface, the upper surface of groove are in same level position with the center of rubber blanket in final singling mechanical gripping.
As the further restriction to the technical program, described transfer bar mechanism uses single shaft cylinder, and described single shaft cylinder is fixed on described base by air cylinder support, and described single shaft cylinder push-rod connects described push rod main body.
As the further restriction to the technical program, the lower end of described base is provided with frame.
Compared with prior art, advantages of the present invention and good effect are: the final singling mechanism of the present invention can realize righting positioning action to the nursery stock of required grafting before Grafting clip accommodates nursery stock.The cooperating of push-rod assembly, slide block, guide groove block and final singling assembly is capable of automatically pushing away folder operation, and back-moving spring one and back-moving spring two realize the reset work of slide block and guide groove block.The advantage that the present invention has simple in construction, low cost, it is possible to realize solanaceous vegetable grafting circular arc Grafting clip and automatically push away folder operation, improves grafting success rate, reduces labour intensity, thus adapts to the development of China's batch production graft seedling growth.
Accompanying drawing explanation
Fig. 1 is the general structure schematic diagram of the embodiment of the present invention；
Fig. 2 is the rack construction schematic diagram of the embodiment of the present invention；
Fig. 3 is the base assembly schematic diagram of the embodiment of the present invention；
Fig. 4 is the ram seat structural representation of the embodiment of the present invention；
Fig. 5 is the push-rod assembly structural representation of the embodiment of the present invention；
Fig. 6 is the single shaft cylinder assembly structural representation of the embodiment of the present invention；
Fig. 7 is the slide block structure schematic diagram of the embodiment of the present invention；
Fig. 8 is the guide groove block structure schematic diagram of the embodiment of the present invention；
Fig. 9 is the corner structure schematic diagram of the embodiment of the present invention；
Figure 10 is the final singling modular construction schematic diagram of the embodiment of the present invention；
Figure 11 is the structural representation that the slide block of the embodiment of the present invention, guide groove block and turning coordinate；
Figure 12 is the Grafting clip structural representation corresponding to the embodiment of the present invention.
nullIn figure，1、Base，2、Slide block，3、Turning，4、Guide groove block，5、Passage，6、Ram seat，7、Groove one，8、Push rod main body，9、Push rod cup，10、Groove，11、Push rod annex，12、Slideway，13、Trapezoid block one，14、Dovetail groove one，15、Groove two，16、Trapezoid block two，17、Dovetail groove two，18、Fixing bolt，19、Bearing，20、Final singling assembly，21、Twin shaft cylinder one，22、Twin shaft cylinder two，23、Twin shaft cylinder three，24、Twin shaft cylinder four，25、Corner bracket，26、Final singling gripper，27、Rubber blanket，28、Recess，29、Single shaft cylinder，30、Air cylinder support，31、Frame，32、Back-moving spring one，33、Baffle plate，34、Back-moving spring two,35、Steel wire ring，36、Grafting clip head，37、Grafting clip afterbody.
Detailed description of the invention:
Below in conjunction with embodiment, further illustrate the present invention.
See accompanying drawing, the present invention includes base 1, it is provided with push-rod assembly on described base 1, one end of described push-rod assembly is provided with the transfer bar mechanism driving push-rod assembly motion, the other end of described push-rod assembly is provided with two slide blocks 2 along described base longitudinal sliding motion, the side of each slide block 2 and the corner assemblies end thereof contacts of transmitting forces, the other end of each described corner assemblies with can contact along the guide groove block 4 of described base 1 longitudinal sliding motion, one end of described guide groove block 4 is provided with final singling assembly 20, the outside of two described slide blocks 2 is provided with resetting-mechanism one, it is provided with resetting-mechanism two between two described guide groove blocks 4, the passage 5 coordinating the turnover of described push-rod assembly it is provided with between two described slide blocks 2 and between two described guide groove blocks 4.
Described push-rod assembly includes two ram seat 6, described ram seat 6 is each attached on described base 1, it is provided with groove 1 in each described ram seat 6, it is provided with push rod main body 8 between two described grooves 1, the front end of described push rod main body 8 is provided with push rod cup 9, being provided with groove 10 on described push rod cup 9, the rear end of described push rod main body 8 is provided with push rod annex 11.
Slideway 12 and trapezoid block 1 it is provided with, in described trapezoid block 1 is located exactly at the dovetail groove 1 of described base 1 and can slidably reciprocate along dovetail groove 1 on described slide block 2.
Described guide groove block 4 include groove 2 15 and trapezoid block 2 16, described trapezoid block 2 16 be located exactly at the dovetail groove 2 17 of described base in and can slidably reciprocate along dovetail groove 2 17.
Described corner assemblies includes turning 3, and described turning 3 is fixed on described base 1 by fixing bolt 18 and can rotate along described fixing bolt 18, and the two ends at described turning 3 are respectively arranged with bearing 19.
Described final singling assembly includes twin shaft cylinder 1, twin shaft cylinder 2 22, twin shaft cylinder 3 23 and the twin shaft cylinder 4 24 being arranged on corner bracket, described twin shaft cylinder 1 connects twin shaft cylinder 4 24, described twin shaft cylinder 2 22 connects twin shaft cylinder 3 23, the side of described corner bracket 25 is provided with two final singling grippers 26, one end of each described final singling gripper 26 connects rubber blanket 27, and each described rubber blanket 27 is provided with recess 28.
Described transfer bar mechanism uses single shaft cylinder 29, described single shaft cylinder 29 to be fixed on described base 1 by air cylinder support 30, and described single shaft cylinder 29 push rod connects described push rod annex 11.
The lower end of described base 1 is provided with frame 31.
Described resetting-mechanism one includes back-moving spring 1 and the baffle plate 33 being fixed on described base 1, and described resetting-mechanism two uses back-moving spring 2 34.
Grafting clip includes steel wire ring 35, Grafting clip head 36 and Grafting clip afterbody 37.
The invention also discloses a kind of circular arc Grafting clip and automatically push away clamping method, comprise the steps:
(1) being manually placed horizontally on the slideway 12 of described slide block 2 by circular arc Grafting clip, the steel wire ring 35 of Grafting clip supports in the plane of slideway 12, and the latter half of Grafting clip head 36 falls between two slide blocks 2；
(2) final singling assembly 20 first action, twin shaft cylinder 1 and twin shaft cylinder 2 22 shrink and make two rubber blankets 27 align, twin shaft cylinder 3 23 and twin shaft cylinder 4 24 shrink and make the recess 28 on two rubber blankets 27 dock immediately, complete final singling action, then twin shaft cylinder one, two, three, four resets respectively, and final singling gripper 26 separates；
(3) push-rod assembly travels forward under the promotion of single shaft cylinder 29, groove 10 on push-rod assembly push rod cup 9 promotes the inclined-plane of steel wire ring 35 both sides of push rod main body 8 simultaneously of Grafting clip to interact to promote slide block 2 side-to-side movement with described slide block 2, now the effect sliding block 2 at turning 3 transfers the force to guide groove block 4, make guide groove block 4 contrary with the direction of motion of slide block 2, guide groove block 4 clamps the afterbody of Grafting clip, it is achieved opening of Grafting clip；
(4) Grafting clip continue to move ahead its steel wire ring 35 enter guide groove block groove 15 (require the slideway upper surface of slide block, groove upper surface with the center of rubber blanket operating position in final singling mechanical gripping in same level position) in until arriving is graft position foremost, now Grafting clip is to be in the center superposition of rubber blanket operating position in the center of open configuration and Grafting clip opening and final singling mechanical gripping；
(5) single shaft cylinder 29 band movable slider 2 shrinks, and slide block 2 and guide groove block 4 reset under the effect of back-moving spring 1 and back-moving spring 2 34, and Grafting clip clamps grafting, so far completes once to push away folder action.
Described frame 31 includes 3030 aluminium section bars that 12 root length degree four or four are equal, is tightened up by aluminium section bar 3030 corner fittings and special bolt, overall in rectangular shape.4, its upper end, 3030 corner fittings are connected with base 1 by screw.
Described base 1 is the whole clamp mechanism main carriers that send, and is machined with various circular hole and slotted eye on base 1, for installing the key mechanism sending folder.It is machined with dovetail groove 1 and dovetail groove 2 17 on base 1, respectively has two back-moving springs in dovetail groove one, two for assisting described slide block 2 and guide groove block 4 to move to send folder action；Respectively be provided with a baffle plate 33 at the two ends of dovetail groove 1, this baffle plate 33 is 90 degree of bending baffle plates, and its non-working surface is machined with circular hole, is fastened on the slotted eye of described base 1 by screw, and one 32 pairs of slide blocks 2 of working face spring-assisted reduction realize homing action.
Described ram seat 6 works in pairs for left and right each, it is machined with slotted eye in two ram seat 6, being fastened on the slotted eye of described base 1 by screw, the working surface of ram seat 6 is machined with a groove 1 and can do slide anteroposterior in intended position for carrying and limit push rod main body 8.The position of ram seat 6 can be made the gap between push rod main body 8 and ram seat suitable by the size adjusting of push rod main body 8, it is ensured that push rod main body 8 can in ram seat groove 1 easy slide and will not double swerve.
Push rod main body 8 is the major part of push-rod assembly, and the both wings of push rod main body 8 slide in the slideway 12 of slide block, moves to before and after realizing push rod main body 8 by the interaction on its surface with described slide block 2 surface
The conversion horizontally slipped of slide block 2.Push rod cup 9 is attached to push rod body front end and realizes pushing away the parts of folder effect, at push rod, 9 leave groove 10 foremost, it is possible to Grafting clip is limited in wherein so that pushing away folder action and smoothly completing.Push rod annex 11 is for transmitting the parts of motion between described single shaft cylinder 29 and push rod main body 8, and specifically this push rod annex is i.e. the U-shaped iron block of one piece wide about 15MM, and there is a circular hole its rear end, it is possible to be rigidly connected by the push rod of described single shaft cylinder 29.
Described single shaft cylinder 29 is single-revolution double-acting cylinder, for sending the power source of clamp mechanism, provides power source to drive push rod to seesaw for push rod main body 8.Air cylinder support 30 is for being fixed on described base 1 by cylinder, and specifically this air cylinder support is the L aluminium section bar of a width of 40MM, and its lower end is connected by screw on the slotted eye of base.
Described slide block about 2 each is distributed in pairs, a trapezoid block 1 it is machined with in the bottom of slide block 2, it can slide in the dovetail groove 1 of described base 1 and ensure without departing from base 1, enable whole slide block 2 with push rod main body 8 for power source side-to-side movement on base 1, and described base 1 dovetail grain 1 in back-moving spring 1 effect under reset.In the top half of slide block 2, according to the shape facility of Grafting clip, be designed with special construction with accept Grafting clip and make Grafting clip while travelling forward under the pressure effect of slide block 2 opened with certain angle so that it is can successfully be delivered to the next position.
Described guide groove block about 4 each is distributed in pairs, is machined with a trapezoid block 2 16 in the bottom of guide groove block 4, and it can slide in the dovetail groove 2 17 of described base and ensure without departing from base 1, makes the whole guide groove block 4 can side-to-side movement on base 1.Groove 2 15 it is machined with, it is possible to accept the Grafting clip transmitted by slide block 2 and make its front end open and be sent to graft position on guide groove block 4.
Described turning about 3 each is distributed in pairs, this turning 3 is fixed by screws on the circular hole of described base 1, its two ends are respectively provided with a bearing 19, and turning 3 contacts to realize the transmission of power between slide block 2 and guide groove block 4 with described slide block 2, guide groove block 4 by bearing 19.Effect sliding block 2 at this turning 2 is the most contrary with the direction of motion of guide groove block 4, it is possible to meet the requirement sending folder.
Described final singling assembly 20 includes passive 3030 corner brackets 25, controls the double acting twin shaft cylinder 3 23 of final singling mechanical gripping side-to-side movement, twin shaft cylinder 4 24, the double acting twin shaft cylinder 1 of control final singling mechanical gripping up and down motion, twin shaft cylinder 2 22, final singling gripper 26.Twin shaft cylinder 3 23 and twin shaft cylinder 4 24 are fixed on corner bracket 25, corner bracket 25 is fixed on base 1, the lower end of twin shaft cylinder 2 22 connects final singling mechanical gripping 26, the upper end of twin shaft cylinder 1 also connects final singling mechanical gripping 26, specifically, 3030 corner brackets 25 can will control the twin shaft cylinder 3 23 of final singling mechanical gripping 26 side-to-side movement, twin shaft cylinder 4 24 is fastened on the lower front of described base 1 by screw, control the twin shaft cylinder 1 that final singling mechanical gripping moves up and down, twin shaft cylinder 2 22 is fastened on twin shaft cylinder 3 23 and twin shaft cylinder 4 24 two ends by screw, make twin shaft cylinder 1, twin shaft cylinder 2 22 is at twin shaft cylinder 3 23, side-to-side movement under the drive of twin shaft cylinder 4 24 piston；Left and right two parts of final singling mechanical gripping 26 are fastened on the piston of double acting twin shaft the cylinder 1 and twin shaft cylinder 2 22 controlling the up and down motion of final singling mechanical gripping respectively, the lower end of twin shaft cylinder 2 22 connects final singling mechanical gripping 26 right part, the upper end of twin shaft cylinder 1 connects the left part of final singling mechanical gripping 26, makes final singling mechanical gripping 26 move up and down (concrete structure is as shown in Figure 10) under the drive of double acting twin shaft cylinder 1 and the piston of twin shaft cylinder 2 22.It is semi-cylindrical rubber blanket 27 that end in final singling mechanical gripping is respectively fixed with surface, to prevent from weighing grafting wounded.This final singling assembly 20 can realize righting positioning action to the nursery stock of required grafting before Grafting clip accommodates nursery stock.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, it is not limited to the present invention, although the present invention being described in detail with reference to previous embodiment, for a person skilled in the art, technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature is carried out equivalent.All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (7)
- null1. a circular arc Grafting clip pushes away clamp mechanism automatically，Including base，It is characterized in that: on described base, be provided with push-rod assembly，One end of described push-rod assembly is provided with the transfer bar mechanism driving push-rod assembly motion，The other end of described push-rod assembly is provided with two slide blocks along described base longitudinal sliding motion，The corner assemblies end thereof contacts of the side of each slide block and transmitting forces，The other end of each described corner assemblies with can contact along the guide groove block of described base longitudinal sliding motion，One end of described guide groove block is provided with final singling assembly，The outside of two described slide blocks is provided with resetting-mechanism one，It is provided with resetting-mechanism two between two described guide groove blocks，Between two described slide blocks and two described guide groove blocks are provided with the passage coordinating the turnover of described push-rod assembly，Described push-rod assembly includes two ram seat，Described ram seat is each attached on described base，It is provided with groove in each described ram seat，It is provided with push rod main body between two described grooves，The front end of described push rod main body is provided with push rod cup，It is provided with groove on described push rod cup，The rear end of described push rod main body is provided with push rod annex，Described resetting-mechanism one includes back-moving spring one and the baffle plate being fixed on described base，Described resetting-mechanism two uses back-moving spring two.
- Circular arc Grafting clip the most according to claim 1 pushes away clamp mechanism automatically, it is characterized in that: be provided with slideway and trapezoid block one on described slide block, and described trapezoid block one is located exactly in the dovetail groove one of described base.
- Circular arc Grafting clip the most according to claim 2 pushes away clamp mechanism automatically, it is characterized in that: described guide groove block includes that groove and trapezoid block two, described trapezoid block two are located exactly in the dovetail groove two of described base.
- Circular arc Grafting clip the most according to claim 2 pushes away clamp mechanism automatically, it is characterized in that: described corner assemblies includes turning, described turning is bolted on described base by fixing and can be rotated along described fixing screw, and the two ends at described turning are respectively arranged with bearing.
- Circular arc Grafting clip the most according to claim 4 pushes away clamp mechanism automatically, it is characterized in that: described final singling assembly includes the twin shaft cylinder one being arranged on corner bracket, twin shaft cylinder two, twin shaft cylinder three and twin shaft cylinder four, described twin shaft cylinder one connects twin shaft cylinder four, described twin shaft cylinder two connects twin shaft cylinder three, the side of described corner bracket is provided with two final singling grippers, one end of each described final singling gripper connects rubber blanket, it is provided with recess on each described rubber blanket, described slideway upper surface, the upper surface of groove is in same level position with the center of rubber blanket on final singling gripper.
- 6. automatically push away clamp mechanism according to the circular arc Grafting clip one of claim 1-5 Suo Shu, it is characterized in that: described transfer bar mechanism uses single shaft cylinder, described single shaft cylinder is fixed on described base by air cylinder support, and described single shaft cylinder push-rod connects described push rod main body.
- 7. automatically push away clamp mechanism according to the circular arc Grafting clip one of claim 1-5 Suo Shu, it is characterized in that: the lower end of described base is provided with frame.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410634833.3A CN104322293B (en) | 2014-11-12 | 2014-11-12 | A kind of circular arc Grafting clip automatically pushes away clamp mechanism and pushes away clamping method |
| CN201610036971.0A CN105660196B (en) | 2014-11-12 | 2014-11-12 | A kind of arc-shaped Grafting clip pushes away clamping method automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410634833.3A CN104322293B (en) | 2014-11-12 | 2014-11-12 | A kind of circular arc Grafting clip automatically pushes away clamp mechanism and pushes away clamping method |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610036971.0A Division CN105660196B (en) | 2014-11-12 | 2014-11-12 | A kind of arc-shaped Grafting clip pushes away clamping method automatically |
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| CN104322293A CN104322293A (en) | 2015-02-04 |
| CN104322293B true CN104322293B (en) | 2016-08-24 |
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| CN201410634833.3A Active CN104322293B (en) | 2014-11-12 | 2014-11-12 | A kind of circular arc Grafting clip automatically pushes away clamp mechanism and pushes away clamping method |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105660205B (en) * | 2016-04-23 | 2018-08-21 | 北京工业大学 | A kind of burst-oriented oblique cutting grafting machine |
| CN107667695B (en) * | 2017-11-15 | 2023-12-12 | 张铁中 | Automatic grafting device |
| CN109845505B (en) * | 2019-03-21 | 2024-03-26 | 游图明 | Grafting machine |
| CN117694122B (en) * | 2024-01-17 | 2024-06-11 | 农业农村部南京农业机械化研究所 | Magnetic coupling type grafting clip arranging mechanism |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000217429A (en) * | 1999-01-28 | 2000-08-08 | Iseki & Co Ltd | Rootstock feed/guide unit for grafting machine |
| JP2004350548A (en) * | 2003-05-28 | 2004-12-16 | Yanmar Co Ltd | Grafting apparatus |
| KR100862711B1 (en) * | 2007-04-23 | 2008-10-13 | 대한민국(관리부서:농촌진흥청) | Splice grafting robot for red pepper and tomato |
| CN102165896B (en) * | 2010-12-06 | 2013-06-05 | 北京农业智能装备技术研究中心 | Automatic sorting clip supplier and clip feeder |
| CN102119634B (en) * | 2011-01-21 | 2012-10-10 | 北京农业智能装备技术研究中心 | Grafting machine and grafting method |
| ITRE20120009A1 (en) * | 2012-02-14 | 2013-08-15 | Trea S A S Di Carretti Alfeo E C | AUTOMATIC MACHINE FOR HERBACEOUS GRAFTING OF PLANTS |
| CN203206787U (en) * | 2013-04-27 | 2013-09-25 | 杭州百乡缘农业开发有限公司 | Grafting clamp pushing mechanism for grafting machine |
| CN204231970U (en) * | 2014-11-12 | 2015-04-01 | 聊城大学 | A kind of circular arc Grafting clip pushes away clamp mechanism automatically |
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