CN107047073B - Multi-plant synchronous vegetable seedling grafting device - Google Patents
Multi-plant synchronous vegetable seedling grafting device Download PDFInfo
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- CN107047073B CN107047073B CN201710178266.9A CN201710178266A CN107047073B CN 107047073 B CN107047073 B CN 107047073B CN 201710178266 A CN201710178266 A CN 201710178266A CN 107047073 B CN107047073 B CN 107047073B
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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
Abstract
The invention relates to a multi-plant synchronous vegetable seedling grafting device, which comprises a stock source mechanism, a scion clamping mechanism, a stock clamping mechanism, a cutting mechanism, an upper clamping mechanism and a translation mechanism, wherein the translation mechanism is used for driving the scion clamping mechanism and the stock clamping mechanism to move; the scion clamping mechanism arranged on the translation mechanism is used for clamping scion on the scion source mechanism, the stock clamping mechanism arranged on the translation mechanism is used for clamping a stock on the stock source mechanism, the scion clamping mechanism is located above the stock clamping mechanism, the cutting mechanism is used for cutting the scion and the stock which are attached together in parallel, and the grafting clamp used for fixing the scion and the stock is arranged on the upper clamping mechanism. The invention can obviously improve the grafting speed and survival rate of grafted seedlings and improve the grafting efficiency, and belongs to the technical field of vegetable seedling grafting.
Description
Technical Field
The invention relates to the technical field of vegetable seedling grafting, in particular to a multi-plant synchronous vegetable seedling grafting device.
Background
The technique of joining a branch or a bud of a plant to an appropriate part of another plant to combine them into a new plant is called grafting. The grafted part of the grafted plant is called a scion, the part bearing the scion is called a stock, the stock forms the root of the lower part, and the scion forms the upper part. The vegetable seedling grafting and seedling raising can effectively prevent and control soil-borne diseases, effectively improve the stress resistance and yield of the grafted seedlings, enhance the growth vigor of the seedlings and improve the utilization rate of water and fertilizer. In order to promote the popularization of the grafting technology, solve the defects of manual grafting operation and meet the demand of continuously and rapidly increasing grafted seedlings, a vegetable seedling grafting machine which is high in operation speed, stable in operation quality and low in price is urgently needed. At present, a grafting machine developed by using a grafting method becomes a mainstream direction for improving the cost performance of the grafting machine, and in the existing grafting machine adopting the grafting method, scions and stocks are not cut at the same station, so that the cut wounds are exposed in the air for a long time, and the survival rate of grafted seedlings is influenced; in addition, because the scion and the stock are cultivated in different forms (such as growth bending and the like), the scion and the stock are separated from each other at cutting stations, seedlings need to be righted during cutting, and the seedlings need to be righted again during attaching, so that the position of a cut is changed, the attachment of a wound section is inaccurate, and the grafting success rate and the survival rate of the grafted seedlings are influenced.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the utility model provides a synchronous vegetable seedling grafting device of many plants, can show the grafting speed that improves the grafting, the survival rate of grafting, promotion grafting efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-plant synchronous vegetable seedling grafting device comprises a stock source mechanism, a scion clamping mechanism, a stock clamping mechanism, a cutting mechanism, an upper clamping mechanism and a translation mechanism for driving the scion clamping mechanism and the stock clamping mechanism to move; the scion clamping mechanism arranged on the translation mechanism is used for clamping scion on the scion source mechanism, the stock clamping mechanism arranged on the translation mechanism is used for clamping a stock on the stock source mechanism, the scion clamping mechanism is located above the stock clamping mechanism, the cutting mechanism is used for cutting the scion and the stock which are attached together in parallel, and the grafting clamp used for fixing the scion and the stock is arranged on the upper clamping mechanism.
Further, the method comprises the following steps: the grafting device also comprises a frame; the translation mechanism comprises a support frame, a first double-rod cylinder, a second double-rod cylinder and a vertically moving guide rod cylinder, wherein the first double-rod cylinder and the second double-rod cylinder are both of a horizontal linear motion output type; the stroke of the first double-rod cylinder is larger than that of the second double-rod cylinder, the cylinder body of the first double-rod cylinder is fixed on the rack, the push plate of the first double-rod cylinder and the push plate of the second double-rod cylinder are fixed, the cylinder body of the second double-rod cylinder is fixed on the cylinder body of the guide rod cylinder, the support frame is fixed on the push plate of the guide rod cylinder, and the scion clamping mechanism and the stock clamping mechanism are arranged on the support frame. The push plate of the first double-rod cylinder moves left and right to drive the second double-rod cylinder to move left and right integrally, so that the guide rod cylinder is driven to move left and right, and the support frame can be driven to move up and down by the guide rod cylinder push plate moving up and down.
Further, the method comprises the following steps: the translation mechanism further comprises a first linear guide rail and a first connecting block, the track of the first linear guide rail is fixed on the rack, the sliding block of the first linear guide rail is fixed on the first connecting block, and the cylinder body of the guide rod cylinder and the cylinder body of the second double-rod cylinder are both fixed with the first connecting block. The first linear guide rail can bear most of load, and meanwhile, the first linear guide rail also has an accurate guiding effect, so that the linear movement of the second double-rod cylinder push plate is consistent with that of the first linear guide rail.
Further, the method comprises the following steps: the scion clamping mechanism comprises a second connecting block, a third connecting block and scion clamping fingers, and the first sliding table cylinder, the second sliding table cylinder and the third double-rod cylinder are all of a horizontal linear motion output type; the stroke of the first sliding table cylinder is larger than that of the second sliding table cylinder, the cylinder body of the first sliding table cylinder is fixed on the support frame of the translation mechanism, the sliding table of the first sliding table cylinder is fixed on the second connecting block, the cylinder body of the second sliding table cylinder is fixed on the second connecting block, the sliding table of the second sliding table cylinder is fixed on the third connecting block, the cylinder body of the third double-rod cylinder is fixed on the third connecting block, the third double-rod cylinder is used for controlling the opening and closing of the scion clamping fingers, the scion clamping fingers are fixed on the third connecting block, and the scion clamping fingers in the closed state form a clamping hole for clamping scions. The first sliding table cylinder can drive the second sliding table cylinder to move integrally, the third double-rod cylinder and the scion clamp fingers to move left and right, and the third double-rod cylinder can control the opening and closing of the scion clamp fingers.
Further, the method comprises the following steps: the stock clamping mechanism comprises a base body, a pen-shaped air cylinder and a stock clamping finger arranged on the base body; the stock clamping fingers in the closed state form an open type clamping groove for clamping the stock; the pen-shaped cylinder is provided with a stock push plate for pushing the stock to the clamping groove.
Further, the method comprises the following steps: the stock clamp finger comprises a first pneumatic clamp finger and a stock clamp, the first pneumatic clamp finger is a Y-shaped pneumatic clamp finger, the stock clamp is arranged on a finger of the first pneumatic clamp finger, the stock clamp comprises a rod-shaped body and a clamping body, the clamping body is arranged at the end part of the rod-shaped body, and when the first pneumatic clamp finger is in a closed state, the clamping body forms a clamping groove; the stock push plate is provided with an open slot, and the rod-shaped body passes through the open slot on the stock push plate. The range of stock centre gripping is made bigger by the stock clamp, and the stock push pedal can push the stock to the centre gripping groove simultaneously.
Further, the method comprises the following steps: the grafting device further comprises a seedling supporting mechanism, the seedling supporting mechanism comprises a second pneumatic clamping finger and a fourth double-rod cylinder used for pushing the second pneumatic clamping finger to move horizontally, the second pneumatic clamping finger is a Y-shaped pneumatic clamping finger, seedling supporting claws are mounted on two fingers of the second pneumatic clamping finger, each seedling supporting claw is provided with an upper claw used for clamping a scion and a lower claw used for clamping a stock, and the upper claw and the lower claw form a U-shaped groove used for avoiding positions. Can better clamp the scion and the rootstock.
Further, the method comprises the following steps: the grafting device also comprises an auxiliary attaching mechanism, wherein the auxiliary attaching mechanism comprises a fixing plate, a vacuum generator, a shaping pipe connected with the vacuum generator, and a hose arranged on the shaping pipe; the fixed plate is installed on first pneumatic clamp indicates, is equipped with V type suction nozzle on the hose, and the setting pipe is installed on the fixed plate. The cut upper part of the stock and the cut lower part of the scion can be sucked away, meanwhile, the stock and the scion can be well attached, namely after the cutting work is completed, the negative pressure enables the upper part of the stock to deviate from a certain position, friction between cuts is avoided when the scion is in butt joint with the cut of the stock, when the scion reaches the butt joint position, the negative pressure is closed, the upper part of the stock is reset, and the scion and the cut of the stock are in butt joint smoothly.
Further, the method comprises the following steps: the cutting mechanism comprises a cutter seat, an angle shaft rotatably mounted on the cutter seat, a cutter plate fixed on the angle shaft, a blade fixed on the cutter plate and a cotter pin for fixing the angle shaft; the side surface of the circumference of the angle shaft is provided with a plurality of pin holes which form angles with each other, the cutter holder is provided with a plurality of pin holes which form angles with each other, the pin holes on the cutter holder are matched with the pin holes on the angle shaft, and the split pins are inserted into the pin holes of the cutter holder and the pin holes of the angle shaft. Stock and scion can be cut off by one cut, and simultaneously, the pin holes on the cutter seat and the pin holes on the angle shaft are mutually combined, so that the scion and the stock can be cut at different angles to adapt to the actual requirements of different grafted seedling production enterprises.
Further, the method comprises the following steps: the scion clamping mechanism further comprises a seedling ejecting block fixed on the third connecting block, the seedling ejecting block penetrating through the scion clamping fingers is used for ejecting the scions and the stocks, and the seedling ejecting block is provided with a position avoiding groove. The seedling ejecting block can be used for ejecting the scion and the stock, the clamping holes and the seedling ejecting block limit the freedom degree of the scion and the stock in the left and right directions together, and the spacing groove in the seedling ejecting block can allow the blade to penetrate through.
Further, the method comprises the following steps: the upper clamping mechanism comprises a third pneumatic clamping finger for clamping the grafting clamp and a fifth double-rod cylinder for pushing the third pneumatic clamping finger to move in parallel, the third pneumatic clamping finger is installed on the fifth double-rod cylinder, and the grafting positions of the scion and the stock are adapted to the height of the grafting clamp.
In summary, the present invention has the following advantages:
the automatic scion clamping and grafting device adopts the scion clamping mechanism, the stock clamping mechanism and the seedling support mechanism, automatically clamps and grafts in a translation mode, and compared with a rotary table mode or a multi-degree-of-freedom manipulator mode, the grafting accuracy in the translation mode is greatly improved, and the processing and manufacturing cost is reduced. The stock clamp and the scion are arranged at the same station, the stock and the scion are simultaneously gathered together by the same seedling support mechanism, the stock clamp and the scion can be well adapted to different forms (such as growth bending and the like) of the scion and stock cultivation, the stock and the scion are simultaneously cut, the stock and the scion cutting surface can be positioned at a determined position when in butt joint, the work of judging the direction by machine vision is omitted, the cost is greatly reduced, the cutting surface can be more accurately in butt joint and attached, the cut surface wound of the stock and the scion stops in the air to be short, the wound is not easily infected, and the survival rate of grafted seedlings are improved. Therefore, the vegetable grafting speed, the survival rate of grafted seedlings and the survival rate can be obviously improved, and the cost of the grafting device is relatively greatly reduced.
Meanwhile, the invention uses a production line type grafting mode, adopts the synchronous grafting of a plurality of plants, cuts the stock and the scion at the same time and grafts the stock and the scion at the same station, shortens the time of exposing the cut wound in the air, obviously improves the grafting success rate and the survival rate of the grafted seedling, obviously improves the grafting efficiency and reduces the cost of the grafting machine.
Drawings
Fig. 1 is a front view of the present invention.
FIG. 2 is a schematic view of the translation mechanism and the first direction of each mechanism in the support frame.
FIG. 3 is a second schematic view of the translation mechanism and various mechanisms within the support frame.
Fig. 4 is an exploded view of the translation mechanism in a first orientation.
Fig. 5 is an exploded view of the translation mechanism in a second orientation.
Fig. 6 is a front view of the first dual rod cylinder, the second dual rod cylinder, and the first linear guide.
Fig. 7 is a structural schematic diagram of the scion clamping mechanism in the first direction.
Fig. 8 is a structural schematic diagram of the scion clamping mechanism in the second direction.
Fig. 9 is an exploded view of the scion gripping mechanism.
Fig. 10 is a schematic structural diagram of the first direction of the stock clamping mechanism and the auxiliary attaching mechanism.
Fig. 11 is a structural schematic diagram of the second direction of the stock clamping mechanism and the auxiliary attaching mechanism.
Fig. 12 is a schematic structural diagram of the stock clamping mechanism, the seedling support mechanism and the auxiliary fitting mechanism.
Fig. 13 is a front view of the scion gripping mechanism, the stock gripping mechanism, the seedling raising mechanism, and the auxiliary attaching mechanism.
Fig. 14 is a perspective view of the scion clamping mechanism, the stock clamping mechanism, the seedling raising mechanism and the auxiliary attaching mechanism.
FIG. 15 is a schematic view of an auxiliary attaching mechanism.
Fig. 16 is a schematic view of the structure of the cutting mechanism.
Fig. 17 is a schematic view of the structure of the elastic fixing clip.
Wherein, 1 is a translation mechanism, 2 is a scion clamping mechanism, 3 is a stock clamping mechanism, 4 is a seedling raising mechanism, 5 is an auxiliary laminating mechanism, 6 is a stock source mechanism, 7 is a scion source mechanism, 8 is a cutting mechanism, 9 is an upper clamping mechanism, 10 is a scion, 11 is a stock, 12 is an elastic fixing clamp, 1-1 is a frame plate, 1-2 is a push plate of a first double-rod cylinder, 1-3 is a cylinder body of the first double-rod cylinder, 1-4 is a cylinder body of a second double-rod cylinder, 1-5 is a push plate of the second double-rod cylinder, 1-6 is a push plate connecting plate, 1-7 is a track of the first linear guide rail, 1-8 is a slide block of the first linear guide rail, 1-9 is a first connecting block, 1-10 is a cylinder body of a guide rod cylinder, 1-11 is a push plate of a guide rod cylinder, 1-12 is a supporting frame, 2-1 is a cylinder body of a first sliding table cylinder, 2-2 is a sliding table of the first sliding table cylinder, 2-3 is a horizontal part of a second connecting block, 2-4 is a vertical part of the second connecting block, 2-5 is a cylinder body of the second sliding table cylinder, 2-6 is a sliding table of the second sliding table cylinder, 2-7 is a third connecting block, 2-8 is a cylinder body of a third double-rod cylinder, 2-9 is a push plate of the third double-rod cylinder, 2-10 is a mechanical clamp, 2-11 is a push rod of the mechanical clamp, 2-12 is a mechanical finger, 2-13 is a seedling-ejecting block, 2-14 is a position-avoiding groove of the seedling-ejecting block, 3-1 is a pen-shaped cylinder, 3-2 is a push plate of a stock, 3-3 is a seat body, 3-4 is a first pneumatic clamping finger, 3-5 is a rod-shaped body of a wood stock clamp, 3-6 is a clamping body of a stock clamp, 4-1 is a base, 4-2 is a push plate of a fourth double-rod cylinder, 4-3 is a cylinder body of the fourth double-rod cylinder, 4-4 is a second pneumatic clamping finger, 4-5 is a finger of the second pneumatic clamping finger, 4-6 is an upper claw of a seedling-supporting claw, 4-7 is a lower claw of the seedling-supporting claw, 4-8 is a track of a second linear guide rail, 4-9 is a slide block of the second linear guide rail, 5-1 is a fixed plate, 5-2 is a shaping pipe, 5-3 is a hose, 5-4 is a V-shaped suction nozzle, 5-5 is a vacuum generator, 8-1 is a cutter seat, 8-2 is an angle shaft, 8-3 is a cutter plate, 8-4 is a cutter blade, 8-5 is a pin hole, 9-1 is a fifth double-rod cylinder, 9-2 is a third pneumatic clamping finger, 12-1 is a wing body, 12-2 is a clamp body, and 12-3 is a clamping opening groove on the clamp body.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
For convenience of description, the orientations described below are defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
Referring to fig. 1, 2 and 3, a multi-plant synchronous vegetable seedling grafting device comprises a stock source mechanism, a scion clamping mechanism, a stock clamping mechanism, a cutting mechanism, an upper clamping mechanism and a translation mechanism for driving the scion clamping mechanism and the stock clamping mechanism to move; according to the invention, the scion source mechanism is arranged on the right side of the stock source mechanism, the cutting mechanism is arranged on the left side of the stock source mechanism, the translation mechanism is arranged on the right upper side of the stock source mechanism and is positioned above the scion source mechanism, the translation mechanism can move along the horizontal direction and the vertical direction, the upper clamping mechanism is arranged on the left side of the stock source mechanism, and the upper clamping mechanism is positioned above the cutting mechanism. The scion clamping mechanism arranged on the translation mechanism is used for clamping scion on the scion source mechanism, the stock clamping mechanism arranged on the translation mechanism is used for clamping a stock on the stock source mechanism, the scion clamping mechanism is located above the stock clamping mechanism, the cutting mechanism is used for cutting the scion and the stock which are attached together in parallel, and the grafting clamp used for fixing the scion and the stock is arranged on the upper clamping mechanism. The scion source mechanism is used for providing scions, the scion clamping mechanism clamps the scions on the scion source mechanism firstly and keeps a clamping state, and the scion source mechanism belongs to the prior art and adopts various suitable scion source mechanisms according to actual conditions. The stock source mechanism is used for providing stocks, the stock clamping mechanism clamps the stocks, the stock source mechanism belongs to the prior art, and various suitable stock source mechanisms are adopted according to actual conditions; the stock source mechanism used by the invention is a chain conveying mechanism, and the stocks are carried on the chain conveying mechanism. When the cutting mechanism cuts the rootstock and the scion, the scion clamped by the scion clamping mechanism and the rootstock clamped by the rootstock clamping mechanism are attached together in parallel, then the cutting mechanism cuts the rootstock and the scion, and then the grafting clamp on the upper clamping mechanism clamps the grafting position of the rootstock and the scion. The scion clamping mechanism, the stock clamping mechanism and the seedling raising mechanism form a grafting unit, and a plurality of grafting units are arranged in parallel in the support frame.
As shown in fig. 4, 5 and 6, the double-rod cylinder includes a cylinder body and a push plate, pressure energy of gas is converted into mechanical energy in the transmission of the double-rod cylinder, so that the cylinder body and the push plate can be integrally fixed relatively, and the double-rod cylinder can also push out the push plate by using the piston, so that the cylinder body and the push plate can move linearly relatively. The guide rod cylinder also comprises a cylinder body and a push plate, so that the cylinder body and the push plate can be integrally and relatively fixed, and the cylinder body and the push plate can also relatively move linearly. The grafting device further comprises a rack, the translation mechanism comprises a support frame, a first double-rod cylinder and a second double-rod cylinder which are of a horizontal linear motion output type, a guide rod cylinder of a vertical motion, the horizontal linear motion output type is that the relative linear motion between the cylinder body of the double-rod cylinder and the push plate of the double-rod cylinder is in the horizontal direction, and the relative linear motion between the cylinder body of the guide rod cylinder and the push plate of the guide rod cylinder is in the vertical direction. The stroke of the first double-rod cylinder is larger than that of the second double-rod cylinder, the cylinder body of the first double-rod cylinder is fixed on the rack, the push plate of the first double-rod cylinder and the push plate of the second double-rod cylinder are fixed mutually, the push plate of the first double-rod cylinder and the push plate of the second double-rod cylinder can be fixed on the same plate (the plate is called as a push plate connecting plate), the cylinder body of the second double-rod cylinder is fixed on the cylinder body of the guide rod cylinder, the support frame is fixed on the push plate of the guide rod cylinder, and the scion clamping mechanism and the rootstock clamping mechanism. The push plate of the first double-rod cylinder moves left and right to drive the second double-rod cylinder to move left and right integrally, so that the guide rod cylinder is driven to move left and right, and the support frame can be driven to move up and down by the guide rod cylinder push plate moving up and down.
As shown in fig. 4, 5, and 6, the translation mechanism further includes a first linear guide rail and a first connecting block, the first linear guide rail is disposed on an upper end surface of the first connecting block, a rail of the first linear guide rail is fixed on the frame, the rail of the first linear guide rail and a cylinder body of the first dual-rod cylinder may be fixed on the same plate (the plate is referred to as a frame plate), the frame plate is fixed on the frame, a slider of the first linear guide rail is fixed on the first connecting block, a cylinder body of the guide rod cylinder and a cylinder body of the second dual-rod cylinder are both fixed to the first connecting block, a cylinder body of the guide rod cylinder and a cylinder body of the second dual-rod cylinder are both fixed on a lower end surface of the first connecting block, and a cylinder body of the second dual-rod cylinder is also fixed to the cylinder body of. Generally speaking, the bearing capacity of two pole cylinders is relatively weak, the unable guide arm cylinder that bears of second two pole cylinders, the weight of each mechanism in support frame and the support frame, because upper end (track) and the frame of first linear guide are fixed, lower extreme (slider) and the first connecting block of first linear guide are fixed mutually, first linear guide can bear most load, and simultaneously, first linear guide still has accurate guide effect for the rectilinear movement of second two pole cylinder push pedal keeps unanimous with first linear guide.
As shown in fig. 7, 8 and 9, the support frame can be made into a frame structure, and the scion clamping mechanism comprises a second connecting block, a third connecting block and scion clamping fingers, wherein the first sliding table cylinder, the second sliding table cylinder and the third double-rod cylinder are all of horizontal linear motion output type; the second connecting block is L type structure, and the second connecting block has horizontal part and vertical part, and the third connecting block is the flat structure. The stroke of the first sliding table cylinder is larger than that of the second sliding table cylinder, the cylinder body of the first sliding table cylinder is fixed at the upper end in the support frame, the sliding table of the first sliding table cylinder is fixed on the horizontal part of the second connecting block, the second sliding table cylinder is located on the left side of the first sliding table cylinder, the cylinder body of the second sliding table cylinder is fixed on the vertical part of the second connecting block, the sliding table of the second sliding table cylinder is fixed on the third connecting block, the third connecting block is located below the second connecting block, the second connecting block and the third connecting block can move relatively, the cylinder body of the third double-rod cylinder is fixed at the lower end of the third connecting block, the third double-rod cylinder is used for controlling the opening and closing of the scion clamping fingers, the scion clamping fingers are fixed at the lower end of the third connecting block, the scion clamping fingers are located on the left side of the third double-rod cylinder, and the scion clamping fingers. The scion clamping finger is a mechanical clamp, the mechanical clamp belongs to the prior art, the mechanical clamp is provided with a push rod and two mechanical fingers, the two mechanical fingers are connected by a spring, when a push plate of a third double-rod cylinder pushes and presses the push rod of the mechanical clamp, the two mechanical fingers are in an open state, and when the push plate of the third double-rod cylinder is separated from the push rod of the mechanical clamp, the two mechanical fingers are in a closed state; after the two mechanical fingers are in a closed state, the two mechanical fingers form a clamping hole, the clamping hole can be made into a cylindrical hole, and the mechanical fingers have certain flexibility to avoid damaging the scion. The third double-rod cylinder and the mechanical clamp can be replaced by a pneumatic clamping finger, and when the pneumatic clamping finger is in a closed state, a clamping hole is formed. The left end of third connecting block is equipped with a seedling piece, pushes up the space that the seedling piece down passed two mechanical fingers from last, pushes up the seedling piece and is located the centre gripping hole right, and two mechanical fingers after the closure are hollow, and after the scion was cliied to the mechanical finger, the scion probably topples over towards all directions, and the seedling piece is used for injecing the scion, prevents that the scion from toppling over to the direction of pushing up the seedling piece. Meanwhile, the seedling ejecting block is provided with a position avoiding groove, and when the cutting mechanism cuts the scion and the stock, the position avoiding groove can prevent a blade of the cutting mechanism from colliding with the seedling ejecting block.
Referring to fig. 10 and 11, the stock clamping mechanism includes a base, a pen-shaped cylinder, and a stock clamping finger mounted on the base; the stock clamping fingers in the closed state form an open type clamping groove for clamping the stock; the pen-shaped cylinder is provided with a stock push plate for pushing the stock to the clamping groove. The stock push plate is made of beryllium copper reeds with good elasticity, and plays a role in flexibly gathering seedlings and clamping.
As shown in fig. 10 and 11, the stock clamping finger includes a first pneumatic clamping finger and a stock clamp, the first pneumatic clamping finger is a Y-shaped pneumatic clamping finger, the first pneumatic clamping finger is located below the scion clamping finger, the first pneumatic clamping finger is installed at the lower end of the support frame, the stock clamp is installed on the finger of the first pneumatic clamping finger, the stock clamp includes a rod-shaped body and a clamping body, the clamping body is arranged at the left end of the rod-shaped body, and when the first pneumatic clamping finger is in a closed state, the clamping body forms a semi-cylindrical clamping groove; the stock push plate is provided with an open slot, and the rod-shaped body passes through the open slot on the stock push plate.
Referring to fig. 10, 11 and 15, the grafting device further comprises an auxiliary attaching mechanism, wherein the auxiliary attaching mechanism comprises a fixing plate, a vacuum generator, a shaping pipe connected with the vacuum generator, and a hose arranged on the shaping pipe; the hose is the silica gel hose, is equipped with V type suction nozzle on the hose, and the sizing pipe is installed on the fixed plate, and the stock is aimed at to V type suction nozzle. After the stock and the scion are cut by the cutting mechanism, the cut upper part of the stock and the cut lower part of the scion are possibly adhered to the vicinity of a grafting part, and at the moment, the upper part of the stock and the lower part of the scion can be sucked away by negative pressure generated on the hose, so that the upper part of the stock and the lower part of the scion fall on the ground. During cutting, the stock and the scion are attached together, and because the cuts of the scion and the stock are coplanar, if the scion is directly attached to the stock, the cuts of the scion and the cuts of the stock can generate friction, the upper part of the stock can be sucked away by using the suction nozzle on the hose, and then after the scion is in place, the suction nozzle of the hose does not generate negative pressure, so that the upper part of the stock returns to the original position, and the stock and the scion are attached well.
Referring to fig. 12, 13 and 14, the grafting device further includes a seedling support mechanism, the seedling support mechanism includes a second pneumatic clamping finger and a fourth double-rod cylinder for pushing the second pneumatic clamping finger to move horizontally, a base is installed at the lower portion of the support frame, a push plate of the fourth double-rod cylinder is fixed on the base, the second pneumatic clamping finger is fixed on a cylinder body of the fourth double-rod cylinder, the fourth double-rod cylinder and the second pneumatic clamping finger are both located below the third double-rod cylinder and above the first pneumatic clamping finger, the second pneumatic clamping finger is a Y-shaped pneumatic clamping finger, seedling support claws are installed on two fingers of the second pneumatic clamping finger, each seedling support claw is provided with an upper claw for supporting a scion and a lower claw for supporting a stock, and the upper claw and the lower claw form a U-shaped groove for avoiding positions. The scion clamp fingers clamp a certain position of the scion, the upper claw of the seedling support claw clamps the other position of the scion, the upper part and the lower part of the seedling support claw clamp the scion better, and the scion is not easy to topple on the principle that two points determine a straight line. Similarly, the lower claw of the seedling support claw clamps a certain position of the stock, the second pneumatic clamp finger clamps another position of the stock, and the stock is not easy to topple. Second linear guide is still installed to the lower part in the support frame, the lower part in the support frame is fixed to second linear guide's track, the cylinder body of fourth double-rod cylinder is fixed on second linear guide's slider, second linear guide's effect and first linear guide's effect are unanimous, the holistic weight of fourth double-rod cylinder is difficult to support to the push pedal of fourth double-rod cylinder, can lead to fourth double-rod cylinder luffing motion, second linear guide can support the weight of fourth double-rod cylinder, and simultaneously, second linear guide also plays the effect of accurate direction, make fourth double-rod cylinder keep accurate linear motion.
As shown in fig. 16, the cutting mechanism includes a cutter base, an angle shaft rotatably mounted on the cutter base, the angle shaft being rotatable relative to the cutter base, a cutter plate fixed to the angle shaft, a cutter blade fixed to the cutter plate, and a cotter pin for fixing the angle shaft; the circumference side of angle axle is equipped with a plurality of pinholes of each other becoming the angle, also is equipped with a plurality of pinholes of each other becoming the angle on the cutter seat, and pinhole and the epaxial pinhole of angle on the cutter seat suit, and the cotter pin inserts the pinhole of cutter seat and the pinhole of angle axle, and the cotter pin inserts the pinhole on the cutter seat earlier promptly, then inserts the epaxial pinhole of angle again to fix the angle axle, the angle axle can not rotate relative to the cutter seat. The plurality of pin holes can form different cutting angles, and the scions and the stocks can be cut at different angles so as to meet the production requirements of different grafted seedlings. A cutting driving mechanism can also be arranged, and the cutting driving mechanism can drive the cutting mechanism to move along the horizontal direction and the vertical direction, so that the blade can move along the horizontal direction and the vertical direction. The upper clamping mechanism comprises a third pneumatic clamping finger for clamping the grafting clamp and a fifth double-rod cylinder for pushing the third pneumatic clamping finger to move in parallel, the third pneumatic clamping finger is installed on the fifth double-rod cylinder, and the grafting positions of the scion and the stock are adapted to the height of the grafting clamp. After the stock and the scion are cut, the fifth double-rod cylinder pushes the third pneumatic clamping finger, and after the grafting clamp reaches the grafting position, the third pneumatic clamping finger loosens the grafting clamp, so that the stock and the scion are clamped by the grafting clamp.
As shown in fig. 17, the grafting clip of the present invention is an integrated elastic fixing clip, which comprises a clip body and two wing bodies, wherein the two wing bodies are arranged on the circumferential side surface of the clip body, and the cylindrical clip body is provided with a clipping opening groove. The clamp body is in an incomplete cylinder shape just by looking at the end face of the elastic fixing clamp, a notch is arranged on the clamp body and is called a clamp opening groove, and the clamp opening groove penetrates from one end face of the elastic fixing clamp to the other end face of the elastic fixing clamp. The wing bodies are cylindrical, and the two wing bodies are arranged in a splayed shape. The grafting position of the stock and the scion in grafting passes through the clamping opening groove of the elastic fixing clamp, and then the two wing bodies are loosened, so that the grafting position of the stock and the scion is clamped by the clamping bodies. The height of the elastic fixing clip is the height of the cylindrical clip body.
The working principle of the grafting device is introduced as follows:
as shown in fig. 1, after the last rootstock and the scion are grafted, the whole grafting device is in an initial state, and at this time, the next rootstock and the scion are grafted:
the scion clamping finger moves to the position for clamping the scion and clamps the scion: the push plate of the first double-rod cylinder moves rightwards for a stroke (the push plate is in a maximum extending state), the stroke refers to the maximum distance for the push plate of the first double-rod cylinder to move rightwards from a retracting state, the push plate of the first double-rod cylinder drives the second double-rod cylinder to move rightwards integrally, the guide rod cylinder and the support frame are further driven to move rightwards, and at the moment, the left end of the scion clamping finger is located on the right side above the scion source mechanism. Then the push plate of the guide rod cylinder pushes the support frame to move downwards for a stroke (the push plate is in the maximum extending state), and at the moment, the left end of the scion clamping finger is positioned on the right side of the scion source mechanism. Then the cylinder body of the second double-rod cylinder pushes the support frame to move leftwards integrally by a stroke (the push plate is in the maximum extending state), at the moment, the left end of the scion clamping finger is still positioned on the right side of the scion source mechanism, but the scion clamping finger is closer to the scion source mechanism. Then the sliding table of the first sliding table cylinder moves leftwards by a stroke, so that the second sliding table cylinder is pushed to integrally move leftwards by a stroke through the second connecting block, the second sliding table cylinder drives the third double-rod cylinder and the scion clamp finger to move leftwards by the same stroke through the third connecting block, in the process, a push plate of the third double-rod cylinder always pushes and presses a push rod of the mechanical clamp, and the two mechanical fingers are in an open state; after the sliding table of the first sliding table cylinder moves leftwards by a stroke, the push plate of the third double-rod cylinder is separated from the push rod of the mechanical fixture, and then the two mechanical fingers are in a closed state, so that the scion is just clamped.
After clamping the scion, the scion clamping fingers move back to the upper part of the stock, and the stock clamping fingers clamp the stock: after the scion source mechanism clamps scions, the cylinder body of the second double-rod cylinder drives the guide rod cylinder and the support frame to move rightwards by a stroke (the push plate is in the maximum retraction amount state), and at the moment, the left end of the scion clamping finger is positioned on the right side of the scion source mechanism; then the push pedal of the guide rod cylinder drives the support frame to move upwards for a stroke (the push pedal is in the maximum state of retraction amount), then the first double-rod cylinder drives the second double-rod cylinder to move upwards for a stroke (the push pedal is in the maximum state of retraction amount) and the guide rod cylinder moves leftwards, at the moment, the scion clamped by the scion clamp finger is located at the central position of the stock source mechanism, the stock is also arranged at the central position of the stock source mechanism, in practice, the scion and the stock are all sized, and therefore the scion and the stock are parallel and attached together. In the process, the first pneumatic clamping finger is always in an open state, the stock clamp is also in an open state, the stock is in a clamping range of the stock clamp, at the moment, the first pneumatic clamping finger is closed, the stock clamp is immediately closed, the stock is in the stock clamp, then the pen-shaped air cylinder drives the stock push plate to move leftwards, and the stock push plate pushes the stock to a clamping groove of a clamping body of the stock clamp. In practice, the rootstock may not be located at the center of the rootstock source mechanism, and may deviate to some extent, and some rootstocks may also incline to some directions, therefore, after the first dual-rod cylinder drives the scion picked up by the gripper to return to the center of the rootstock source, the cylinder body of the second dual-rod cylinder drives the guide rod cylinder and the support frame to move a stroke to the left (the push plate is in the maximum state of extension), the rootstock is necessarily located within the gripping range of the rootstock gripper, then the rootstock is gripped by the rootstock gripper at this time, after the rootstock gripper grips the rootstock, the cylinder body of the second dual-rod cylinder drives the guide rod cylinder and the support frame to move a stroke to the right (the push plate is in the maximum state of retraction), and then the scion and the rootstock both return to the.
The seedling support mechanism supports the scion and the stock: the scion clamp fingers only clamp a certain position of the scion, so that the scion can incline, the stock clamp also clamps a certain position of the stock, and the stock can incline; after the scion clamping fingers clamp scions and the stock clamping fingers clamp stocks, the cylinder body of the fourth double-rod cylinder pushes the second pneumatic clamping fingers to move leftwards, then the second pneumatic clamping fingers are in a closed state, the upper claws of the seedling supporting claws clamp the scions, and the lower claws of the seedling supporting claws clamp the stocks. Thus, the scion and the rootstock are not easy to incline.
Cutting scions and rootstocks: after the scion and the stock are clamped, the blade of the cutting mechanism is used for cutting the scion and the stock at a certain angle, and the blade cannot touch the top seedling block and the seedling holding claw because the position avoiding groove is formed in the top seedling block and the U-shaped groove is formed in the seedling holding claw.
Sucking away possibly remaining scions and rootstocks: after cutting the scion and the rootstock, generally, the cut upper part and the cut lower part of the rootstock naturally fall off, but the cut upper part and the cut lower part of the rootstock may be stuck to the vicinity of the scion and the rootstock. In view of the situation, the vacuum generator generates negative pressure, so that negative pressure is generated in the shaping pipe and the hose, and the V-shaped suction nozzle generating the negative pressure can suck away the cut upper part of the rootstock and the lower part of the scion.
The cut scions are attached to the stocks: after cutting, the attached scion and rootstock do not attach the cut together. Because the incision of scion and stock is the coplanar, if directly laminating the scion to the stock, the incision of scion and the incision of stock can produce the friction, therefore, vacuum generator produces the negative pressure once more, V type suction nozzle produces the negative pressure once more, then the upper portion of stock can deviate certain position, at this moment, the slip table of second slip table cylinder slides left, second slip table cylinder drives the scion clamp finger through the third connecting block and removes left, be about to the scion removes left, after the scion removed to the right place, vacuum generator did not produce the negative pressure, then the upper portion of stock returns original position, the incision of stock and the incision of scion are laminated together betterly this moment. After the scion is attached to the rootstock, the fifth double-rod cylinder pushes the third pneumatic clamping finger to move rightwards, and then the elastic fixing clamp is used for clamping the scion and the rootstock, so that grafting of the scion and the rootstock is completed.
The grafting of one scion and the stock is completed through the steps, and then the grafting of the next scion and the stock is completed.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. The utility model provides a synchronous vegetable seedling grafting device of many plants which characterized in that: the device comprises a stock source mechanism, a scion clamping mechanism, a stock clamping mechanism, a cutting mechanism, an upper clamping mechanism and a translation mechanism for driving the scion clamping mechanism and the stock clamping mechanism to move; the scion clamping mechanism is arranged on the translation mechanism and used for clamping scions on the scion source mechanism, the stock clamping mechanism is arranged on the translation mechanism and used for clamping stocks on the stock source mechanism, the scion clamping mechanism is positioned above the stock clamping mechanism, the cutting mechanism is used for cutting the scions and the stocks which are attached together in parallel, and the grafting clamp for fixing the scions and the stocks is arranged on the upper clamping mechanism;
the grafting device also comprises a frame; the translation mechanism comprises a support frame, a first double-rod cylinder, a second double-rod cylinder and a vertically moving guide rod cylinder, wherein the first double-rod cylinder and the second double-rod cylinder are both of a horizontal linear motion output type; the stroke of the first double-rod cylinder is larger than that of the second double-rod cylinder, the cylinder body of the first double-rod cylinder is fixed on the rack, the push plate of the first double-rod cylinder and the push plate of the second double-rod cylinder are fixed, the cylinder body of the second double-rod cylinder is fixed on the cylinder body of the guide rod cylinder, the support frame is fixed on the push plate of the guide rod cylinder, and the scion clamping mechanism and the stock clamping mechanism are arranged on the support frame.
2. The device for synchronously grafting the vegetable seedlings with multiple plants as claimed in claim 1, wherein: the translation mechanism further comprises a first linear guide rail and a first connecting block, the track of the first linear guide rail is fixed on the rack, the sliding block of the first linear guide rail is fixed on the first connecting block, and the cylinder body of the guide rod cylinder and the cylinder body of the second double-rod cylinder are both fixed with the first connecting block.
3. The device for synchronously grafting the vegetable seedlings with multiple plants as claimed in claim 1, wherein: the scion clamping mechanism comprises a second connecting block, a third connecting block and scion clamping fingers, and the first sliding table cylinder, the second sliding table cylinder and the third double-rod cylinder are all of a horizontal linear motion output type; the stroke of the first sliding table cylinder is larger than that of the second sliding table cylinder, the cylinder body of the first sliding table cylinder is fixed on the support frame of the translation mechanism, the sliding table of the first sliding table cylinder is fixed on the second connecting block, the cylinder body of the second sliding table cylinder is fixed on the second connecting block, the sliding table of the second sliding table cylinder is fixed on the third connecting block, the cylinder body of the third double-rod cylinder is fixed on the third connecting block, the third double-rod cylinder is used for controlling the opening and closing of the scion clamping fingers, the scion clamping fingers are fixed on the third connecting block, and the scion clamping fingers in the closed state form a clamping hole for clamping scions.
4. The device for synchronously grafting the vegetable seedlings with multiple plants as claimed in claim 1, wherein: the stock clamping mechanism comprises a base body, a pen-shaped air cylinder and a stock clamping finger arranged on the base body; the stock clamping fingers in the closed state form an open type clamping groove for clamping the stock; the pen-shaped cylinder is provided with a stock push plate for pushing the stock to the clamping groove.
5. The device for synchronously grafting the vegetable seedlings with multiple plants as claimed in claim 4, wherein: the stock clamp finger comprises a first pneumatic clamp finger and a stock clamp, the first pneumatic clamp finger is a Y-shaped pneumatic clamp finger, the stock clamp is arranged on a finger of the first pneumatic clamp finger, the stock clamp comprises a rod-shaped body and a clamping body, the clamping body is arranged at the end part of the rod-shaped body, and when the first pneumatic clamp finger is in a closed state, the clamping body forms a clamping groove; the stock push plate is provided with an open slot, and the rod-shaped body passes through the open slot on the stock push plate.
6. The device for synchronously grafting the vegetable seedlings with multiple plants as claimed in claim 1, wherein: the grafting device further comprises a seedling supporting mechanism, the seedling supporting mechanism comprises a second pneumatic clamping finger and a fourth double-rod cylinder used for pushing the second pneumatic clamping finger to move horizontally, the second pneumatic clamping finger is a Y-shaped pneumatic clamping finger, seedling supporting claws are mounted on two fingers of the second pneumatic clamping finger, each seedling supporting claw is provided with an upper claw used for clamping a scion and a lower claw used for clamping a stock, and the upper claw and the lower claw form a U-shaped groove used for avoiding positions.
7. The device for synchronously grafting the vegetable seedlings with multiple plants as claimed in claim 5, wherein: the grafting device also comprises an auxiliary attaching mechanism, wherein the auxiliary attaching mechanism comprises a fixing plate, a vacuum generator, a shaping pipe connected with the vacuum generator, and a hose arranged on the shaping pipe; the fixed plate is installed on first pneumatic clamp indicates, is equipped with V type suction nozzle on the hose, and the setting pipe is installed on the fixed plate.
8. The device for synchronously grafting the vegetable seedlings with multiple plants as claimed in claim 1, wherein: the cutting mechanism comprises a cutter seat, an angle shaft rotatably mounted on the cutter seat, a cutter plate fixed on the angle shaft, a blade fixed on the cutter plate and a cotter pin for fixing the angle shaft; the side surface of the circumference of the angle shaft is provided with a plurality of pin holes which form angles with each other, the cutter holder is provided with a plurality of pin holes which form angles with each other, the pin holes on the cutter holder are matched with the pin holes on the angle shaft, and the split pins are inserted into the pin holes of the cutter holder and the pin holes of the angle shaft.
9. The device for synchronously grafting the vegetable seedlings with multiple plants as claimed in claim 3, wherein: the scion clamping mechanism further comprises a seedling ejecting block fixed on the third connecting block, the seedling ejecting block penetrating through the scion clamping fingers is used for ejecting the scions and the stocks, and the seedling ejecting block is provided with a position avoiding groove.
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| CN113475253B (en) * | 2021-08-19 | 2023-03-28 | 张翠玲 | Grafting device for solanaceous vegetables |
| CN113826496B (en) * | 2021-11-01 | 2023-03-24 | 合肥佳富特机器人科技有限责任公司 | Automatic grafting method and device in vegetable grafting |
| CN114009279B (en) * | 2021-11-03 | 2023-12-26 | 内蒙古石润农业科技有限公司 | Organic vegetable planting method |
| CN117751783A (en) * | 2024-01-19 | 2024-03-26 | 北京市农林科学院智能装备技术研究中心 | Grafting device and grafting method based on UV adhesive |
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