CN111052944A - Grafting device - Google Patents
Grafting device Download PDFInfo
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- CN111052944A CN111052944A CN201911312893.2A CN201911312893A CN111052944A CN 111052944 A CN111052944 A CN 111052944A CN 201911312893 A CN201911312893 A CN 201911312893A CN 111052944 A CN111052944 A CN 111052944A
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- cutter
- clamping mechanism
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- 238000005520 cutting process Methods 0.000 claims abstract description 192
- 230000007246 mechanism Effects 0.000 claims abstract description 185
- 238000001179 sorption measurement Methods 0.000 claims description 14
- 238000003032 molecular docking Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 abstract description 5
- 240000007594 Oryza sativa Species 0.000 abstract description 4
- 235000007164 Oryza sativa Nutrition 0.000 abstract description 4
- 238000003475 lamination Methods 0.000 abstract description 4
- 235000009566 rice Nutrition 0.000 abstract description 4
- 241000196324 Embryophyta Species 0.000 description 7
- 241000219112 Cucumis Species 0.000 description 4
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 230000004083 survival effect Effects 0.000 description 4
- 230000000717 retained effect Effects 0.000 description 3
- 235000013311 vegetables Nutrition 0.000 description 3
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000009335 monocropping Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 244000241235 Citrullus lanatus Species 0.000 description 1
- 235000012828 Citrullus lanatus var citroides Nutrition 0.000 description 1
- 240000008067 Cucumis sativus Species 0.000 description 1
- 235000009849 Cucumis sativus Nutrition 0.000 description 1
- 241000208292 Solanaceae Species 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 230000006806 disease prevention Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
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- 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
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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
- A01G2/38—Holding; Ligating
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- Life Sciences & Earth Sciences (AREA)
- Botany (AREA)
- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
- Cultivation Of Plants (AREA)
Abstract
The invention relates to the technical field of grafting equipment and discloses a grafting type grafting device which comprises an operation platform, a scion clamping mechanism, a scion cutting mechanism, a stock cutting mechanism and a stock clamping mechanism, wherein the scion clamping mechanism is arranged on the operation platform; the scion clamping mechanism is used for horizontally clamping scion seedlings, the scion cutting mechanism is used for cutting stalks of the scion seedlings, and the scion cutting mechanism and the scion clamping mechanism can move back to back along the vertical direction; the stock clamping mechanism is used for horizontally clamping stock seedlings, the stock cutting mechanism is used for cutting growing points and cotyledons of the stock seedlings in a direction inclined to the horizontal plane, and the stock cutting mechanism and the stock clamping mechanism can move back to back in the vertical direction; the scion clamping mechanism and the stock clamping mechanism can move oppositely along the horizontal direction. The grafting type grafting device is simple in structure and convenient to operate, realizes standard cutting and high-precision butt joint and lamination of the rice seedling notches, and improves grafting efficiency and quality.
Description
Technical Field
The invention relates to the technical field of grafting equipment, in particular to a grafting type grafting device.
Background
Continuous cropping obstacles generally exist in fruit and vegetable facility cultivation, which cause yield reduction and even no harvest, the influence on melon crops (cucumbers, watermelons, melons and the like) is more serious compared with solanaceae crops, and the grafting technology is one of effective ways for solving the continuous cropping obstacles and soil-borne diseases of the melon vegetables at present. Grafting is one of the artificial propagation methods of plants, that is, grafting the branch or bud of one plant to the stem or root of another plant, so that the two parts which are connected together can grow into a complete plant. During grafting, the scion and the cambium of the stock are tightly combined to ensure the survival of the scion. The grafted branch or bud, called scion, becomes the upper part or top of the plant body after grafting; the grafted plant, called stock, becomes the root system of the plant after grafting.
The diameter of the stock seedling and the diameter of the scion seedling for grafting are both small, only a few millimeters, and the seedling is crisp, tender and delicate, so that the manual grafting consumes much energy. Moreover, the grafting technique mastered by each person is different in terms of key, manipulation and proficiency, so that high grafting quality and high survival rate are difficult to guarantee. Because the grafting is labor-consuming and time-consuming, the phenomenon of abandoning grafting cultivation occurs in some areas, and the disease prevention and treatment are realized by applying a large amount of pesticide. Therefore, not only are resources and properties wasted, but also vegetables are polluted and the ecological environment is destroyed. The manual vegetable grafting technology has low efficiency, high labor intensity and difficult guarantee of the survival rate of grafted seedlings, so the technology is far from being suitable for the requirements of agricultural production in China.
Disclosure of Invention
The embodiment of the invention provides a grafting device, which is used for solving the problems of low efficiency, time and labor waste, and difficulty in ensuring higher grafting quality and higher survival rate in the conventional manual grafting operation.
The embodiment of the invention provides a grafting device, which comprises an operation table, and a scion clamping mechanism, a scion cutting mechanism, a stock cutting mechanism and a stock clamping mechanism which are sequentially arranged on the operation table; the scion clamping mechanism is used for horizontally clamping scion seedlings, the scion cutting mechanism is used for cutting stalks of the scion seedlings, and the scion cutting mechanism and the scion clamping mechanism can move back to back along the vertical direction so as to enable the cut scion seedlings to be separated from a cutting station;
the stock clamping mechanism is used for horizontally clamping stock seedlings, the stock cutting mechanism is used for cutting cotyledons and growing points of the stock seedlings in a direction inclined to the horizontal plane, and the stock cutting mechanism and the stock clamping mechanism can move back to back in the vertical direction so as to enable the cut stock seedlings to be separated from a cutting station; the scion clamping mechanism and the stock clamping mechanism can move in the horizontal direction in opposite directions, so that the cut scion seedlings and the cut stock seedlings enter a docking station.
The stock cutting mechanism comprises an inclined support, a stock cutting support seat and a stock cutting telescopic assembly, wherein the stock cutting support seat and the stock cutting telescopic assembly are arranged along the inclined surface of the inclined support;
the telescopic end of the stock cutting telescopic component is fixedly connected with a stock cutter, and the stock cutter is driven by the stock cutting telescopic component to linearly move in a direction inclined to the horizontal plane so as to cut the growth point of the stock seedling and the cotyledon positioned on one side of the growth point of the stock seedling.
The stock cutting supporting seat is provided with a leaf surface positioning block on one side deviating from the stock cutter, the leaf surface positioning block faces towards one end of the stock seedling and is an arc-shaped surface, and cotyledon adsorption holes are formed in the arc-shaped surface so as to adsorb cotyledons to be reserved.
The scion cutting mechanism comprises a fixed seat, and a scion cutting unit and a feed seat which are oppositely arranged on the fixed seat, wherein the scion cutting unit comprises a scion cutting telescopic component and a scion cutter which is rotatably arranged at the telescopic end of the scion cutting telescopic component; the cutter walking seat is provided with a cutter walking groove and can be rotatably arranged on the fixed seat, and the rotating axis of the cutter walking seat is parallel to the rotating axis of the scion cutter so that the scion cutter extends into the cutter walking groove.
The scion cutting unit further comprises a first rotating motor, a shell of the first rotating motor is fixedly connected to the telescopic end of the scion cutting telescopic assembly, and an output shaft of the first rotating motor is connected to the scion cutter.
The scion cutting unit further comprises a scion cutter holder, one end of the scion cutter holder is sleeved on the output shaft of the first rotating motor, and the other end of the scion cutter holder is detachably connected to the scion cutter.
The scion cutting device is characterized by further comprising a seedling feeding seat arranged on the fixed seat, the seedling feeding seat and the scion clamping mechanism are oppositely arranged on two sides of the advancing and retreating track of the scion cutter, and a seedling feeding groove used for placing scion seedlings is formed in the seedling feeding seat.
Wherein, the bottom of the seedling feeding groove is provided with a scion seedling stem adsorption hole.
The scion clamping mechanism and the stock clamping mechanism comprise pushing components and pneumatic fingers arranged at the pushing ends of the pushing components, and the pneumatic fingers are used for clamping the scion seedlings or the stock seedlings.
The scion clamping mechanism and/or the scion cutting mechanism are/is arranged on the operating platform through a first lifting mechanism, and the stock clamping mechanism and/or the stock cutting mechanism are/is arranged on the operating platform through a second lifting mechanism.
The grafting device comprises an operation table, and a scion clamping mechanism, a scion cutting mechanism, a stock cutting mechanism and a stock clamping mechanism which are sequentially arranged, wherein scion seedlings are horizontally clamped by the scion clamping mechanism, and stalks of the scion seedlings are cut by the scion cutting mechanism; the stock seedling is horizontally clamped by the stock clamping mechanism, the stock cutting mechanism is utilized to cut the growth point and the cotyledon of the stock seedling in the direction inclined to the horizontal plane, a notch is formed at the growth point, then the scion clamping mechanism and the stock clamping mechanism are mutually close along the horizontal direction, the stem notch of the scion seedling is attached to the growth point notch of the stock seedling, and the grafting operation is completed. The grafting type grafting device is simple in structure and convenient to operate, realizes standard cutting and high-precision butt joint and lamination of the rice seedling notches, and improves grafting efficiency and quality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a grafting device according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of the cut butt joint of scion seedlings and rootstock seedlings in an embodiment of the present invention;
fig. 3 is a schematic structural view of the rootstock cutting mechanism and the rootstock clamping mechanism in the embodiment of the invention;
fig. 4 is a schematic structural diagram of the rootstock cutting mechanism and the rootstock clamping mechanism in another view angle in the embodiment of the invention;
fig. 5 is a front view of the rootstock cutting mechanism and the rootstock holding mechanism in the embodiment of the present invention;
FIG. 6 is a schematic view of the stock cutting mechanism after cutting is completed in an embodiment of the invention;
FIG. 7 is a schematic structural view of a rootstock cutting support seat in the embodiment of the present invention;
fig. 8 is a front view of the rootstock cutting support seat in fig. 7;
FIG. 9 is a schematic structural view of a scion cutting mechanism in an embodiment of the present invention;
FIG. 10 is an enlarged view of a portion of the scion cutting mechanism in an embodiment of the present invention;
FIG. 11 is a schematic view of FIG. 10 from another perspective;
FIG. 12 is a schematic view of FIG. 10 from yet another perspective;
FIG. 13 is a schematic structural view of a scion holder according to an embodiment of the present invention;
FIG. 14 is a side view of the scion seat of FIG. 13;
fig. 15 is a schematic structural view of a feeder base in an embodiment of the present invention;
FIG. 16 is a side view of the blade carrier of FIG. 15;
description of reference numerals:
1. an operation table; 2. A scion clamping mechanism; 21. A scion pushing assembly;
22. a first pneumatic finger; 23. A scion clamping hand; 24. Grafting ears and stalk supports;
3. a scion cutting mechanism; 31. A fixed seat; 32. A scion cutting unit;
321. a scion cutting telescopic assembly; 3211. cutting the telescopic end of the scion;
322. a scion cutter; 323. A first rotating electric machine; 324. A scion knife holder;
3241. a first shaft mounting hole; 3242. Blocking edges; 3243. A scion cutter fixing hole;
325. a slide rail; 326. A slider; 33. A tool walking seat;
331. the walking knife seat is supported; 332. A chute; 333. A second rotating shaft mounting hole;
334. a second rotating electric machine; 34. Planting a seedling seat; 341. An adsorption joint;
4. a stock cutting mechanism; 41. An inclined support; 42. A stock cutting support seat;
421. leaf surface positioning blocks; 422. Cotyledon adsorption pores; 423. A suction hole;
424. a growing point support plate; 425. A stock cutter accommodating groove;
43. a stock cutting telescopic component; 431. Cutting a telescopic end of the stock; 44. A stock cutter;
5. a stock clamping mechanism; 51. A rootstock pushing assembly; 52. A second pneumatic finger;
53. a rootstock soil lump supporting plate; 6. Grafting scion seedlings; 7. Stock seedlings;
71. growing points; 72. Cotyledons to be cut; 73. Cotyledons to be retained;
8. a first lifting mechanism; 9. And a second lifting mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "first" and "second" are used for the sake of clarity in describing the numbering of the components of the product and do not represent any substantial difference, unless explicitly stated or limited otherwise. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
It is to be understood that, unless otherwise expressly specified or limited, the term "coupled" is used broadly, and may, for example, refer to directly coupled devices or indirectly coupled devices through intervening media. Specific meanings of the above terms in the embodiments of the invention will be understood to those of ordinary skill in the art in specific cases.
As shown in fig. 1 to 6, the grafting device of the grafting type according to the embodiment of the present invention includes an operation table 1, and a scion clamping mechanism 2, a scion cutting mechanism 3, a rootstock cutting mechanism 4 and a rootstock clamping mechanism 5 sequentially mounted on the operation table 1. The scion clamping mechanism 2 is used for horizontally clamping scion seedlings 6, the scion cutting mechanism 3 is used for cutting stalks of the scion seedlings 6, and the scion cutting mechanism 3 and the scion clamping mechanism 2 can move back to back along the vertical direction so that the cut scion seedlings 6 are separated from the cutting station.
The stock clamping mechanism 5 is used for horizontally clamping the stock seedlings 7, the stock cutting mechanism 4 is used for cutting growing points 71 of the stock seedlings 7 and cotyledons 72 to be cut in a direction inclined to the horizontal plane, and the stock cutting mechanism 4 and the stock clamping mechanism 5 can move back to back in the vertical direction so that the cut stock seedlings 7 are separated from a cutting station.
The scion clamping mechanism 2 and the stock clamping mechanism 5 can move oppositely along the horizontal direction, so that cut scion seedlings 6 and cut stock seedlings 7 enter a docking station.
Specifically, the scion seedling 6 can be horizontally placed on the scion clamping mechanism 2 and clamped by the scion clamping mechanism 2, the scion clamping mechanism 2 can horizontally translate along the horizontal direction, the scion seedling 6 is driven to be close to the scion cutting mechanism 3 and enters a scion cutting station, and the stem of the scion seedling 6 is cut by the scion cutting mechanism 3 to form an incision. The scion clamping mechanism 2 and/or the scion cutting mechanism 3 can move up and down along the direction vertical to the plane of the operating platform 1, so that the scion clamping mechanism 2 and the scion cutting mechanism 3 can be staggered up and down, and therefore when the scion clamping mechanism 2 is level with the scion cutting mechanism 3, the scion seedlings 6 can enter a cutting station to be cut; after cutting, the scion clamping mechanism 2 and the scion cutting mechanism 3 are driven to be staggered up and down, and further the cut scion seedlings 6 are separated from the cutting station. In the present embodiment, the case where the scion cutting mechanism 3 moves downward is described as an example, and the scion holding mechanism 2 may be moved upward, or the scion cutting mechanism 3 may move upward and the scion holding mechanism 2 may horizontally pass through the lower region of the scion cutting mechanism 3.
The stock seedling 7 can be horizontally placed on the stock clamping mechanism 5 and clamped by the stock clamping mechanism 5, the stock clamping mechanism 5 can horizontally translate along the horizontal direction, the stock seedling 7 is driven to be close to the stock cutting mechanism 4 and enters a stock cutting station, the stock cutting mechanism 4 cuts a growing point 71 of the stock seedling 7 and cotyledon 72 to be cut in the direction inclined to the horizontal plane, and the growing point of the stock seedling 7 is cut by the stock cutting mechanism 4 to form a cut. In the present embodiment, the example in which the rootstock cutting mechanism 4 cuts the cotyledon located above the growing point 71 from the lower left to the upper right is described, and the rootstock cutting mechanism 4 may cut the cotyledon located below the growing point 71 from the upper left to the lower right. The stock clamping mechanism 5 and/or the stock cutting mechanism 4 can move up and down along the direction vertical to the plane of the operating platform 1, so that the stock clamping mechanism 5 and the stock cutting mechanism 4 can be staggered up and down, and when the cutting station of the stock cutting mechanism 4 abuts against the growing point 71 of the stock seedling 7 clamped by the stock clamping mechanism 5, the cotyledon of the stock seedling 7 can be cut; after cutting is finished, the stock clamping mechanism 5 and the stock cutting mechanism 4 are driven to be vertically staggered, and then cut stock seedlings 7 are separated from a cutting station. In the present embodiment, the rootstock cutting mechanism 4 is exemplified to move downward, and in addition, the rootstock holding mechanism 5, or the rootstock cutting mechanism 4 may move upward and the rootstock holding mechanism 5 may horizontally pass through the lower region of the rootstock cutting mechanism 4.
As shown in fig. 2, after the scion seedling 6 and the stock seedling 7 are both cut, the scion cutting mechanism 3 and the stock cutting mechanism 4 move downward, the scion seedling 6 is clamped by the scion clamping mechanism 2 and moves rightward, the stock seedling 7 is clamped by the stock clamping mechanism 5 and moves leftward, and finally the cut of the scion seedling 6 is butted and attached to the cut of the stock seedling 7, so that grafting is completed.
The grafting device comprises an operation table, and a scion clamping mechanism, a scion cutting mechanism, a stock cutting mechanism and a stock clamping mechanism which are sequentially arranged, wherein scion seedlings are horizontally clamped by the scion clamping mechanism, and stems of the scion seedlings are cut by the scion cutting mechanism; the stock seedling is horizontally clamped by the stock clamping mechanism, the stock cutting mechanism is utilized to cut the growth point and the cotyledon of the stock seedling in the direction inclined to the horizontal plane, a notch is formed at the growth point, then the scion clamping mechanism and the stock clamping mechanism are mutually close along the horizontal direction, the stem notch of the scion seedling is attached to the growth point notch of the stock seedling, and the grafting operation is completed. The grafting type grafting device is simple in structure and convenient to operate, realizes standard cutting and high-precision butt joint and lamination of the rice seedling notches, and improves grafting efficiency and quality. Is especially suitable for grafting melons.
Further, as shown in fig. 2 to 6, the rootstock cutting mechanism 4 includes an inclined support 41, and a rootstock cutting support 42 and a rootstock cutting telescopic assembly 43 which are installed along an inclined plane of the inclined support 41, wherein one end of the rootstock cutting support 42 facing the rootstock clamping mechanism 5 is used for abutting against a growing point 71 of the rootstock seedling 7. The telescopic end (i.e., the stock cutting telescopic end 431) of the stock cutting telescopic assembly 43 is fixedly connected with a stock cutter 44, and the stock cutter 44 is driven by the stock cutting telescopic assembly 43 to linearly move in a direction inclined to the horizontal plane so as to cut off the growth point 71 and cotyledons positioned on one side of the growth point 71 of the stock seedling 7. In this embodiment, the cotyledon positioned above the growth point 71 of the stock seedling 7, i.e., the cotyledon 72 to be cut, is cut as an example.
Specifically, the inclined surface of the inclined support 41 is disposed at an angle to the horizontal surface, and the angle can match with the cutting inclination of the scion cutting mechanism 3. As shown in fig. 3 to 5, before cutting, the stock cutting support seat 42 is abutted against the growth point 71 of the stock seedling 7; then, as shown in fig. 6, the stock cutting telescopic end 431 is driven to extend out of the stock cutting telescopic assembly 43 along the inclined surface of the inclined support 41, and the stock cutter 44 is driven to cut off the cotyledon 72 to be cut. Through the rootstock cutting mechanism 4 which is obliquely arranged, the cotyledon 72 and the growing point 71 to be cut can be completely cut off, the remained cotyledon 73 can not be damaged, and the rootstock cutting quality is improved.
Further, as shown in fig. 7 and 8, a leaf surface positioning block 421 is disposed on one side of the stock cutting support seat 42 away from the stock cutter 44, one end of the leaf surface positioning block 421 facing the stock seedling 7 is an arc surface, and cotyledon adsorption holes 422 are disposed on the arc surface to adsorb the cotyledon 73 to be retained. As shown in fig. 6, the arc surface can be designed into a profiling surface similar to the leaf surface of the cotyledon 73 to be retained, the inside of the leaf surface positioning block 421 is hollow, a plurality of cotyledon adsorption holes 422 are formed in the arc surface, the cotyledon adsorption holes 422 are communicated with the inner cavity of the leaf surface positioning block 421, meanwhile, the side surface of the leaf surface positioning block 421 is also provided with an air suction hole 423, the air suction hole 423 is also communicated with the inner cavity of the leaf surface positioning block 421, the air suction hole 423 can be connected to an external vacuum pump through an adsorption joint, a negative pressure cavity is formed in the inner cavity of the leaf surface positioning block 421, and the adsorption positioning of the cotyle. The stability and the accuracy of cutting the cotyledon of the stock seedling 7 can be further improved by arranging the leaf surface positioning block 421, and the cotyledon 73 to be reserved is not damaged while the growing point 71 and the cotyledon 72 to be cut are completely cut off.
Further, as shown in fig. 7 and 8, the stock cutting support seat 42 is further provided with a growing point support plate 424 and a stock cutter accommodating groove 425 formed between the growing point support plate 424 and the leaf surface positioning block 421. The end of the growth point support plate 424 is slightly longer than the upper end of the arc-shaped surface of the leaf surface positioning block 421, and the end of the growth point support plate 424 is pointed, so that the growth point 71 can be tightly pressed by the end of the growth point support plate 424. The extension direction of the stock cutter accommodating groove 425 is parallel to the length direction of the growing point supporting plate 424 and also parallel to the inclined plane of the inclined support 41, so that when the stock cutter 44 performs cutting operation, the stock cutter accommodating groove 425 can play a role in guiding, and the cutter is guaranteed to move forward along a straight line all the time.
Furthermore, the inclined support 41 can be mounted on the operating platform 1 through a sliding table, a three-dimensional moving platform or a rotating motor, so as to change the included angle between the inclined support 41 and the horizontal plane, and can be linked with an angle adjusting mechanism of the scion cutting unit 32.
Further, as shown in fig. 9 to 12, the scion cutting mechanism 3 includes a fixed seat 31, and a scion cutting unit 32 and a knife carriage 33 oppositely disposed on the fixed seat 31, wherein the scion cutting unit 32 includes a scion cutting telescopic assembly 321 and a scion cutter 322 rotatably mounted at a telescopic end (i.e., a scion cutting telescopic end 3211) of the scion cutting telescopic assembly 321. The blade carrier 33 is provided with a blade passing groove 332, the blade carrier 33 is rotatably mounted on the fixed seat 31, and the rotation axis of the blade carrier 33 is parallel to the rotation axis of the scion cutter 322, so that the scion cutter 322 extends into the blade passing groove 332.
Specifically, the fixed seat 31 may be a long-strip-shaped flat plate structure, the scion cutting unit 32 and the blade seat 33 are oppositely disposed on the fixed seat 31 along the length direction of the fixed seat 31, and the cutting edge of the scion cutter 322 corresponds to the blade passing groove 332 of the blade seat 33. The scion cutting telescopic assembly 321 can adopt a cylinder piston structure, an electric push rod or a linear motor and the like. When the telescopic end (i.e., the scion cutting telescopic end 3211) of the scion cutting telescopic assembly 321 is in the retracted state, the scion cutter 322 and the trough 332 are spaced apart by a distance, the scion seedling 6 can be placed between the scion cutter 322 and the trough 332 and on the advancing and retreating track of the scion cutter 322, and the stem of the scion seedling 6 can be arranged at an included angle with the advancing and retreating track of the scion cutter 322. When the telescopic end (i.e., the scion cutting telescopic end 3211) of the scion cutting telescopic assembly 321 is in an extended state, the scion cutter 322 extends into the chute 332, so that the stalk of the scion seedling 6 can be cut off in the process that the scion cutter 322 advances (or extends), and the cutting operation is completed.
The fixed end of the scion cutter 322 is rotatably arranged at the scion cutting telescopic end 3211 and can be rotatably connected through a motor; a plurality of positioning grooves corresponding to different angles can be formed in the scion cutting telescopic end 3211 along the rotation circumferential direction of the scion cutter 322, a positioning lug matched with the positioning groove is arranged at the fixed end of the scion cutter 322, and the angle can be adjusted by inserting the positioning lug into different positioning grooves; the fixed end of the scion cutter 322 can be connected to the scion cutting telescopic end 3211 through threads, and the angle can be adjusted through screwing in at different degrees. In addition, the knife carriage 33 can be mounted on the fixing base 31 through the knife carriage support 331, and the connection manner between the knife carriage 33 and the knife carriage support 331 can be the same as the connection manner between the scion cutter 322 and the scion cutting telescopic end 3211.
By rotatably mounting the scion cutter 322 at the scion cutting telescopic end 3211 and rotatably mounting the blade carrier 33 at the fixing base 31, the cutting angle can be adjusted in time according to the cutting angle required by the grafted seedling without replacing the whole set of cutter and blade carrier.
Further, as shown in fig. 9 to 12, the scion cutting unit 32 further includes a first rotating motor 323, a housing of the first rotating motor 323 is fixedly connected to the scion cutting telescopic end 3211, and an output shaft of the first rotating motor 323 is connected to the scion cutter 322. Specifically, the first rotating motor 323 may employ a stepping motor, a servo motor, or a steering engine. When the step driver receives a pulse signal, it drives the step motor to rotate a fixed angle in the set direction, called as "step angle", and its rotation runs step by step at a fixed angle, and can control the angular displacement by controlling the number of pulses, so as to achieve the purpose of accurate positioning. The servo motor is a motor for controlling mechanical elements to operate in a servo system, and is in closed-loop control, namely the running state of the motor is fed back in real time through a sensor, and is adjusted in real time through a control chip, so that received electric signals can be converted into angular displacement or angular velocity on a motor shaft for output. The steering engine can be regarded as a simple servo motor and comprises a small direct current motor, a sensor, a control chip and a reduction gear set, and an integrated shell is assembled. The rotation angle can be controlled by an input signal (typically, a PWM signal, or a digital signal), and a potentiometer is generally used as an angle sensor. The stepping motor, the servo motor and the steering engine can be directly purchased from the market according to the use requirements.
Further, as shown in fig. 13 to 14, the scion cutting unit 32 further includes a scion cutter holder 324, one end of the scion cutter holder 324 is sleeved on the output shaft of the first rotating motor 323, and the other end of the scion cutter holder 324 is detachably connected to the scion cutter 322. Specifically, the scion blade holder 324 comprises a half cylinder and a first cylinder which are connected, two edges of a side plane of the half cylinder are provided with flanges 3242, the middle part of the half cylinder is provided with a scion cutter fixing hole 3243 in a radial direction, and the knob penetrates through the fixing end of the scion cutter 322 and then is screwed into the cutter scion cutter fixing hole 3243, so that the scion cutter 322 is fixed between the two flanges 3242. The first cylinder axially penetrates through a first rotating shaft mounting hole 3241, and the first rotating shaft mounting hole 3241 can be fixedly sleeved with an output shaft of the first rotating motor 323 through fixing pieces such as splines or flat keys. The first rotating motor 323 drives the scion knife seat 324 to rotate, and further drives the scion cutter 322 to rotate.
Further, as shown in fig. 9 to 12, the device further includes a second rotating motor 334, a housing of the second rotating motor 334 is fixed to the fixing base 31, and an output shaft of the second rotating motor 334 is connected to the carriage base 33. Specifically, as shown in fig. 15 and 16, the tool apron seat 33 includes a rectangular parallelepiped and a second cylinder connected to each other, the tool-passing groove 332 is provided on the rectangular parallelepiped, the second cylinder axially penetrates through a second rotating shaft mounting hole 333, and the second rotating shaft mounting hole 333 may be fixed to an output shaft of the second rotating motor 334 by a fixing member such as a spline or a flat key. The second rotation motor 334 may be a stepping motor, a servo motor, or a steering engine.
Furthermore, as shown in fig. 9 to 12, the scion cutting unit 32 further includes a slide rail 325 fixedly connected to the fixing base 31, a slide block 326 is slidably disposed on the slide rail 325, a sliding direction of the slide block 326 is parallel to a telescopic direction of the scion cutting telescopic assembly 321, and the slide block 326 is connected to the scion cutting telescopic end 3211. The sliding rail 325 can limit the telescopic track of the scion cutting telescopic end 3211 to be always kept on a straight line, and the consistency of cutting each time is ensured.
Furthermore, as shown in fig. 9 to 12, the seedling feeder further comprises a seedling feeding seat 34 installed on the fixing seat 31, the seedling feeding seat 34 and the scion clamping mechanism 2 are relatively arranged on two sides of the advancing and retreating track of the scion cutter 322, and a seedling feeding groove for placing the scion seedling 6 is formed on the seedling feeding seat 34. Specifically, the seedling feeding groove is a V-shaped groove, and the extending direction of the seedling feeding groove is perpendicular to the advancing and retreating trajectory of the scion cutter 322.
Furthermore, the bottom of the seedling feeding groove is provided with a scion seedling stem adsorption hole. The seedling feeding seat 34 is also provided with an air suction hole communicated with the scion seedling stem adsorption hole, and the air suction hole is used for being communicated with an outlet of a vacuum pump. Specifically, the suction hole may be connected to an outlet of the vacuum pump through the suction joint 341 and the connection hose.
Further, the scion clamping mechanism 2 and the stock clamping mechanism 5 both comprise a pushing assembly and pneumatic fingers arranged at the pushing end of the pushing assembly, and the pneumatic fingers are used for clamping the scion seedlings 6 or the stock seedlings 7. Specifically, as shown in fig. 2, the rootstock clamping mechanism 5 comprises a rootstock pushing assembly 51 and a second pneumatic finger 52 installed at the pushing end of the rootstock pushing assembly 51, and the second pneumatic finger 52 clamps the rootstock seedling 7. The stock fixture 5 further comprises a stock soil lump supporting plate 53 horizontally arranged, and the stock soil lump supporting plate 53 is arranged in a V shape to fix the stock soil lumps.
As shown in fig. 9 to 12, the scion holding mechanism 2 comprises a scion pushing assembly 21 and a first pneumatic finger 22 mounted at the pushing end of the scion pushing assembly 21, wherein the first pneumatic finger 22 is provided with a scion holding hand 23 for holding the scion seedling 6. Specifically, the scion pushing assembly 21 may adopt a cylinder piston structure, an electric push rod or a linear motor, etc. The pushing direction of the scion pushing assembly 21 is perpendicular to the advancing and retreating direction of the scion cutter 322. The scion clamping mechanism 2 further comprises a scion stem support 24 arranged on one side of the first pneumatic finger 22 departing from the upper seedling seat 34, and the scion stem support 24 is arranged at the pushing end of the scion pushing component 21 to support the scion seedling 6 to be in a horizontal state. Specifically, the top of the scion stem support 24 may also be provided with a V-shaped groove, and the bottom of the V-shaped groove of the scion stem support 24 may also be provided with a vacuum adsorption hole.
Further, the scion clamping mechanism 2 and/or the scion cutting mechanism 3 are/is mounted on the operating platform 1 through a first lifting mechanism 8, and the stock clamping mechanism 5 and/or the stock cutting mechanism 4 are/is mounted on the operating platform 1 through a second lifting mechanism 9. The first lifting mechanism 8 is used for changing the relative height of the scion clamping mechanism 2 and the scion cutting mechanism 3, and the second lifting mechanism 9 is used for changing the relative height of the stock clamping mechanism 5 and the stock cutting mechanism 4, so that preparation is made for a subsequent grafting process.
According to the embodiment, the grafting device comprises the operating platform, and the scion clamping mechanism, the scion cutting mechanism, the stock cutting mechanism and the stock clamping mechanism which are sequentially arranged, wherein the scion clamping mechanism is used for horizontally clamping scion seedlings, and the scion cutting mechanism is used for cutting stalks of the scion seedlings; the stock seedling is horizontally clamped by the stock clamping mechanism, the stock cutting mechanism is utilized to cut the growth point and the cotyledon of the stock seedling in the direction inclined to the horizontal plane, a notch is formed at the growth point, then the scion clamping mechanism and the stock clamping mechanism are mutually close along the horizontal direction, the stem notch of the scion seedling is attached to the growth point notch of the stock seedling, and the grafting operation is completed. The grafting type grafting device is simple in structure and convenient to operate, realizes standard cutting and high-precision butt joint and lamination of the rice seedling notches, and improves grafting efficiency and quality.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A grafting device is characterized by comprising an operation platform, and a scion clamping mechanism, a scion cutting mechanism, a stock cutting mechanism and a stock clamping mechanism which are sequentially arranged on the operation platform; the scion clamping mechanism is used for horizontally clamping scion seedlings, the scion cutting mechanism is used for cutting stalks of the scion seedlings, and the scion cutting mechanism and the scion clamping mechanism can move back to back along the vertical direction so as to enable the cut scion seedlings to be separated from a cutting station;
the stock clamping mechanism is used for horizontally clamping stock seedlings, the stock cutting mechanism is used for cutting cotyledons and growing points of the stock seedlings in a direction inclined to the horizontal plane, and the stock cutting mechanism and the stock clamping mechanism can move back to back in the vertical direction so as to enable the cut stock seedlings to be separated from a cutting station; the scion clamping mechanism and the stock clamping mechanism can move in the horizontal direction in opposite directions, so that the cut scion seedlings and the cut stock seedlings enter a docking station.
2. The grafting device according to claim 1, wherein the stock cutting mechanism comprises an inclined support, and a stock cutting support and a stock cutting telescopic assembly which are arranged along the inclined surface of the inclined support, and one end of the stock cutting support facing the stock clamping mechanism is used for supporting against the growing point of the stock seedling;
the telescopic end of the stock cutting telescopic component is fixedly connected with a stock cutter, and the stock cutter is driven by the stock cutting telescopic component to linearly move in a direction inclined to the horizontal plane so as to cut the growth point of the stock seedling and the cotyledon positioned on one side of the growth point of the stock seedling.
3. The grafting device according to claim 2, wherein a leaf surface positioning block is arranged on a side of the stock cutting support seat away from the stock cutter, one end of the leaf surface positioning block facing the stock seedling is an arc-shaped surface, and cotyledon adsorption holes are formed in the arc-shaped surface so as to adsorb cotyledons to be reserved.
4. The grafting device according to claim 1, wherein the scion cutting mechanism comprises a fixed base, and a scion cutting unit and a feed base which are oppositely arranged on the fixed base, the scion cutting unit comprises a scion cutting telescopic assembly and a scion cutter rotatably mounted at a telescopic end of the scion cutting telescopic assembly; the cutter walking seat is provided with a cutter walking groove and can be rotatably arranged on the fixed seat, and the rotating axis of the cutter walking seat is parallel to the rotating axis of the scion cutter so that the scion cutter extends into the cutter walking groove.
5. The grafting device of claim 4, wherein the scion cutting unit further comprises a first rotating motor, a housing of the first rotating motor is fixedly connected to the telescopic end of the scion cutting telescopic assembly, and an output shaft of the first rotating motor is connected to the scion cutter.
6. The grafting device according to claim 5, wherein the scion cutting unit further comprises a scion cutter holder, one end of the scion cutter holder is sleeved on the output shaft of the first rotating motor, and the other end of the scion cutter holder is detachably connected to the scion cutter.
7. The grafting device according to claim 4, further comprising a seedling feeding seat mounted on the fixing seat, wherein the seedling feeding seat and the scion clamping mechanism are oppositely arranged on two sides of the advancing and retreating track of the scion cutter, and a seedling feeding groove for placing the scion seedling is formed in the seedling feeding seat.
8. The grafting device of claim 7, wherein the bottom of the seedling feeding groove is provided with a scion seedling stem adsorption hole.
9. The grafting device according to claim 1, wherein each of the scion and stock gripping mechanisms comprises a pushing assembly and pneumatic fingers mounted to a pushing end of the pushing assembly for gripping the scion or stock.
10. The grafting device according to any one of claims 1 to 9, wherein the scion holding means and/or the scion cutting means is/are mounted to the operating platform by a first lifting means, and the rootstock holding means and/or the rootstock cutting means is/are mounted to the operating platform by a second lifting means.
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| CN201911312893.2A CN111052944B (en) | 2019-12-18 | 2019-12-18 | Sticking grafting device |
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|---|---|---|---|
| CN201911312893.2A CN111052944B (en) | 2019-12-18 | 2019-12-18 | Sticking grafting device |
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| CN111052944A true CN111052944A (en) | 2020-04-24 |
| CN111052944B CN111052944B (en) | 2024-05-10 |
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| CN111386881A (en) * | 2020-05-02 | 2020-07-10 | 北京市农业技术推广站 | Cutting device for grafting melon seedling stock by grafting method |
| CN112042411A (en) * | 2020-09-21 | 2020-12-08 | 和县鑫发农业发展有限公司 | Grafting device for muskmelon seedling cultivation and implementation method thereof |
| CN112772200A (en) * | 2021-01-21 | 2021-05-11 | 浙江大学 | Vegetable seedling growing point removing device |
| CN114847019A (en) * | 2022-04-20 | 2022-08-05 | 重庆武陵山油茶研究院有限公司 | Harmless accurate flexible butt joint tea-oil camellia seedling grafting equipment |
| RU2815578C1 (en) * | 2023-03-06 | 2024-03-19 | Федеральное государственное автономное образовательное учреждение высшего образования "Крымский федеральный университет имени В.И. Вернадского" | Grafting unit |
| CN117751783A (en) * | 2024-01-19 | 2024-03-26 | 北京市农林科学院智能装备技术研究中心 | Grafting device and grafting method based on UV adhesive |
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