CN108781827B - Grafting machine and grafting method - Google Patents
Grafting machine and grafting method Download PDFInfo
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- CN108781827B CN108781827B CN201811059412.7A CN201811059412A CN108781827B CN 108781827 B CN108781827 B CN 108781827B CN 201811059412 A CN201811059412 A CN 201811059412A CN 108781827 B CN108781827 B CN 108781827B
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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
- A01G2/32—Automatic apparatus therefor
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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
- A01G2/35—Cutting; Inserting
Abstract
The invention discloses a grafting machine and a grafting method, wherein the mechanism comprises a clamping and cohesion device, a V-shaped pneumatic cutting and transporting device and a wax sealing treatment device, the clamping and cohesion device is provided with a stock supporting platform, a scion wood supporting platform and a cutting supporting platform, arc-shaped supporting groove plates, U-shaped ejection clamp plates and air cylinders are arranged on the stock supporting platform and the scion wood supporting platform, a blanking hole is formed in the middle of the cutting supporting platform, the arc-shaped supporting groove plates extend towards the blanking hole to form a cutting supporting part, the height of the stock supporting platform or the scion wood supporting platform is adjustable, the V-shaped pneumatic cutting and transporting device is provided with an omega-shaped grafting knife, and the omega-shaped grafting knife is driven to move downwards above the blanking hole to cut. In the cutting process of the mechanism and the method, the cut stocks and scion trees are cohered and fixed, and the cutting parts are supported, so that the cutting waste with high cutting stability can be discharged in time, the cutting surface is smooth and flat, the accurate goodness of fit of grafting is improved, and the grafting survival rate is improved.
Description
Technical Field
The invention relates to a grafting machine for nursery stocks, in particular to a grafting machine and a grafting method.
Background
Grafting is an effective measure for improving the environmental adaptability of crop such as disease resistance, drought resistance and the like and accelerating the breeding of fine varieties. The traditional manual operation mode has the defects of low production efficiency, high labor intensity of workers, low survival rate of grafted nursery stocks, difficulty in realizing industrialized production of seedling culture and the like, and the defects can be effectively avoided by automatic grafting of a machine.
The grape grafting technology is a new technology, the survival rate of automatic grafting and seedling raising by using a machine is high, the production efficiency is high, but the research of the domestic automatic grafting machine starts relatively late, in recent years, the research of automatic grafting equipment for fruit trees is started by individual agricultural universities and scientific research institutes in China, and certain progress is achieved, but the popularization and the application are limited due to a plurality of factors such as low automation degree, complex structure, difficult maintenance and adjustment and the like.
Chinese patent invention No. CN 103053344B, discloses a mechanical system for seedling grafting robot, comprising: the rack assembly is assembled by standard aluminum profiles and is convenient to adjust; the upper seedling moving mechanism and the lower seedling moving mechanism are similar in structure, are assembled at the upper part and the lower part of the rack assembly through bolts, are adjustable in position and are respectively used for clamping and fixing the scion seedlings and the stock seedlings in the processes of conveying, cutting and jointing; the left seedling cutting mechanism and the right seedling cutting mechanism have the same structure, are assembled at the left side and the right side of the rack assembly through bolts, have adjustable positions and are respectively used for cutting omega-shaped corresponding notches of the stock seedlings and the scion seedlings; and the seedling binding mechanism is assembled in the middle front part of the rack component through bolts and is used for binding and fixing the grafted rootstock seedlings and scion seedlings.
It has the following technical problems:
the cutting is completed by the upper seedling moving mechanism and the lower seedling moving mechanism which are respectively matched with the left seedling cutting mechanism and the right seedling cutting mechanism, the ear-wood seedlings are clamped by the upper seedling moving mechanism and moved to the left seedling cutting mechanism in the cutting process, the seedling cutting knife of the left seedling cutting mechanism cuts the tail ends of the ear-wood seedlings into omega-shaped wedge surfaces, the seedlings are positioned between the seedling cutting knife and the rubber gaskets during cutting, and the seedling cutting knife moves horizontally to complete cutting. In the action process, the top end of the seedling is clamped and fixed, but most of the seedling is not well fixed, so that the precision is reduced in the cutting process; in addition, the cutting is completed in the horizontal direction, the seedling cutting knife moves to the rubber gasket on the other side, the cutting surface cannot be timely discharged by waste materials in a strong rolling cutting mode, the cutting surface can be plugged and pressed, so that the cutting surface is not smooth and uneven, even the cutting part is torn, and the survival rate and the growth performance of grafting are influenced.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a grafting machine and a grafting method, in the cutting process of the mechanism and the method, the cut stock and the scion wood are cohered and fixed, and the cutting part is supported, so that the cutting stability is high, the cut waste can be discharged in time, the cutting surface is smooth and flat, the accurate goodness of fit of grafting is improved, and the grafting survival rate is improved.
In order to solve the technical problems, the invention adopts the following technical means:
a grafting machine comprises a grafting and conveying device, a clamping and cohesion device, a V-shaped pneumatic cutting and conveying device and a wax sealing treatment device, wherein the grafting and conveying device is provided with two belt conveyors which are used for conveying stocks and scion wood respectively, the belt conveyors are provided with nylon conveying belts, the nylon conveying belts are provided with straightening clamp plates arranged at intervals, and one ends of the belt conveyors are provided with branch pushing guide rails; the branch pushing guide rail is provided with a pneumatic push rod, the end part of the pneumatic push rod is provided with a push block, and the size of the cross section of the push block corresponds to the interval between the correcting clamping plates; the clamping and cohesion device is provided with a stock supporting platform, a scion wood supporting platform and a cutting supporting platform, the stock supporting platform and the scion wood supporting platform are symmetrically arranged on two sides of the top of the cutting supporting platform, arc-shaped supporting groove plates are arranged on the stock supporting platform and the scion wood supporting platform, and the branch pushing guide rails respectively push the stock and the scion wood to the arc-shaped supporting groove plates on the stock supporting platform and the scion wood supporting platform; the cutting machine comprises an arc-shaped supporting groove plate, U-shaped ejection clamping plates, an ejection mechanism, a stock supporting platform and a scion wood supporting platform, wherein the arc-shaped supporting groove plate is horizontally arranged, the two sides of the arc-shaped supporting groove plate are higher than the middle part and lower than the middle part, the two sides outside the top of the arc-shaped supporting groove plate are symmetrically provided with the U-shaped ejection clamping plates, the openings of the U-shaped ejection clamping plates are oppositely arranged, the back sides of the U-shaped ejection clamping plates are connected with the ejection mechanism, the ejection mechanism drives the U-shaped ejection clamping plates, the middle part of the cutting supporting platform is provided with a blanking hole, the adjacent ends of the arc-shaped supporting groove plates of the stock supporting platform and the scion wood supporting platform extend towards the blanking hole to form a cutting supporting part, the cutting supporting part protrudes out of the U-shaped ejection clamping plates, the height of at least one of the stock supporting platform and the scion wood supporting platform can be adjusted, the heights of the stock supporting platform and the scion wood supporting platform are different in the cutting process, one of the stock supporting platform and the scion wood supporting platform can relatively move towards the other platform after the cutting is finished; the V-shaped pneumatic cutting and conveying device is provided with a V-shaped connecting piece, the bottoms of two ends of the V-shaped connecting piece are respectively connected and fixed with the omega-shaped grafting knife and the clamping manipulator, the V-shaped connecting piece is driven to rotate in the horizontal direction, and the V-shaped connecting piece is driven to move in the vertical direction, so that the cutting of the omega-shaped grafting knife or the pressing and clamping of the clamping manipulator are completed; the clamping manipulator conveys the grafted stocks and scion trees to a grafting conveying device, and the grafted stocks and scion trees are conveyed to a wax sealing treatment device through the grafting conveying device, and the wax sealing treatment device is provided with a wax sealing box.
Compared with the prior art, the outstanding characteristics are that:
(1) Arc supporting groove plates and U-shaped ejection clamping plates are arranged on the stock supporting platform and the scion wood supporting platform respectively, so that the arc supporting groove plates at the bottom and the U-shaped ejection clamping plates at two sides of the upper portion form a clamping cavity, the stock and the scion wood can be clasped and fixed, and the fixation is more stable.
(2) The adjacent one end of arc support groove board all extends to the blanking hole on stock supporting platform, the ear of grain wood supporting platform, extends to blanking hole top and forms the cutting supporting part, and the cutting supporting part is outstanding outside U type ejection splint, and when the cutting, the cutting supporting part can form good support to the cutting position, fixed stability when further improving the cutting improves the accuracy nature of cutting.
(3) Cutting supporting platform middle part is equipped with the blanking hole, stock supporting platform, ear of grain wood supporting platform's arc supporting groove board's adjacent one end all extends to the blanking hole, it forms the cutting supporting part to extend to blanking hole top, the waste material that makes the cutting in-process produce is under the promotion of gravity and omega type grafting-tool, fall into the blanking hole downwards, further reduce cutting in-process waste material can not in time discharge and the cutting face that leads to cause the stopper to press and make the cutting plane unsmooth, the unevenness, even the cutting department takes place to tear the phenomenon, can effectively improve the survival rate of grafting.
(4) The height of at least one platform in the stock supporting platform and the scion wood supporting platform is adjustable, the height of the stock supporting platform and the scion wood supporting platform is different in the cutting process, so that the cut stocks and scion woods are fixed by the clamping and cohesion device, the stocks and the scion woods are completely occluded by moving one platform in the stock supporting platform and the scion wood supporting platform in the vertical direction, the stocks and the scion woods are accurately aligned in the occlusion process, the contusion of a cutting surface is further reduced, and the occlusion speed and the survival rate after grafting are improved.
(5) Through arranging the V-shaped connecting piece, an omega-shaped grafting knife and a clamping manipulator are respectively fixed at two ends of the V-shaped connecting piece, after cutting is completed by the omega-shaped grafting knife, the V-shaped connecting piece is lifted and rotated, the clamping manipulator is rotated to the position above the cutting position of the stock and the scion wood, the clamping manipulator moves downwards, and the stock and the scion wood are grabbed after the meshed joint points of the stock and the scion wood which are grafted are pressed; and the clamping manipulator conveys and places the grafted grape seedlings of the stocks and the scion trees to the grafting conveying device, and the grafted grape seedlings enter the next procedure for transportation and conveying.
(6) The stock after grafting, ear wood can be equipped with the wax seal case through wax seal processing apparatus and carry out the wax seal after the interlock, effectively reduce the moisture loss of cutting plane department, further improve the survival rate of grafting.
The further preferred technical scheme is as follows:
cutting supporting parts of the arc-shaped supporting groove plates of the stock supporting platform and the scion supporting platform are respectively provided with a cutting groove and a cutting supporting protrusion which are matched with each other; when the cutting supporting parts of the arc-shaped supporting groove plates of the stock supporting platform and the scion wood supporting platform are at the same height, the cutting supporting protrusions can be nested in the cutting grooves.
The section of the cutting support part is smaller than the semicircular arc.
The arc-shaped supporting groove plates are provided with the cutting grooves and the cutting supporting protrusions which are matched with each other, when in cutting, the branches above the corresponding positions of the cutting grooves are cut off, in the cutting process, the cutting grooves can discharge cut waste materials in time, and the side walls of the arc-shaped supporting groove plates on the two sides of the cutting grooves can support the cut branches, so that the branches can be better fixed in the cutting process due to the arc shape of the arc-shaped supporting groove plates; similarly, the branches of the corresponding parts of the cutting support protrusions are reserved in the cutting process, and similarly, when the cutting protrusions are arranged, waste materials are discharged from two sides of the cutting support protrusions in time, and the cutting support protrusions have supporting surfaces with certain radians and main body parts of arc-shaped support groove plates connected with the cutting support protrusions simultaneously support the cut branches, so that the branches can be better fixed in the cutting process, and can be better matched with cutting work of the omega-shaped grafting knife.
The stock supporting platform is fixed on the supporting frame, the scion wood supporting platform is fixed on the top end of a vertically arranged pneumatic telescopic rod, and the pneumatic telescopic rod drives the scion wood supporting platform to move along the vertical direction.
Through setting up pneumatic telescopic link, can utilize pneumatic telescopic link to accomplish the interlock after stock, the cutting of ear of grain wood.
The V-shaped pneumatic cutting and transporting device is provided with a V-shaped rotating assembly, the V-shaped rotating assembly is arranged on one side of the clamping and embracing device, a rotating platform is arranged at the bottom of the V-shaped rotating assembly, a pneumatic push rod is arranged above the rotating platform, a V-shaped connecting piece is arranged at the top of the pneumatic push rod, and the middle of the V-shaped connecting piece is connected with the top of the pneumatic push rod.
Through setting up rotary platform, utilize rotary platform drive pneumatic push rod and rather than being connected the V type connecting piece of fixing rotatory, pneumatic push rod then can drive V type connecting piece and move in vertical direction to can realize utilizing V type rotating assembly to drive omega type grafting-tool, centre gripping manipulator work selectively, accomplish the interlock of cutting, grafting and the transport of stock, the scion wood after the interlock.
Grafting conveyor be equipped with the nylon conveyer belt, be equipped with the correction splint that the interval set up on the nylon conveyer belt, the interval between correction splint and the correction splint holds stock, the scion wood that the grafting is good.
The stock and the scion wood after occlusion can be well positioned and conveyed by arranging the correcting clamp plate, so that the occlusion state of the stock and the scion wood is conveniently kept.
And a grape branch temporary storage platform is arranged at the tail end of the nylon conveying belt.
Through setting up grape branch platform of keeping in, can save stock, the scion wood after the interlock of carrying.
Grafting conveyor and wax seal processing apparatus between be equipped with pneumatic stem grabbing device, pneumatic stem grabbing device's manipulator is connected with pneumatic push rod, pneumatic push rod is connected with rotary platform, the manipulator presss from both sides the stock, the ear of grain wood clamp that the grafting is good on the grafting conveyor and gets and carry the wax seal incasement that wax seal processing apparatus was equipped with.
By arranging the pneumatic rod grabbing device, the grafted stock and scion wood can be quickly and accurately conveyed to the next procedure.
The wax sealing box is provided with an electromagnetic heating mechanism.
Through setting up electromagnetic heating mechanism, can heat the wax of wax joint sealing, reach the molten condition.
The wax sealing treatment device is characterized in that a clear water cooling box and a grape branch collecting box are respectively arranged beside the wax sealing box.
By arranging the clear water cooling box, the grafted nursery stock branches after wax sealing can be cooled conveniently.
The grafting method of the grafting machine comprises the following steps:
(1) Respectively placing the stock and the scion wood between correction clamping plates on nylon conveyor belts of corresponding belt conveyors;
(2) When the rootstock and the scion wood are respectively conveyed to the rootstock supporting platform and the scion wood supporting platform, respectively pushing the rootstock and the scion wood onto arc-shaped supporting groove plates on the rootstock supporting platform and the scion wood supporting platform by utilizing the branch pushing guide rail;
(3) The U-shaped ejection clamp plate is driven by the ejection mechanism, so that the stock and the scion wood of the arc-shaped support groove plate are respectively clasped and fixed under the matching of the U-shaped ejection clamp plate and the arc-shaped support groove plate;
(4) The V-shaped pneumatic cutting and transporting device drives the omega-shaped grafting knife to move downwards, and the grafting positions of the stocks and the scion trees are cut successively;
(5) In the process of downwards moving and cutting the omega-shaped grafting knife, waste materials generated by cutting fall downwards into the blanking hole under the action of gravity and the pushing of the omega-shaped grafting knife;
(6) The V-shaped pneumatic cutting and conveying device drives the omega-shaped grafting knife to move upwards for resetting;
(7) The cut stock and the cut scion wood are clasped and fixed under the matching of the U-shaped ejection clamp plate and the arc-shaped support groove plate, and the stock support platform and the scion wood support platform move downwards with adjustable height, so that the cut parts of the stock and the scion wood are meshed and connected together;
(8) The V-shaped pneumatic cutting and conveying device rotates in the horizontal direction, so that the clamping manipulator rotates to a position right above a cutting position of the stocks and the scions which are occluded and connected together;
(9) The V-shaped pneumatic cutting and conveying device moves in the vertical direction, so that the clamping mechanical arm presses downwards to the cutting positions of the stocks and the scions which are occluded and connected together, and the occlusion positions of the cutting positions of the stocks and the scions are clamped and clamped after being compressed; withdrawing the U-shaped ejection clamp plate;
(10) The clamping manipulator conveys the grafted stocks and scion wood to a grafting conveying device, and the grafted stocks and scion wood are conveyed to a wax sealing treatment device through the grafting conveying device, and the wax sealing treatment device is provided with a wax sealing box;
(11) One of the stock supporting platform and the scion wood supporting platform, which is adjustable in height, moves upwards to reset to wait for the next work.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the embodiment of the present invention.
Fig. 2 is a schematic view of a rootstock and scion wood conveying device according to an embodiment of the present invention.
Fig. 3 is a schematic view of a clamping and clasping device according to an embodiment of the invention.
Fig. 4 is a partially enlarged view of a portion a in fig. 3.
Figure 5 is a top view of the clamp clasping device.
Fig. 6 is a schematic view of a V-shaped pneumatic cutting and transporting device according to an embodiment of the invention.
FIG. 7 is a schematic view of a waste recycling apparatus according to an embodiment of the present invention.
Fig. 8 is a schematic view of a grafting delivery device according to an embodiment of the invention.
Fig. 9 is a schematic view of a pneumatic rod grasping apparatus according to an embodiment of the present invention.
Fig. 10 is a schematic view of a wax sealing processing apparatus according to an embodiment of the present invention.
Description of reference numerals: 1-a stock and scion conveying device; 2-clamping and embracing device; 3-V type pneumatic cutting and conveying device; 4-a waste recovery unit; 5-grafting conveying device; 6-pneumatic rod gripping means; 7-wax sealing treatment device; 8-supporting the platform; 11-a belt conveyor; 12-aluminum profile corner fittings; 13-nylon conveyor belts; 14-corrective splint; 15-direct current gear motor; 16-chain wheel transmission pair; 17-main; a slave sprocket; 18-a chain; 19-upright post; 110-branch pushing guide rails; 21-a support frame; 22-a rootstock support platform; 23-an ejection mechanism; 24-U-shaped ejection splints; 25-spike wood support platforms; 26-a pneumatic telescopic rod; 27-cutting the support platform; 31-V-shaped rotating assembly; 32-a base; 33-a rotating platform; 34-a pneumatic push rod; a 35-V shaped connector; 36-omega type grafting knife; 37-a gripper robot; 241-arc support trough plate; 242-cutting the support; 243-blanking hole; 244-cutting grooves; 245-cutting support projections; 246-a cylinder; 247-a piston rod; 248-cylinder connection; 41-a mounting seat; 42-a linear moving unit; 43-a stepper motor; 44-screw nut pair; 45-linear guide rail; 46-a pallet platform; 47-a waste collection bucket; 51-a slant belt conveyor; 52-nylon conveyor belts; 53-corrective splint; 54-a direct current gear motor; 55-chain wheel transmission pair; 56-main; a slave sprocket; 57-a chain; 58-a grape branch temporary storage platform; 61-a rotating platform; 62-wax sealing manipulator mechanism; 63-a pneumatic push rod; 64-a steering engine; 65-a steering engine support; 66-a robot arm; 71-wax sealing the support platform; 72-an electromagnetic heating mechanism; 73-wax sealing; 74-clear water cooling box; 75-grape branch collecting box.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1, the embodiment provides a grafting machine, which comprises a supporting platform 8, a clamping and clasping device 2, a V-shaped pneumatic cutting and transporting device 3, a waste recovery device 4, a grafting and transporting device 5, a pneumatic rod gripping device 6 and a wax sealing treatment device 7.
The supporting platform 8 is used as an installation foundation of each component, is arranged on the clamping and cohesion device 2 on the supporting platform 8 and is used for clamping and cohesion of the stock and the scion wood branches and tight joint after cutting is completed; the V-shaped pneumatic cutting and transporting device 3 is arranged at the rear side of the clamping and cohesion device 2, is adjustable in position and is used for cutting stocks and scion branches and performing lamination transportation after cutting is completed; the stock and scion wood conveying devices 1 are arranged on the supporting platform 8, have the same structure, and are symmetrically arranged at the left side and the right side of the clamping and cohesion device 2, and are used for conveying the stock and the scion wood; the waste recovery device 4 is arranged on the supporting platform 8 and below the clamping and cohesion device 2 and is used for recovering and treating the cut waste; the grafting conveying device 5 is arranged on the supporting platform 8 and on the right side of the V-shaped pneumatic cutting and conveying device 3 and is used for temporarily storing and sequentially conveying branches to avoid the mixing of the branches; the wax sealing treatment device 7 is arranged on the support platform 8 and on the right side of the grafting and conveying device 5 and is used for sealing, cooling, collecting and the like of the joints of the stocks and the scions; and a pneumatic rod gripping device 6 which is arranged between the grafting conveying device 5 and the wax sealing processing device 7 and is used for gripping the grafted grape nursery stocks for wax sealing processing.
As can be seen from fig. 2, the stock and spike conveying devices 1 having the same structure are provided with: the belt conveyor 11 is fixed on the supporting platform 8 through an aluminum profile corner piece 12 and bolts; a nylon conveyor belt 13 is provided with a plurality of fixed interval correcting splints 14 for adjusting the pose of the stock and the scion wood; the driving motor adopts a direct current speed reducing motor 15 and is arranged below the nylon conveyor belt 13 and on one side of the driving roller; a chain wheel transmission pair 16 is arranged between the direct current speed reducing motor 15 and the driving roller and consists of a driving chain wheel 17, a driven chain wheel 17 and a chain 18, and the driving chain wheel 17 and the driven chain wheel 17 are respectively assembled on a direct current speed reducing motor shaft and a driving roller shaft; the direct current gear motor 15 drives the nylon conveyor belt 13 to move through the chain wheel transmission pair 16 and the driving roller. The upright column 19 consists of two 2020 aluminum profiles and is fixed at one side, far away from the clamping and embracing device 2, of the belt conveyor 11 through aluminum profile corner fittings and bolts. The branch pushing guide rail 110 is fixed above the upright post 19 through an aluminum profile corner piece and a bolt, and consists of a pneumatic push rod and a square push block, so that the stock and the scion can be respectively pushed onto the stock supporting platform 22 and the scion supporting platform 25, and the next cutting operation can be conveniently carried out.
As can be seen from fig. 3, 4 and 5, the clamping and clasping device 2 includes: the support frame 21, stock supporting platform 22, ear wood supporting platform 25 and cutting supporting platform 27.
The support frame 21 is of an upper rectangular frame structure and a lower rectangular frame structure and is formed by splicing 3030 aluminum profiles through aluminum profile corner pieces and bolts.
The stock supporting platform 22 is fixedly arranged on the left side of the upper part of the supporting frame 21.
The spike wood supporting platform 25 is arranged on the right side of the upper part of the supporting frame 21, and the height of the spike wood supporting platform can be adjusted by utilizing two pneumatic telescopic rods 26 on the lower side.
The stock supporting platform 22 and the scion wood supporting platform 25 are respectively provided with an arc-shaped supporting groove plate 241, the arc-shaped supporting groove plates 241 are horizontally arranged, the two sides of the arc-shaped supporting groove plates 241 are high, the middle part of the arc-shaped supporting groove plates 241 is low, the two sides outside the top of the arc-shaped supporting groove plates 241 are symmetrically provided with U-shaped ejection clamping plates 24, the openings of the U-shaped ejection clamping plates 24 are oppositely arranged, the back sides of the U-shaped ejection clamping plates 24 are connected with the ejection mechanism 23, the ejection mechanism 23 is provided with a cylinder 246 and a cylinder connecting piece 248, a piston rod 247 of the cylinder 246 is connected with the U-shaped ejection clamping plates 24 through the cylinder connecting piece 248, and the U-shaped ejection clamping plates 24 are driven to perform ejection expansion and contraction through the cylinder 246; a blanking hole 243 is formed in the middle of the cutting support platform 27, the adjacent ends of the arc-shaped support groove plates 241 of the stock support platform 22 and the scion wood support platform 25 extend towards the blanking hole 243 and extend above the blanking hole 243 to form a cutting support 242, the cutting support 242 protrudes out of the U-shaped ejection clamp plate 24, and the cutting support 242 of the arc-shaped support groove plates 241 of the stock support platform 22 and the scion wood support platform 25 are respectively provided with a cutting groove 244 and a cutting support protrusion 245 which are matched with each other; when the cutting support parts 242 of the arc-shaped support groove plates 241 of the stock support platform 22 and the scion wood support platform 25 are at the same height, the cutting support protrusions 245 can be nested in the cutting grooves 244. Before cutting, the pneumatic telescopic rod 26 is controlled to enable the scion wood supporting platform 25 to have a certain height difference compared with the stock supporting platform 22, and after cutting is completed, the pneumatic telescopic rod 26 is controlled to drive the scion wood supporting platform 25 to move downwards, so that the stock and scion wood joint can be tightly jointed.
And the cutting support platform 27 is installed on the upper portion of the support frame 21 and between the stock and scion wood support platforms 22 and 25, and is used for supporting the cutting of the omega-shaped grafting knife 36, wherein two semicircular blanking holes are formed in the middle of the cutting support platform, and the cut waste falls into the waste recovery device 4 through the two semicircular blanking holes.
The ejection mechanism 23 is respectively fixed on the stock support platform 22 and the scion wood support platform 15, and mainly comprises an air cylinder 246 and an air cylinder connecting piece 247, the air cylinder connecting piece 247 is used for connecting a piston rod 248 of the air cylinder and the U-shaped ejection clamp plate 24, and the U-shaped ejection clamp plate 24 can be driven to complete clasping and contracting motions by controlling the expansion and contraction of the piston rod 248 of the air cylinder;
the heights of the stock supporting platform 22 and the scion wood supporting platform 25 are different in the cutting process, the V-shaped pneumatic cutting and transporting device is provided with the omega-shaped grafting knife 36, and the omega-shaped grafting knife 36 is driven to move downwards above the blanking hole 243 to cut stocks and scion woods clamped and fixed on the stock supporting platform 22 and the scion wood supporting platform 25 in sequence.
The arc-shaped supporting groove plates 241 are provided with the cutting grooves 244 and the cutting supporting protrusions 245 which are matched with each other, when cutting is carried out, branches above the corresponding positions of the cutting grooves 244 are cut off, in the cutting process, the cutting grooves 244 can discharge cut waste materials timely, the side walls of the arc-shaped supporting groove plates 241 on the two sides of the cutting grooves 244 can support the cut branches, and the branches can be fixed better in the cutting process due to the arc shape of the arc-shaped supporting groove plates 241; similarly, the branches corresponding to the cutting support protrusions 245 are retained in the cutting process, and similarly, when the cutting protrusions 245 are arranged, waste materials are discharged from two sides of the cutting support protrusions in time, and the cutting support protrusions 245 have support surfaces with certain radian and the main body of the arc-shaped support groove plate 241 connected with the cutting support protrusions 245 support the cut branches at the same time, so that the branches can be better fixed in the cutting process and can better match with the cutting work of the omega-shaped grafting knife 36.
As can be seen from fig. 6, the V-shaped pneumatic cutting and transporting device 3 is provided with a V-shaped rotating assembly 31, the V-shaped rotating assembly 31 is mounted on the supporting platform 8 through an aluminum profile corner piece and is arranged on one side of the clamping and embracing device 2, the V-shaped rotating assembly 31 is provided with a base 32, a rotating platform 33, a pneumatic push rod 34 and a V-shaped connecting piece 35, the base 32, the rotating platform 33, the pneumatic push rod 34 and the V-shaped connecting piece 35 are assembled from bottom to top in sequence, and the horizontal rotation and vertical lifting movement of the V-shaped connecting piece 35 relative to the supporting platform 8 can be realized. The omega-shaped grafting knife 36 consists of a grafting knife holder and an omega-shaped blade, is arranged at one end of the V-shaped connecting piece 35 through an aluminum profile corner piece, and is adjustable in position. The clamping manipulator 37 is arranged at the other end of the V-shaped connecting piece 35 through an aluminum profile corner piece, and the position is also adjustable. The device can conveniently realize grafting cutting and mechanical grabbing; when a working instruction is received, the pneumatic push rod 34 drives the omega-shaped grafting knife 36 to move downwards to complete the cutting of the stock and the scion wood, and then the stock and the scion wood are reset; then, the rotary platform 33 drives the clamping manipulator 37 to rotate to a station, the pneumatic push rod 34 drives the clamping manipulator 37 to move downwards, and the stock and the scion wood combined points after grafting are pressed and then grabbed; finally, the pneumatic push rod 34 and the rotary platform 33 are reset in sequence, and the clamping manipulator 37 conveys the grafted grape seedlings to the grafting conveying device for next conveying.
The steering engine of the clamping manipulator 37 controls the linear guide rod to rotate clockwise, and the two ends of the linear guide rod drive the mechanical claws on the two sides to move linearly inwards along the linear guide rail through the oval guide rod, so that the mechanical claws are closed and grabbed. The top of the mechanical claw pressing part on the two sides of the clamping mechanical arm 37 is rectangular, so that the grafting stock and the scion wood can be conveniently pressed, and the inner sides of the mechanical claws on the two sides of the clamping mechanical arm 37 are zigzag, so that the stability of clamping the stock and the scion wood can be better realized; a groove structure is arranged on one side of the oval guide rod, so that the guide rail can move conveniently.
The grafting method of the grafting machine comprises the following steps:
(1) Respectively placing the stock and the scion wood between the corresponding correction splints 53 on the nylon conveyor belt 52 of the belt conveyor 51;
(2) When the rootstock and the scion wood are respectively conveyed to the rootstock supporting platform 22 and the scion wood supporting platform 25, the rootstock and the scion wood are respectively pushed to the arc-shaped supporting groove plates 241 on the rootstock supporting platform 22 and the scion wood supporting platform 25 by utilizing the branch pushing guide rail 110;
(3) The U-shaped ejection clamp plate 24 is driven by the ejection mechanism, so that the stock and the scion wood of the arc-shaped support groove plate 241 are respectively clasped and fixed under the matching of the U-shaped ejection clamp plate 24 and the arc-shaped support groove plate 241;
(4) The V-shaped pneumatic cutting and transporting device 3 drives the omega-shaped grafting knife 36 to move downwards, and the grafting positions of the stocks and the scion trees are cut successively;
(5) In the process of downward movement and cutting of the omega-shaped grafting knife 36, waste materials generated by cutting fall into the blanking holes 243 downward under the action of gravity and the pushing of the omega-shaped grafting knife 36;
(6) The V-shaped pneumatic cutting and conveying device 3 drives the omega-shaped grafting knife 36 to move upwards for resetting;
(7) The cut stock and the cut scion wood are clasped and fixed under the matching of the U-shaped catapult clamp plate 24 and the arc-shaped support groove plate 241, and the stock support platform 22 and the scion wood support platform 25 move downwards with adjustable height, so that the cut parts of the stock and the scion wood are meshed and connected together;
(8) The V-shaped pneumatic cutting and transporting device 3 rotates in the horizontal direction, so that the clamping manipulator 37 rotates to a position right above a cutting position of the stocks and the scions which are occluded and connected together;
(9) The V-shaped pneumatic cutting and transporting device 3 moves in the vertical direction, so that the clamping manipulator 37 presses downwards to the cutting position of the stock and the scion which are occluded and connected together, and the occlusion position of the cutting position of the stock and the scion is clamped and clamped after being compressed; the U-shaped ejection clamp plate 24 is retracted;
(10) The clamping manipulator 37 conveys the grafted stocks and scions to the grafting and conveying device 5, and the grafted stocks and scions are conveyed to the wax sealing treatment device 7 through the grafting and conveying device 5, and the wax sealing treatment device 7 is provided with a wax sealing box 73;
(11) One of the stock supporting platform and the scion wood supporting platform, which is adjustable in height, moves upwards to reset to wait for the next work.
As can be seen from fig. 7, the scrap collecting apparatus 4 includes: the mounting seat 41 is processed by standard angle aluminum, is horizontally arranged, and is mounted on the supporting platform 8 and below the clamping and embracing device 2 through bolts; the linear moving unit 42 is arranged on the mounting seat, is formed by assembling a stepping motor 43, a coupler, a lead screw nut pair 44, a linear guide rail 45 and the like, and can realize the reciprocating movement of the sliding block by controlling the stepping motor 43; a tray stage 46 mounted on the slider of the linear moving unit 42; a waste collection bucket 47 mounted on the tray platform 46. The linear moving unit 42 drives the waste collecting barrel 47 to reciprocate along the linear guide 45. When a sensor mounted on the edge of the canister 47 detects that the canister is nearly saturated with waste, the system can control the linear motion unit 42 to move the canister out of the way and then feed it in after cleaning.
As can be seen from fig. 8, the grafting conveying device 5 is provided with an inclined belt conveyor 51 which is fixed on the supporting platform 8 through aluminum profile corner pieces and bolts and is arranged on the right side of the V-shaped pneumatic cutting and conveying device 3; the nylon conveyor belt 52 is obliquely arranged and provided with a plurality of correcting splints 53 at fixed intervals; the driving motor adopts a direct current speed reducing motor 54 and is arranged below the nylon conveyor belt 52 and on one side of the driving roller; a chain wheel transmission pair 55 is arranged between the direct current speed reducing motor 54 and the driving roller and consists of a main chain wheel 56, a driven chain wheel 56 and a chain 57, and the main chain wheel 56 and the driven chain wheel 56 are respectively assembled on a direct current speed reducing motor shaft and a driving roller shaft. Grape branch temporary storage platform 58 is made by standard angle aluminium, and rectangular channel has been dug at its center, and the manipulator mechanism that is convenient for wax seal snatchs.
As can be seen in fig. 9, the pneumatic rod grasping device 6 is provided with: the rotating platform 61 is arranged between the grafting conveying device 5 and the wax sealing treatment device 7, and can rotate 360 degrees without dead angles relative to the supporting platform 8; the wax sealing manipulator mechanism 62 is composed of a pneumatic push rod 63, a steering engine 64, a steering engine bracket 65 and a manipulator 66. The pneumatic rod grabbing device 6 is in charge of grabbing grafted seedlings from the grape branch temporary storage platform, and the pneumatic rod grabbing device 6 drives the grafted seedlings to complete wax sealing, cooling, collecting and processing and other processes of a grafting position.
As can be seen from fig. 10, the wax sealing treatment device 7 includes: the wax sealing supporting platform 71 is U-shaped and is arranged on the supporting platform 8 and on the right side of the grafting conveying device 5 through aluminum profile corner pieces; the electromagnetic heating mechanism 72 is arranged at the front part of the wax sealing supporting platform 71 and used for heating the paraffin in the wax sealing box 73, and a temperature sensor is arranged on the electromagnetic heating mechanism and can control the temperature of the paraffin in the wax sealing box 73 within a reasonable range all the time; a wax sealing box 73, which is arranged on the electromagnetic heating mechanism 72 and is filled with grafting wax; a clear water cooling box 74 which is arranged at the right end of the middle part of the wax-sealed supporting platform 71 and is filled with clear water for cooling, and the branches subjected to wax-sealed treatment are subjected to cooling treatment; the grape branch collecting box 75 is installed at the rear part of the wax-sealed supporting platform 71 and is used for collecting grape branches after wax sealing treatment.
The specific operation of this embodiment is as follows:
a1: and starting the belt conveyor 11, respectively placing the stock and the scion on the nylon conveyor belt 13 of the stock and scion conveying device 1 and between the two correcting splints 14, and enabling the stock and the scion to move along with the nylon conveyor belt 13.
A2: when the rootstock and the scion wood move to the designated positions (are aligned with the rootstock supporting platform 22 and the scion wood supporting platform 25), the belt conveyor 11 is halted; the system controls the movement of the branch pushing guide rail 110, and respectively pushes the rootstock and the scion wood to the rootstock supporting platform 22 and the scion wood supporting platform 25; and then the piston rods 248 of the air cylinders on the two sides are controlled to extend out, so that the U-shaped catapulting clamping plates 24 on the two sides are catapulted, and the stock and the scion branches are clamped and clasped, thereby facilitating the next cutting and grafting of the stock and the scion.
A3: the rotary platform 33 of the V-shaped pneumatic cutting and transporting device 3 moves to rotate the omega-shaped grafting knife 36 to the grafting station; then, the pneumatic push rod 34 moves to drive the omega-shaped grafting knife 36 to move downwards to finish cutting; after cutting, the pneumatic push rod 34 drives the omega-shaped grafting knife 36 to reset; meanwhile, the two pneumatic telescopic rods 26 of the clamping and cohesion device 2 are pressed downwards, so that scion wood and stock are jointed.
A4: the rotary platform 33 of the V-shaped pneumatic cutting and transporting device 3 moves to rotate the clamping manipulator 37 to the grafting station; then, the pneumatic push rod 34 moves to drive the clamping manipulator 37 to press the joint of the stock and the scion wood downwards, so that the joint tightness is improved, and the scion wood is grabbed immediately; then, the pneumatic push rod 34 and the rotary platform 33 are controlled to act, so that the clamping manipulator 37 moves to the grafting conveying device 5 with the grafted seedling, the grafted seedling is conveyed to the grape branch temporary storage platform 58 through the inclined belt conveyor 51, and the grafted seedling is waited to be grabbed and conveyed to the wax sealing processing device 7 by the wax sealing manipulator mechanism 62.
A5: the wax sealing treatment device 7 is mainly used for wax sealing collection treatment of grafted seedlings, firstly, the electromagnetic heating mechanism 72 heats the grafted wax in the wax sealing box 73, and the temperature of the grafted wax in the wax sealing box is controlled to be always in a reasonable range through detection of a temperature sensor; after the grafted seedlings are taken out of the grape branch temporary storage platform 58 by the wax sealing manipulator mechanism 62, the grafted seedlings are rotated by a certain angle through the steering engine 64 and the steering engine bracket 65 and are driven into the wax sealing box 73 by the rotating platform 61 to be subjected to wax sealing treatment, so that the wax sealing treatment of joint points is facilitated, and the wax sealing efficiency is improved; then the grape seedlings are put into a clear water cooling box 74 for cooling treatment, and finally the treated grape seedlings are put into a grape branch collecting box 75 for preservation.
A6: the waste material that stock, ear of grain wood cutting formed in A3 link will fall into garbage collection bucket 47 through the blanking hole that cuts supporting platform 27, and whether the sensor at garbage collection bucket 47 border detects the bucket waste material constantly and is close the saturation, if be close the saturation, then A1~ A4 pause work, the action of system control sharp mobile unit 42 moves out garbage collection bucket 47, sends into garbage collection bucket 47 after waiting to clear up, and A1~ A4 resume work.
In conclusion, the grafting machine can automatically complete the working processes of grafting cutting, jointing, wax sealing, collecting and the like of the grape stocks and the scions.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, which is defined by the appended claims and their equivalents.
Claims (9)
1. The utility model provides a grafting machine, includes grafting conveyor, centre gripping cohesion device, the pneumatic cutting conveyer of V type and wax seal processing apparatus, its characterized in that: the grafting and conveying device is provided with two belt conveyors for conveying the stocks and the scions respectively, the belt conveyors are provided with nylon conveying belts, the nylon conveying belts are provided with correction clamping plates arranged at intervals, and one ends of the belt conveyors are provided with branch pushing guide rails; the branch pushing guide rail is provided with a pneumatic push rod, the end part of the pneumatic push rod is provided with a push block, and the size of the cross section of the push block corresponds to the interval between the correcting clamping plates; the clamping and cohesion device is provided with a stock supporting platform, a scion wood supporting platform and a cutting supporting platform, the stock supporting platform and the scion wood supporting platform are symmetrically arranged on two sides of the top of the cutting supporting platform, arc-shaped supporting groove plates are arranged on the stock supporting platform and the scion wood supporting platform, and the branch pushing guide rails respectively push the stock and the scion wood to the arc-shaped supporting groove plates on the stock supporting platform and the scion wood supporting platform; the cutting device comprises an arc-shaped supporting groove plate, U-shaped ejection clamping plates, an ejection mechanism, a stock supporting platform and a scion wood supporting platform, wherein the arc-shaped supporting groove plate is horizontally arranged, the two sides of the arc-shaped supporting groove plate are high and the middle is low, the two sides outside the top of the arc-shaped supporting groove plate are symmetrically provided with the U-shaped ejection clamping plates, the openings of the U-shaped ejection clamping plates are oppositely arranged, the back sides of the U-shaped ejection clamping plates are connected with the ejection mechanism, the ejection mechanism drives the U-shaped ejection clamping plates, the middle of the cutting supporting platform is provided with a blanking hole, the adjacent ends of the arc-shaped supporting groove plates of the stock supporting platform and the scion wood supporting platform extend towards the blanking hole to form a cutting supporting part, the cutting supporting part protrudes out of the U-shaped ejection clamping plates, the height of at least one of the stock supporting platform and the scion wood supporting platform can be adjusted, the heights of the stock supporting platform and the scion wood supporting platform are different, after cutting is completed, one of the stock supporting platform and the scion wood supporting platform is relatively moved to the other one of the stock supporting platform, so that the two platforms are identical in height; the V-shaped pneumatic cutting and conveying device is provided with a V-shaped connecting piece, the bottoms of two ends of the V-shaped connecting piece are respectively connected and fixed with the omega-shaped grafting knife and the clamping manipulator, the V-shaped connecting piece is driven to rotate in the horizontal direction, and the V-shaped connecting piece is driven to move in the vertical direction, so that the cutting of the omega-shaped grafting knife or the pressing and clamping of the clamping manipulator are completed; the clamping manipulator conveys the grafted stocks and scions to a grafting and conveying device, and the grafted stocks and scions are conveyed to a wax sealing treatment device through the grafting and conveying device, and the wax sealing treatment device is provided with a wax sealing box; cutting supporting parts of the arc-shaped supporting groove plates of the stock supporting platform and the scion supporting platform are respectively provided with a cutting groove and a cutting supporting protrusion which are matched with each other; when the cutting supporting parts of the arc-shaped supporting groove plates of the stock supporting platform and the scion wood supporting platform are at the same height, the cutting supporting convex embedded sleeves are arranged in the cutting grooves.
2. The grafting machine of claim 1, wherein: the stock supporting platform is fixed on the supporting frame, the scion wood supporting platform is fixed at the top end of a vertically arranged pneumatic telescopic rod, and the pneumatic telescopic rod drives the scion wood supporting platform to move along the vertical direction.
3. The grafting machine of claim 1, wherein: the V-shaped pneumatic cutting and transporting device is provided with a V-shaped rotating assembly, the V-shaped rotating assembly is arranged on one side of the clamping and embracing device, a rotating platform is arranged at the bottom of the V-shaped rotating assembly, a pneumatic push rod is arranged above the rotating platform, a V-shaped connecting piece is arranged at the top of the pneumatic push rod, and the middle of the V-shaped connecting piece is connected with the top of the pneumatic push rod.
4. The grafting machine of claim 1, wherein: grafting conveyor be equipped with the nylon conveyer belt, be equipped with the correction splint that the interval set up on the nylon conveyer belt, the interval between correction splint and the correction splint holds stock, the scion wood that the grafting is good.
5. The grafting machine of claim 4, wherein: and a grape branch temporary storage platform is arranged at the tail end of the nylon conveying belt.
6. The grafting machine of claim 4, wherein: grafting conveyor and wax seal processing apparatus between be equipped with pneumatic stem grabbing device, pneumatic stem grabbing device's manipulator is connected with pneumatic push rod, pneumatic push rod is connected with rotary platform, the manipulator presss from both sides the stock, the ear of grain wood clamp that the grafting is good on the grafting conveyor and gets and carry the wax seal incasement that wax seal processing apparatus was equipped with.
7. The grafting machine of claim 1, wherein: the wax sealing box is provided with an electromagnetic heating mechanism.
8. The grafting machine of claim 1, wherein: the wax sealing treatment device is characterized in that a clear water cooling box and a grape branch collecting box are respectively arranged beside the wax sealing box.
9. The grafting method of a grafting machine according to claim 1, characterized by comprising the steps of:
(1) Respectively placing the stock and the scion wood between the correction clamping plates on the nylon conveying belts of the corresponding belt conveyors;
(2) When the rootstock and the scion wood are respectively conveyed to the rootstock supporting platform and the scion wood supporting platform, respectively pushing the rootstock and the scion wood to arc-shaped supporting groove plates on the rootstock supporting platform and the scion wood supporting platform by utilizing branch pushing guide rails;
(3) The U-shaped ejection clamp plate is driven by the ejection mechanism, so that the stock and the scion wood of the arc-shaped support groove plate are respectively clasped and fixed under the matching of the U-shaped ejection clamp plate and the arc-shaped support groove plate;
(4) The V-shaped pneumatic cutting and transporting device drives the omega-shaped grafting knife to move downwards, and the grafting positions of the stocks and the scion trees are cut successively;
(5) In the process of downwards moving and cutting the omega-shaped grafting knife, waste materials generated by cutting fall into the blanking holes downwards under the action of gravity and the push of the omega-shaped grafting knife;
(6) The V-shaped pneumatic cutting and conveying device drives the omega-shaped grafting knife to move upwards for resetting;
(7) The cut stock and the cut scion wood are clasped and fixed under the matching of the U-shaped ejection clamp plate and the arc-shaped support groove plate, and the stock support platform and the scion wood support platform move downwards with adjustable height, so that the cut parts of the stock and the scion wood are meshed and connected together;
(8) The V-shaped pneumatic cutting and conveying device rotates in the horizontal direction, so that the clamping manipulator rotates to a position right above a cutting position of the stocks and the scions which are occluded and connected together;
(9) The V-shaped pneumatic cutting and conveying device moves in the vertical direction, so that the clamping mechanical arm presses downwards to the cutting positions of the stocks and the scions which are occluded and connected together, and the occlusion positions of the cutting positions of the stocks and the scions are clamped and clamped after being compressed; withdrawing the U-shaped ejection clamp plate;
(10) The clamping manipulator conveys the grafted stocks and scion wood to a grafting conveying device, and the grafted stocks and scion wood are conveyed to a wax sealing treatment device through the grafting conveying device, and the wax sealing treatment device is provided with a wax sealing box;
(11) One of the stock supporting platform and the scion wood supporting platform with adjustable height moves upwards for resetting to wait for the next work.
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| CN110663376B (en) * | 2019-11-21 | 2021-08-13 | 聊城大学 | Automatic stock and scion wood supporting mechanism for grafting |
| CN110651622B (en) * | 2019-11-21 | 2021-10-01 | 聊城大学 | Cutting and jointing device for automatic grafting of nursery stocks |
| CN112616466A (en) * | 2021-01-11 | 2021-04-09 | 上海岛茵智能科技有限公司 | Agricultural branch grafting machine |
| CN113068527B (en) * | 2021-04-29 | 2022-12-13 | 广东省农业科学院植物保护研究所 | Device for removing yellow shoot and virus disease in citrus scions through heat treatment and micro-bud grafting |
| CN114299814B (en) * | 2021-12-03 | 2024-03-01 | 广州国显科技有限公司 | Device applied to manufacturing curved surface display screen |
| CN114467529B (en) * | 2022-03-08 | 2023-05-26 | 聊城大学 | Seedling clamping mechanism for mechanical grafting |
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