CN108966892B - Grafting clamping and cutting mechanism and grafting method thereof - Google Patents
Grafting clamping and cutting mechanism and grafting method thereof Download PDFInfo
- Publication number
- CN108966892B CN108966892B CN201811059383.4A CN201811059383A CN108966892B CN 108966892 B CN108966892 B CN 108966892B CN 201811059383 A CN201811059383 A CN 201811059383A CN 108966892 B CN108966892 B CN 108966892B
- Authority
- CN
- China
- Prior art keywords
- shaped
- cutting
- supporting platform
- grafting
- stock
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005520 cutting process Methods 0.000 title claims abstract description 194
- 230000007246 mechanism Effects 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000002023 wood Substances 0.000 claims abstract description 96
- 239000002699 waste material Substances 0.000 claims abstract description 26
- 230000005484 gravity Effects 0.000 claims description 5
- 230000004083 survival effect Effects 0.000 abstract description 7
- 238000007789 sealing Methods 0.000 description 30
- 239000001993 wax Substances 0.000 description 29
- 241000219095 Vitis Species 0.000 description 16
- 235000009754 Vitis X bourquina Nutrition 0.000 description 16
- 235000012333 Vitis X labruscana Nutrition 0.000 description 16
- 235000014787 Vitis vinifera Nutrition 0.000 description 16
- 229910052782 aluminium Inorganic materials 0.000 description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 13
- 239000004677 Nylon Substances 0.000 description 9
- 229920001778 nylon Polymers 0.000 description 9
- 238000001816 cooling Methods 0.000 description 8
- 238000010438 heat treatment Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000003860 storage Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000012188 paraffin wax Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000034656 Contusions Diseases 0.000 description 1
- 208000035240 Disease Resistance Diseases 0.000 description 1
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000008275 binding mechanism Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009519 contusion Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
- A01G2/38—Holding; Ligating
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Botany (AREA)
- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
- Cultivation Of Plants (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention discloses a grafting clamping and cutting mechanism and a grafting method thereof, wherein the grafting clamping and cutting mechanism comprises a clamping and cohesion device and a V-shaped pneumatic cutting and transporting 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 clamping 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 device for nursery stocks, in particular to a grafting clamping and cutting mechanism and a grafting method thereof.
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.
The chinese patent of the publication No. CN 103053344B discloses a mechanical system of 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 clamping and cutting mechanism and a grafting method thereof, wherein in the cutting process of the mechanism and the method, the cut stocks and 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 cut 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 clamping and cutting mechanism comprises a clamping and holding device and a V-shaped pneumatic cutting and transporting device, wherein the clamping and holding 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 respectively, the arc-shaped supporting groove plates are horizontally arranged, the two sides of each arc-shaped supporting groove plate are high and low, U-shaped ejecting clamping plates are symmetrically arranged on two sides outside the top of each arc-shaped supporting groove plate, openings of the U-shaped ejecting clamping plates are oppositely arranged, the back sides of the U-shaped ejecting clamping plates are connected with an ejecting mechanism, the ejecting mechanisms are respectively fixed on the stock supporting platform and the scion wood supporting platform, each ejecting mechanism is provided with an air cylinder and an ejecting air cylinder connecting piece, the air cylinder connecting pieces are used for connecting a piston rod of the air cylinder and the U-shaped clamping plates, and the U-shaped ejecting clamping plates are driven by controlling the expansion of the air cylinder piston rod to complete the holding and contraction resetting movements; 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 and extend to the upper part of the blanking hole to form a cutting supporting part, the cutting supporting part protrudes out of the U-shaped ejection clamp plate, the height of at least one platform in 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, 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 stocks and scion woods clamped and fixed on the stock supporting platform and the scion wood supporting platform successively.
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 supporting 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.
The further preferred technical scheme is as follows:
cutting supporting parts of 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 mutually matched; 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 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.
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 connecting piece, the bottoms of the 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 lift in the vertical direction.
By arranging the V-shaped connecting piece, the omega-shaped grafting knife and the 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 be 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 engaged joint of the stock and the scion wood after grafting is completed is pressed; and (4) the clamping mechanical arm conveys the grafted grape seedlings of the stocks and the scions to the grafting conveying device, and the grafted grape seedlings enter the next procedure for transportation and conveying.
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.
The grafting method of the grafting clamping and cutting mechanism comprises the following steps:
(1) Respectively conveying the stock and the scion wood to arc-shaped supporting groove plates of a stock supporting platform and a scion wood supporting platform;
(2) 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;
(3) 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;
(4) 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;
(5) The V-shaped pneumatic cutting and conveying device drives the omega-shaped grafting knife to move upwards for resetting;
(6) 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;
(7) 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 an embodiment of a grafting delivery device.
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 the reference numerals: 1-a stock and scion conveying device; 2-clamping and embracing device; 3-V type pneumatic cutting conveyer; 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 pieces; 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-rootstock support platform; 23-an ejection mechanism; 24-U-shaped ejector clamp plate 24; 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 the groove; 245-cutting support projections; 246-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 temporary storage platform for grape branches; 61-a rotating platform; 62-wax sealing manipulator mechanism; 63-a pneumatic push rod; 64-a steering engine; 65-a steering engine bracket; 66-a robot arm; 71-wax sealing the support platform; 72-an electromagnetic heating mechanism; 73-wax sealing; 74-clear water cooling mechanism; 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 figure 1, the grafting clamping and cutting mechanism of the invention relates to a grafting machine, which consists of a supporting platform 8, a clamping and cohesion device 2, a V-shaped pneumatic cutting and transporting device 3, a waste recovery device 4, a grafting conveying 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 conveying devices 1 are arranged on the supporting platform 8, have the same structure, and are symmetrically arranged on the left side and the right side of the clamping and cohesion device 2, and are used for conveying the stock and the scion; 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 mixing of the branches; the wax sealing treatment device 7 is arranged on the supporting platform 8 and on the right side of the grafting conveying device 5 and is used for sealing, cooling, collecting and other operations 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 position 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 is arranged between the direct current speed reducing motor 15 and the driving roller and consists of a main chain wheel 17, a secondary chain wheel 17 and a chain 18, and the main chain wheel 17 and the secondary 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 a sprocket transmission pair 16 and a 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, mainly comprises a pneumatic push rod and a square push block, and can respectively push the stock and the scion wood to the stock supporting platform 22 and the scion wood supporting platform 25 so as to facilitate the next cutting operation.
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.
Arc-shaped supporting groove plates 241 are arranged on the stock supporting platform 22 and the scion wood supporting platform 25, 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 is low, the two sides outside the tops of the arc-shaped supporting groove plates 241 are symmetrically provided with U-shaped ejection clamping plates 24, 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 an 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 by the cylinder 246 to perform ejection stretching; 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.
The cutting support platform 27 is installed on the upper portion of the support frame 21 and between the stock and scion support platforms 22 and 25, and is used for supporting cutting of the omega-shaped grafting knife 36, two semicircular blanking holes are formed in the middle of the cutting support platform, and waste materials after cutting fall into the waste material 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 25 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 embracing and contracting movement 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 section of the cutting support part is smaller than the semicircular arc.
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 clamps one side of the clasping 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. Omega type grafting-tool 36 comprises grafting blade holder and omega type blade, installs the one end at V type connecting piece 35 through aluminium alloy corner fittings, and the position is adjustable. 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 clamping and cutting mechanism comprises the following steps:
(1) Respectively conveying the stock and the scion wood to arc-shaped supporting groove plates of a stock supporting platform and a scion wood supporting platform;
(2) 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 are respectively clasped and fixed under the matching of the U-shaped ejection clamp plate 24 and the arc-shaped support groove plate;
(3) 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;
(4) 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;
(5) The V-shaped pneumatic cutting and conveying device drives the omega-shaped grafting knife to move upwards for resetting;
(6) The cut stock and the cut scion wood are clasped and fixed under the matching of the U-shaped catapulting splint 24 and the arc-shaped supporting groove plate, and the stock supporting platform and the scion wood supporting platform move downwards with adjustable height, so that the cut parts of the stock and the scion wood are meshed and connected together;
(7) The V-shaped pneumatic cutting and transporting device drives the clamping manipulator 37 to rotate to the grafting station through the rotating platform, and the pneumatic push rod moves to drive the clamping manipulator 37 to move downwards to a joint of the stock and the scion wood and realize grabbing;
(8) The piston rod 247 of the ejection mechanism cylinder 246 retracts, the U-shaped ejection clamp plate 24 loosens the stock and the scion wood, and the clamping manipulator 37 drives the jointed stock and scion wood to carry out the next transportation operation;
(9) 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 installed on the installation base, 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 slide 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 can drive the waste collecting barrel 47 to reciprocate along the linear guide rail 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 graft conveyor 5 includes: the inclined belt conveyor 51 is fixed on the supporting platform 8 and on the right side of the V-shaped pneumatic cutting and conveying device 3 through aluminum profile corner pieces and bolts; 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 from fig. 9, the pneumatic rod grasping apparatus 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 gripping device is used for gripping the grafted seedlings from the temporary storage platform of the grape branches and driving the grafted seedlings to complete wax sealing, cooling, collecting and processing and other processes of the grafting positions.
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 and conveying device 5 through an aluminum profile corner piece; 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; the clear water cooling mechanism 74 is installed at the right end of the middle part of the wax-sealed supporting platform 71, clear water for cooling is filled in the clear water, and the branches subjected to wax-sealed treatment are subjected to cooling treatment; the grape branch collecting box 75 is arranged at the rear part of the wax-sealed supporting platform 71 and is used for collecting the grape branches after wax-sealed 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 rotating 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 move, so that the clamping manipulator 37 carries the grafted seedling to the grafting and conveying device 5, 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 for being 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 grafting wax in the wax sealing box 73, and the temperature of the grafting 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 temporary grape branch 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 wax-sealed, so that wax-sealing treatment can be conveniently carried out on the junction points, and the wax-sealing efficiency is improved; then the grape seedlings are put into a clear water cooling mechanism 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 scion wood.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, which is defined in the appended claims.
Claims (5)
1. The utility model provides a grafting centre gripping and cutting mechanism, includes centre gripping cohesion device, the pneumatic cutting conveyer of V type, its characterized in that: 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 respectively, the arc-shaped supporting groove plates are horizontally arranged, the two sides of each arc-shaped supporting groove plate are high and low, U-shaped ejection clamping plates are symmetrically arranged on two sides outside the top of each arc-shaped supporting groove plate, openings of the U-shaped ejection clamping plates are oppositely arranged, the back sides of the U-shaped ejection clamping plates are connected with an ejection mechanism, the ejection mechanism drives the U-shaped ejection clamping plates, blanking holes are formed in the middle of the cutting supporting platform, adjacent ends of the arc-shaped supporting groove plates of the stock supporting platform and the scion wood supporting platform extend towards the blanking holes to form cutting supporting portions which protrude 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 is adjustable, the stock supporting platform and the scion the V-shaped pneumatic cutting and transportation device, and the scion the stock supporting platform, and the scion wood supporting platform, and the cutting platform are sequentially fixed above a cutting knife by the stock supporting platform;
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 support parts of the arc-shaped support groove plates of the stock support platform and the scion support platform are at the same height, the cutting support is convexly embedded and sleeved in the cutting groove; 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.
2. The grafting clamping and cutting mechanism 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 clamping and cutting mechanism of claim 1, wherein: the V-shaped pneumatic cutting and transporting device is provided with a V-shaped connecting piece, the bottoms of the 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 lift in the vertical direction.
4. The grafting clamping and cutting mechanism of claim 3, 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.
5. The method for grafting a graft clamping and cutting mechanism according to claim 1, comprising the steps of:
(1) Respectively conveying the stock and the scion wood to arc-shaped supporting groove plates of a stock supporting platform and a scion wood supporting platform;
(2) 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;
(3) 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;
(4) 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;
(5) The V-shaped pneumatic cutting and conveying device drives the omega-shaped grafting knife to move upwards for resetting;
(6) 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;
(7) 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811059383.4A CN108966892B (en) | 2018-09-12 | 2018-09-12 | Grafting clamping and cutting mechanism and grafting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811059383.4A CN108966892B (en) | 2018-09-12 | 2018-09-12 | Grafting clamping and cutting mechanism and grafting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108966892A CN108966892A (en) | 2018-12-11 |
| CN108966892B true CN108966892B (en) | 2023-03-21 |
Family
ID=64546048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811059383.4A Active CN108966892B (en) | 2018-09-12 | 2018-09-12 | Grafting clamping and cutting mechanism and grafting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108966892B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997543A (en) * | 2019-04-24 | 2019-07-12 | 安徽信息工程学院 | Green plant grafting maintenance mechanical device |
| CN111955190A (en) * | 2020-09-02 | 2020-11-20 | 翟先果 | Plant grafting device |
| CN112293078B (en) * | 2020-11-28 | 2022-06-28 | 重庆市梁平区文爵机械制造有限公司 | Cutting device with adjustable scion cutting angle for grafting |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101569271A (en) * | 2009-06-03 | 2009-11-04 | 北京市农林科学院 | Automatic grafting machine |
| CN101779576A (en) * | 2010-03-19 | 2010-07-21 | 中国农业大学 | Bag type automatic grafting device and method for mulberry saplings |
| CN102227990A (en) * | 2011-05-25 | 2011-11-02 | 北京农业智能装备技术研究中心 | Grafting equipment |
| CN202059776U (en) * | 2011-05-10 | 2011-12-07 | 浙江大学 | Semi-automatic needle connection type vegetable grafting device |
| CN102805007A (en) * | 2012-08-13 | 2012-12-05 | 中国农业大学 | Seedling grafting machine and grafting method of seedling grafting machine |
| CN102823438A (en) * | 2012-09-14 | 2012-12-19 | 中国农业大学 | Automatic grafting machine |
| CN102835257A (en) * | 2012-08-14 | 2012-12-26 | 北京农业智能装备技术研究中心 | Seedling production device |
-
2018
- 2018-09-12 CN CN201811059383.4A patent/CN108966892B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101569271A (en) * | 2009-06-03 | 2009-11-04 | 北京市农林科学院 | Automatic grafting machine |
| CN101779576A (en) * | 2010-03-19 | 2010-07-21 | 中国农业大学 | Bag type automatic grafting device and method for mulberry saplings |
| CN202059776U (en) * | 2011-05-10 | 2011-12-07 | 浙江大学 | Semi-automatic needle connection type vegetable grafting device |
| CN102227990A (en) * | 2011-05-25 | 2011-11-02 | 北京农业智能装备技术研究中心 | Grafting equipment |
| CN102805007A (en) * | 2012-08-13 | 2012-12-05 | 中国农业大学 | Seedling grafting machine and grafting method of seedling grafting machine |
| CN102835257A (en) * | 2012-08-14 | 2012-12-26 | 北京农业智能装备技术研究中心 | Seedling production device |
| CN102823438A (en) * | 2012-09-14 | 2012-12-19 | 中国农业大学 | Automatic grafting machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108966892A (en) | 2018-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108781827B (en) | Grafting machine and grafting method | |
| CN109089588B (en) | Grafting clamping cutting and wax sealing mechanism and grafting method thereof | |
| CN108966892B (en) | Grafting clamping and cutting mechanism and grafting method thereof | |
| CN108886996B (en) | Automatic feeding grafting clamping and cutting device and grafting method thereof | |
| CN109089587B (en) | Grafting clamping and cutting mechanism for realizing waste collection | |
| CN208836710U (en) | Needle mushroom high-volume recovering device | |
| CN113678689B (en) | Bag stick separating centrifuge of mushroom fungus stick | |
| CN110239127B (en) | Plastic ring forming device and method | |
| CN208807135U (en) | A kind of grafting clamping cutting and the mechanism that seals with wax | |
| CN208807131U (en) | A kind of grafting machine | |
| CN117532335A (en) | Full-automatic pressing nozzle assembly device | |
| CN208783283U (en) | A kind of grafting clamping of automatic charging and cutter device | |
| CN116160190B (en) | Automatic welding robot for nozzle | |
| CN208924721U (en) | A kind of grafting clamping and cutting mechanism | |
| CN208850230U (en) | A kind of grafting clamping that realizing garbage collection and cutting mechanism | |
| CN112868337A (en) | Multifunctional transplanting manipulator and light simplified transplanting device for solanaceous vegetable plug seedlings | |
| CN209505318U (en) | A kind of taut nailing machine of automatic painting canvas | |
| CN218559273U (en) | Automatic clothes hanger assembling and bundling production line | |
| CN209971605U (en) | Full-automatic guide pipe tip melting head system | |
| KR100930868B1 (en) | Automatic gathering apparatus of planted cultures from culture tray | |
| CN108527485B (en) | Vegetable root cutter | |
| CN109220576A (en) | Needle mushroom high-volume production recovery arrangement and method | |
| CN208807130U (en) | A kind of grafting machine inclined-plane transmission device | |
| CN220578347U (en) | Full-automatic cage swinging machine | |
| CN219853443U (en) | Feeding mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240419 Address after: 230000 B-2704, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: HEFEI LONGZHI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 252000 No. 1, Hunan Road, Shandong, Liaocheng Patentee before: LIAOCHENG University Country or region before: China |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240603 Address after: 102100 In the courtyard of Wangzhongying Village Village Committee, Jingzhuang Town, Yanqing District, Beijing Patentee after: Beijing Junxinkang Traditional Chinese Medicine Planting Professional Cooperative Country or region after: China Address before: 230000 B-2704, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee before: HEFEI LONGZHI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |