CN115211294A - Joint grafting equipment and method for seedling grafting - Google Patents
Joint grafting equipment and method for seedling grafting Download PDFInfo
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- CN115211294A CN115211294A CN202210760309.5A CN202210760309A CN115211294A CN 115211294 A CN115211294 A CN 115211294A CN 202210760309 A CN202210760309 A CN 202210760309A CN 115211294 A CN115211294 A CN 115211294A
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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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/32—Automatic apparatus therefor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/35—Cutting; Inserting
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Abstract
The invention discloses a conjunction device and a method for seedling grafting, which relate to the technical field of seedling grafting and comprise an auxiliary seedling conveying disc arranged at one end of a conveying mechanism and a main seedling conveying disc arranged at the other end of the conveying mechanism, wherein a seedling cutting mechanism is arranged at the middle section of the conveying mechanism, and a grafting clamp is arranged in the seedling cutting mechanism; the main seedling conveying disc and the auxiliary seedling conveying disc are respectively provided with a plurality of seedling placing chambers in the circumferential direction, and the main seedling conveying disc and the auxiliary seedling conveying disc are provided with seedling pushing mechanisms corresponding to the conveying mechanisms; and a first detection camera is arranged on one side of the auxiliary seedling conveying disc, a second detection camera is arranged on one side of the main seedling conveying disc, the second detection camera is used for acquiring the seedling information output by the main seedling conveying disc, and when the first detection camera detects information matched with the seedling information, a pushing mechanism of the auxiliary seedling conveying disc pushes out the seedlings corresponding to the seedling placing chambers. The invention can automatically realize the grafting of the nursery stock and shorten the grafting period; and the grafted nursery stock can meet the requirements, and the grafting matching degree is improved.
Description
Technical Field
The invention relates to the technical field of seedling grafting, in particular to a joint grafting device and method for seedling grafting.
Background
The traditional grafting mode is mainly to use grafting pincers to graft through the manual work, no matter from nursery stock selection or grafting process, has all increased the grafting time, and grafting efficiency is also lower. Currently, there are devices that can be grafted automatically, for example: CN106034759A discloses an automatic seedling grafting device, which comprises a seedling grafting fixing layer, wherein an upper bonding layer and a lower bonding layer are respectively arranged on the upper part and the lower part of the seedling grafting fixing layer, an upper grafting medicine layer and a lower grafting medicine layer are respectively arranged on the upper part of the upper bonding layer and the lower part of the lower bonding layer, a bonding binding layer and an air filter layer are respectively arranged on the upper part of the upper grafting medicine layer and the lower part of the lower grafting medicine layer, a plurality of upper grafting binding ropes are connected between the upper grafting medicine layer and the upper bonding layer, and a plurality of lower grafting binding ropes are connected between the lower grafting medicine layer and the lower bonding layer. This scheme is fit for forming the nursery stock after corresponding the incision, and fixes through tying up the rope, and the whole function of equipment is more restricted, and efficiency is lower relatively.
CN102805007A discloses a seedling grafting machine and a grafting method thereof, which consists of a workbench, a cutting and jointing device and a seedling positioning device, wherein two sets of seedling fixing components respectively consist of a fixing plate, a spring and a movable plate, the inner sides of the fixing plates of the two sets of seedling fixing components are arranged on the same plane and fixed on the workbench, the spring is connected with the fixing plate and the movable plate, and the movable plate is fixed in a reserved chute on the workbench through a sliding pin and a lock catch on the movable plate; the two sets of seedling pushing components are respectively composed of a driving device and a pushing plate; the cutting and joining device is mainly composed of a cutting member and a joining member. Although the scheme can cut to form the cut, the butted nursery stock can not meet the requirements.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the scissoring device and the method for seedling grafting, which can automatically realize the grafting of seedlings and shorten the grafting period; and the grafted nursery stock can meet the requirements, and the grafting matching degree is improved.
In order to realize the purpose, the invention is realized by the following technical scheme:
in a first aspect, an embodiment of the present invention provides a grafting and grafting device for seedling grafting, including an auxiliary seedling feeding tray arranged at one end of a conveying mechanism, and a main seedling feeding tray arranged at the other end of the conveying mechanism, wherein a seedling cutting mechanism is arranged at the middle section of the conveying mechanism, and a grafting clamp is arranged in the seedling cutting mechanism; the main seedling conveying disc and the auxiliary seedling conveying disc are respectively provided with a plurality of seedling placing chambers in the circumferential direction, and the main seedling conveying disc and the auxiliary seedling conveying disc are provided with seedling pushing mechanisms corresponding to the conveying mechanisms;
and a first detection camera is arranged on one side of the auxiliary seedling conveying disc, a second detection camera is arranged on one side of the main seedling conveying disc, the second detection camera is used for acquiring the seedling information output by the main seedling conveying disc, and when the first detection camera detects information matched with the seedling information, a pushing mechanism of the auxiliary seedling conveying disc pushes out the seedlings corresponding to the seedling placing chambers.
As a further implementation mode, the main seedling conveying disc and the auxiliary seedling conveying disc respectively comprise disc bodies, and planetary wheel transmission mechanisms are installed on the inner sides of the disc bodies;
the seedling placing chamber is provided with openable separation blades corresponding to the outer circumference of the tray body.
As a further implementation mode, the seedling pushing mechanism comprises a seedling pushing power assembly and a seedling pushing component arranged in the seedling placing chamber, the main seedling conveying disc and/or the auxiliary seedling conveying disc rotate to the seedling pushing power assembly, and the seedling pushing component is pushed by the seedling pushing power assembly to extend out.
As a further implementation mode, a spring is arranged between the seedling pushing component and the inner wall of the tray body; the seedling pushing power assembly comprises a cam and a motor connected with the cam.
As a further implementation mode, the auxiliary seedling feeding disks are at least two layers, and the auxiliary seedling feeding disks of all the layers are connected through a lead screw transmission mechanism.
As a further implementation mode, the seedling cutting mechanism comprises an installation plate and two cutting knives arranged on one side of the installation plate, each cutting knife corresponds to one pneumatic gripper, and the two pneumatic grippers move synchronously.
As a further implementation mode, the two pneumatic grippers are respectively connected with the horizontal screw rod through the moving block, and the rotation directions of the two horizontal screw rods are opposite; one of them pneumatic tongs is located the cutting knife upside, and another pneumatic tongs is located the cutting knife downside.
As a further implementation mode, the two cutting knives are positioned on the same horizontal plane and correspond to the conveying mechanism.
In a second aspect, an embodiment of the present invention further provides a working method of a scissoring device for seedling grafting, including:
the seedling pushing mechanism corresponding to the main seedling conveying disc pushes the seedlings to the conveying mechanism, and the second detection camera acquires seedling information and sends the seedling information to the processor;
the first detection camera acquires the seedling information in the auxiliary seedling conveying disc, sends the information to the processor, and judges whether the information is matched with the information acquired by the second detection camera through the processor; when the information is matched, the pushing mechanism pushes out the seedlings in the auxiliary seedling conveying disc;
the pneumatic gripper respectively grips the nursery stocks at two ends and cuts the nursery stocks by a cutting knife; the two pneumatic grippers move relatively to a butt joint position and are clamped and fixed through the grafting clamp.
As a further implementation mode, when the information is matched, the seedling pushing mechanism pushes out the seedlings in the auxiliary seedling conveying disc; when the information is not matched, the auxiliary seedling conveying disc continues to rotate to the next station, and the first detection camera acquires the seedling information of the station.
The invention has the following beneficial effects:
(1) The invention is provided with a main seedling conveying disc and an auxiliary seedling conveying disc, and the main seedling conveying disc and the auxiliary seedling conveying disc output seedlings with matched sizes through the matching of corresponding detection cameras and processors; and the automatic grafting of the nursery stock is realized by matching with a pneumatic gripper and a grafting clamp, so that the grafting quality and efficiency are improved.
(2) According to the invention, the automatic pushing of the seedlings is realized by matching the rotatable seedling conveying disc with the seedling pushing mechanism; the pneumatic gripper can automatically grip the nursery stock and cut the nursery stock through the horizontal movement of the pneumatic gripper; the cut nursery stock is clamped and fixed by the grafting clamp, so that the grafting time is shortened.
(3) The invention also adds an auxiliary seedling conveying disc, which can ensure the matching degree of the seedlings and further shorten the grafting time.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic block diagram of the present invention according to one or more embodiments;
FIG. 2 is a top view of a seedling tray according to one or more embodiments of the present disclosure;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a schematic structural diagram of a seedling pushing mechanism according to one or more embodiments of the invention;
FIG. 5 is a schematic diagram of a cutting mechanism according to one or more embodiments of the present disclosure;
FIG. 6 is a schematic illustration of a graft clip storage compartment according to one or more embodiments of the invention;
fig. 7 is a partially enlarged view of fig. 6 at B.
The automatic seedling transplanting machine comprises a base 1, a support platform 2, a seedling conveying plate 3, a seedling conveying plate pair 4, a vertical screw rod 5, a support plate 6, a gear box 7, a motor 8, a first detection camera 9, a seedling cutting mechanism 10, a conveying mechanism 11, a second detection camera 12, a seedling pushing mechanism 13, a main seedling conveying plate 14, a connecting block 15, a planetary wheel transmission mechanism 16, a seedling placing chamber 17, a tray body 18, a baffle plate 19, a spring 20, a pin shaft 21, a seedling pushing component 22, a guide groove 23, a spring 24, a mounting plate 25, a second moving block 26, a motor 27, a first pneumatic gripper 28, a first cutting knife 29, a screw rod 29, a right pneumatic gripper 30, a base 31, a first moving block 32, a horizontal screw rod 33, a grafting clamp outlet 34, a push rod 35, a blocking strip switch 36, a blocking strip 38, and a pressing plate 39.
Detailed Description
The first embodiment is as follows:
the embodiment provides a joint-grafting device for seedling grafting, as shown in fig. 1, the joint-grafting device comprises a main seedling conveying disc 13, an auxiliary seedling conveying disc 3, a conveying mechanism 10, a seedling cutting mechanism 9, a docking mechanism and the like, wherein the main seedling conveying disc 13 and the auxiliary seedling conveying disc 3 are respectively provided with a seedling pushing mechanism 12, seedlings in the main seedling conveying disc 13 and the auxiliary seedling conveying disc 3 are pushed to the conveying mechanism 10 through the seedling pushing mechanisms 12, conveyed to the seedling cutting mechanism 9 through the conveying mechanism 10, and subjected to cutting, and then grafted by the docking mechanism.
Specifically, a main seedling feeding disc 13, an auxiliary seedling feeding disc 3, a conveying mechanism 10 and a seedling cutting mechanism 9 are all installed on the supporting platform 2, the main seedling feeding disc 13 is located at one end of the conveying mechanism 10, and the auxiliary seedling feeding disc 3 is located at the other end of the conveying mechanism 10. The main structures of the main seedling conveying disc 13 and the auxiliary seedling conveying disc 3 are the same, and the structures of the main seedling conveying disc and the auxiliary seedling conveying disc 3 are described in detail by taking the auxiliary seedling conveying disc 3 as an example:
the bottom of the auxiliary seedling feeding disc 3 is provided with a supporting plate 5, and the supporting plate 5 is matched with the supporting platform 2. A plurality of seedling placing chambers 16 are circumferentially distributed at intervals on the auxiliary seedling feeding disc 3, and different seedling placing chambers 16 correspond to the conveying mechanism 10 through rotation of the auxiliary seedling feeding disc 3.
As shown in fig. 2, the auxiliary seedling feeding tray 3 includes a tray body 17 and a driving mechanism installed in the tray body 17, the driving mechanism of this embodiment adopts a planetary gear transmission mechanism 15, the planetary gear transmission mechanism 15 is connected with a motor, and the planetary gear transmission mechanism 15 is driven by the motor, so that the tray body 17 rotates.
In the embodiment, two groups of the auxiliary seedling sending disks 3 are arranged, and the two groups of the auxiliary seedling sending disks 3 are arranged in a layered mode, wherein one group is used as a standby mode to replace the other group of the auxiliary seedling sending disks 3 when seedlings in the auxiliary seedling sending disks 3 do not meet the requirements; or after the seedlings in one group of the auxiliary seedling sending disks 3 are grafted, the other group of the auxiliary seedling sending disks 3 are replaced.
The backup pad 5 that mainly sent the seedling tray can be dismantled with supporting platform 2 and be connected, perhaps, supporting platform 2 offers the standing groove that is used for cooperating backup pad 5, and it can to put into the standing groove with backup pad 5. The supporting platform 2 of the auxiliary seedling feeding disc 3 is provided with a through hole for the supporting plate 5 to pass through, and the supporting platform 2 is lifted through the lead screw transmission mechanism so as to replace the auxiliary seedling feeding disc 3.
Specifically, as shown in fig. 2, a plurality of connecting blocks 14 are arranged on the supporting plate 5 corresponding to the inner side of the auxiliary seedling feeding disc 3, and the connecting blocks 14 are matched with the vertical screw rod 4 to form a screw rod transmission mechanism; as shown in figure 1, each vertical lead screw 4 is vertically arranged, the bottom of each vertical lead screw 4 is connected with the base 1 through a bearing, and the top of each vertical lead screw 4 is connected with a motor 7 through a gear box 6. Every vertical lead screw 4 all connects a gear, and each gear meshes with the gear of installing on the motor shaft, makes each vertical lead screw 4 synchronous motion through the rotation of motor 7, realizes the lift of backup pad 5 and vice seedling feeding dish 3.
In the embodiment, four vertical screw rods 4 are arranged, so that the supporting plate 5 and the auxiliary seedling conveying disc 3 are stably lifted; of course, in other embodiments, three or other numbers of vertical screws 4 may be provided.
As shown in fig. 1, one of the auxiliary seedling conveying trays 3 corresponds to the conveying mechanism 10, the other auxiliary seedling conveying tray 3 is located at an upper set position, the upper auxiliary seedling conveying tray 3 can be lowered to the position corresponding to the conveying mechanism 10 through the motor 7, and the lower auxiliary seedling conveying tray 3 is lowered to the bottom of the supporting platform 2.
As shown in fig. 3, the seedling placing chamber 16 is a groove formed in the circumferential direction of the tray body 17 along the circumferential direction and facing inward, an openable baffle 18 is oppositely arranged on the circumferential surface of the tray body 17 corresponding to the seedling placing chamber 16, one end of the baffle 18 is connected with the tray body 17 through a pin shaft 20, a spring 19 is connected between two sides of the connecting end of the baffle 18 and the tray body 17, and the baffle 18 can be opened outward or reset to a horizontal state through the spring 19 and the pin shaft 20.
When the blocking pieces 18 are in a horizontal state, a certain gap is formed between two opposite blocking pieces 18, and when the blocking pieces 18 are opened towards the outer side, the gap is increased, so that the seedlings are pushed out.
As shown in fig. 4, a seedling pushing member 21 is provided in each seedling placing chamber 16, a seedling pushing power assembly is provided on the support plate 5 corresponding to the conveying mechanism 10, and the seedling pushing power assembly and each seedling pushing member 21 constitute a seedling pushing mechanism 12.
In this embodiment, the seedling pushing member 21 comprises a telescopic part and a pushing part, and the telescopic part and the pushing part are connected into a whole to form a T-shaped structure; put 16 inboard of seedling room and offered the through-hole that is used for pars contractilis one end to pass, the pars contractilis other end connection promotion portion, promotion portion is towards the bellied arc structure of pars contractilis, is convenient for promote the nursery stock. A spring 23 is arranged between the pushing part and the seedling placing chamber 16 and is used for resetting the seedling pushing component 21.
For the stable movement of the pushing part, the bottom surface of the seedling placing chamber 16 can be provided with a guide groove 22, and the bottom surface of the pushing part is provided with a slide block matched with the guide groove 22.
The seedling pushing power assembly comprises a motor and a cam arranged on a motor shaft, the cam is driven to rotate by the motor, the tip end of the cam is contacted with the telescopic part, the seedling pushing component 21 moves outwards, and a seedling is pushed out; the cam rotates to another position, urging seedling member 21 to return under the action of spring 23.
In this embodiment, the conveying mechanisms 10 are belt transmission mechanisms, and two groups of conveying mechanisms 10 are arranged and parallel to each other, wherein one group of conveying mechanisms 10 is used for transferring seedlings on the main seedling conveying disc 13, and the other group of conveying mechanisms 10 is used for transferring seedlings on the auxiliary seedling conveying disc 3; the transport directions of the two transport mechanisms 10 are opposite.
A first detection camera 8 is arranged at one end of the conveying mechanism 10 close to the auxiliary seedling conveying disc 3, a second detection camera 11 is arranged at one end close to the main seedling conveying disc 13, and the states of the seedlings are obtained through the detection cameras; the first detection camera 8 and the second detection camera 11 respectively feed back the acquired diameter of the nursery stock to the processor, and the processor controls the pushing mechanism 12 to act on the seedling placing chamber 16 of the auxiliary seedling conveying disc 3 meeting the requirement through comparison so that the auxiliary seedling conveying disc 3 outputs the nursery stock with the diameter consistent or basically consistent with that of the main seedling conveying disc 13.
As shown in fig. 5, the seedling cutting mechanism 9 is provided with a pneumatic gripper and a cutting knife 28, and the pneumatic gripper 27 grips the seedlings and moves along the cutting edge of the cutting knife 28, so as to realize cutting; and fixing the cut nursery stock through a grafting clamp.
This embodiment sets up two cutting knives, first cutting knife 28, second cutting knife 31 promptly, and first cutting knife 28 and second cutting knife 31 are all fixed with mounting panel 24, and just first cutting knife 28, second cutting knife 31 are located same horizontal plane, are the horizontality setting, and the two one end is fixed with mounting panel 24 respectively, and the other end sets up the cutting edge.
The upper side of the first cutting knife 28 is provided with a first pneumatic gripper 27, the first pneumatic gripper 27 is connected with a first horizontal lead screw 29 through a first moving block 32, the second pneumatic gripper 30 is connected with a second horizontal lead screw 33 through a second moving block 25, the first horizontal lead screw 29 and the second horizontal lead screw 33 are parallel to each other, and the first horizontal lead screw 29 and the second horizontal lead screw 33 are connected with the same driving mechanism to realize the synchronous motion of the first pneumatic gripper 27 and the second pneumatic gripper 30.
The first horizontal lead screw 29 and the second horizontal lead screw 33 have opposite screw threads, so that the first pneumatic gripper 27 and the second pneumatic gripper 30 can move toward or away from each other.
In the present embodiment, the driving mechanism of the first horizontal lead screw 29 and the second horizontal lead screw 33 is a transmission mechanism driven by the motor 26, and the transmission mechanism is composed of a lead screw and a bevel gear set.
Of course, in other embodiments, the drive mechanism may take other forms.
The installation positions of the first cutting knife 28 and the second cutting knife 31 correspond to the conveying mechanism 10, and when the nursery stock moves to a position close to the corresponding cutting knife, the nursery stock is grabbed by a pneumatic gripper, so that cutting is realized. The first pneumatic gripper 27 and the second pneumatic gripper 30 are arranged up and down, so that interference is avoided, and up-and-down butt joint is realized.
The middle position of the mounting plate 24 is provided with a grafting clip storage box, the grafting clip storage box is provided with a grafting clip outlet 34, and two sections of cut nursery stocks are fixedly butted through the grafting clips extending out of the grafting clip outlet 34.
As shown in fig. 6 and 7, the grafting clip storage box is a closed cavity, and a grafting clip outlet 34 is formed on one side of the bottom of the grafting clip storage box and faces to the side of the conveying mechanism 10. The inner wall of the grafting clip storage box is symmetrically provided with barrier strips 38, the barrier strips 38 extend along the width direction of the grafting clip storage box, and the bottom surfaces of the barrier strips 38 are at a certain distance from the top of the grafting clip outlet 34; the area above the barrier strip 38 stores a plurality of grafting clips.
The rear side of the grafting clip storage box is provided with a push rod 35 corresponding to the grafting clip outlet 34 by taking the side of the opening of the grafting clip outlet 34 as the front; two sides of the inner wall of the grafting clip outlet 34 are symmetrically provided with V-shaped blocking blocks 37, and the grafting clip is pressed and blocked by the blocking blocks 37 at two sides in the pushing-out process of the push rod 35 to be in an opening state so as to be capable of clamping the root of the nursery stock.
The barrier 37 is provided with a barrier switch 36 at the rear side, and the barrier switch 36 is used for controlling the barrier 38 to move, so that the lower end of the barrier 38 moves outwards (towards the inner wall of the grafting clip storage box). For example: the barrier strip 38 is an inclined plate, the top end of the barrier strip is hinged with the inner wall of the grafting clip storage box, the lower end of the barrier strip 38 is connected with a telescopic rod, and the main body part of the telescopic rod is positioned in the inner wall of the grafting clip storage box; the telescopic rod is electrically connected with the barrier strip switch 36, and the barrier strip 38 is controlled to move by the barrier strip switch 36.
Of course, the movement of the bar 38 may be achieved by other structures.
When the push rod 35 is pushed out to a certain distance, the barrier strip switch 36 is triggered, the barrier strip 38 moves outwards after the barrier strip switch 36 is pressed, the barrier strip 38 is in contact with the barrier effect of the upper grafting clip, and the grafting clip slides downwards to the upper end of the push rod 35. The distance between the push rod 35 and the bottom surface of the barrier strip is only enough to accommodate the height of a grafting clip, and the grafting clip falls down and stays in a space area (corresponding to the area of an outlet 34 of the grafting clip) in front of the push rod 35 in the recovery process of the push rod 35; the push rod repeats the actions to realize the matching of the new grafting clip and the next nursery stock.
A pressing plate 39 is connected between the two blocking blocks 37, and the grafting clamp is guaranteed to be always kept in a state in the pushing process through the pressing plate 39, and cannot be overturned to clamp seedlings.
The second embodiment:
the embodiment provides a working method of a joint grafting device for seedling grafting, which adopts the device of the first embodiment and comprises the following steps:
the main seedling conveying disc 13 is used as a main seedling conveying disc and provides seedlings to be cut for the seedling cutting mechanism 9, the second detection camera 11 is used for detecting the diameter of the seedlings, the seedling pushing mechanism 12 is used for pushing the seedlings out of the seedling placing chamber 16 to the conveying mechanism 10, and the second detection camera 11 transmits detection information to the processor; the first detection camera 8 also transmits information to the processor, and the processor compares and judges whether the nursery stock information of the first detection camera 8 is consistent with that of the second detection camera 11, so that the auxiliary seedling conveying disc 3 outputs nursery stocks with proper diameters in the range corresponding to the main seedling conveying disc 13.
If the requirement is not met, the planetary gear transmission mechanism 15 rotates to continuously detect the nursery stock in the next nursery stock placing chamber 16, and when the nursery stock with the proper size is not detected, the seedling pushing mechanism 12 corresponding to the auxiliary seedling feeding disc 3 does not act; when no nursery stock or no proper nursery stock exists in the auxiliary seedling conveying disc 3, the motor 7 acts to drive the gear in the gear box 6 to act synchronously, the auxiliary seedling conveying disc 3 is replaced, and the detection is continued.
When a nursery stock with a proper size is detected, the nursery stock pushing mechanism 12 acts to push the nursery stock to the conveying mechanism 10.
Two moving blocks in the seedling cutting mechanism 9 are driven by the same motor 26 and move synchronously. The two grippers are driven by air pressure, when the two grippers are conveyed to a central position, the two cut seedlings to be grafted are connected together by the grafting clamp, and the width of the outlet 35 of the grafting clamp is utilized to open the clamp opening to clamp the seedlings. After the completion, the gripper is loosened, and after the nursery stock falls from the lower part, the nursery stock returns to the position to carry out the next circulation.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A joint-grafting device for seedling grafting is characterized by comprising an auxiliary seedling conveying disc arranged at one end of a conveying mechanism and a main seedling conveying disc arranged at the other end of the conveying mechanism, wherein a seedling cutting mechanism is arranged at the middle section of the conveying mechanism, and a grafting clamp is arranged in the seedling cutting mechanism; the main seedling conveying disc and the auxiliary seedling conveying disc are respectively provided with a plurality of seedling placing chambers in the circumferential direction, and the main seedling conveying disc and the auxiliary seedling conveying disc are provided with seedling pushing mechanisms corresponding to the conveying mechanisms;
and a first detection camera is arranged on one side of the auxiliary seedling conveying disc, a second detection camera is arranged on one side of the main seedling conveying disc, the second detection camera is used for acquiring the seedling information output by the main seedling conveying disc, and when the first detection camera detects information matched with the seedling information, a pushing mechanism of the auxiliary seedling conveying disc pushes out the seedlings corresponding to the seedling placing chambers.
2. The grafting-on equipment for seedling grafting as claimed in claim 1, wherein the main seedling feeding tray and the auxiliary seedling feeding tray respectively comprise tray bodies, and planetary wheel transmission mechanisms are mounted on the inner sides of the tray bodies;
the seedling placing chamber is provided with openable blocking pieces corresponding to the outer circumferential surface of the tray body.
3. The scion grafting equipment for seedling grafting as claimed in claim 1, wherein the seedling pushing mechanism comprises a seedling pushing power assembly and a seedling pushing member arranged in the seedling placing chamber, the main seedling conveying disc and/or the auxiliary seedling conveying disc rotate to the seedling pushing power assembly, and the seedling pushing member is pushed by the seedling pushing power assembly to extend.
4. A scissoring device for seedling grafting according to claim 3, wherein a spring is arranged between the seedling pushing member and the inner wall of the tray body; the seedling pushing power assembly comprises a cam and a motor connected with the cam.
5. The grafting equipment for grafting seedlings as claimed in claim 1, wherein the auxiliary seedling feeding disks are provided with at least two layers, and the auxiliary seedling feeding disks of the layers are connected through a lead screw transmission mechanism.
6. The grafting equipment for grafting seedlings according to claim 1, wherein the seedling cutting mechanism comprises a mounting plate and two cutting knives arranged on one side of the mounting plate, each cutting knife corresponds to one pneumatic gripper, and the two pneumatic grippers move synchronously.
7. The grafting equipment for nursery stock grafting according to claim 6, wherein the two pneumatic grippers are respectively connected with the horizontal lead screw through a moving block, and the rotation directions of the two horizontal lead screws are opposite; one of them pneumatic tongs is located the cutting knife upside, and another pneumatic tongs is located the cutting knife downside.
8. A scissoring device for seedling grafting according to claim 6, wherein the two cutting knives are located at the same horizontal plane and correspond to the transfer mechanism.
9. The working method of the scion-grafting equipment for seedling grafting according to any one of claims 1 to 8, which is characterized by comprising the following steps of:
the seedling pushing mechanism corresponding to the main seedling conveying disc pushes the seedlings to the conveying mechanism, and the second detection camera acquires seedling information and sends the information to the processor;
the first detection camera acquires the seedling information in the auxiliary seedling conveying disc, sends the information to the processor, and judges whether the information is matched with the information acquired by the second detection camera through the processor; when the information is matched, the pushing mechanism pushes out the seedlings in the auxiliary seedling conveying disc;
the pneumatic gripper respectively grips the nursery stocks at two ends and cuts the nursery stocks by a cutting knife; the two pneumatic grippers move relatively to a butt joint position and are clamped and fixed through the grafting clamp.
10. The working method of the scion-grafting equipment for seedling grafting as claimed in claim 9, wherein when the information is matched, the seedling pushing mechanism pushes out the seedlings of the auxiliary seedling conveying disc; when the information is not matched, the auxiliary seedling conveying disc continues to rotate to the next station, and the first detection camera acquires the seedling information of the station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210760309.5A CN115211294B (en) | 2022-06-30 | 2022-06-30 | Joint grafting equipment and method for seedling grafting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210760309.5A CN115211294B (en) | 2022-06-30 | 2022-06-30 | Joint grafting equipment and method for seedling grafting |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117694122A (en) * | 2024-01-17 | 2024-03-15 | 农业农村部南京农业机械化研究所 | Magnetic coupling type grafting clip arranging mechanism |
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| CN1119593A (en) * | 1994-09-30 | 1996-04-03 | 东京金属工业株式会社 | Clamper |
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| CN204579093U (en) * | 2015-02-04 | 2015-08-26 | 昆明理工大学 | A kind of vertical Cell wheel feed seed dresser structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117694122A (en) * | 2024-01-17 | 2024-03-15 | 农业农村部南京农业机械化研究所 | Magnetic coupling type grafting clip arranging mechanism |
| CN117694122B (en) * | 2024-01-17 | 2024-06-11 | 农业农村部南京农业机械化研究所 | Magnetic coupling type grafting clip arranging mechanism |
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| CN115211294B (en) | 2023-12-15 |
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