CN115250778A - Whole-row parallel type plug seedling grafting machine utilizing sticking method - Google Patents
Whole-row parallel type plug seedling grafting machine utilizing sticking method Download PDFInfo
- Publication number
- CN115250778A CN115250778A CN202210924466.5A CN202210924466A CN115250778A CN 115250778 A CN115250778 A CN 115250778A CN 202210924466 A CN202210924466 A CN 202210924466A CN 115250778 A CN115250778 A CN 115250778A
- Authority
- CN
- China
- Prior art keywords
- seedling
- fixed
- scion
- stock
- clamping
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 234
- 230000005540 biological transmission Effects 0.000 claims description 32
- 210000000078 claw Anatomy 0.000 claims description 26
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 208000035240 Disease Resistance Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000009335 monocropping Methods 0.000 description 1
- 230000009417 vegetative reproduction Effects 0.000 description 1
- 238000013466 vegetative reproduction Methods 0.000 description 1
- 239000002023 wood Substances 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Botany (AREA)
- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Cultivation Of Plants (AREA)
Abstract
The invention relates to the technical field of whole-tray grafting of plug seedlings. Aims to provide a full-automatic whole-row parallel plug seedling grafting machine which can improve the grafting efficiency. The technical scheme is that a full-automatic whole row of parallel mode plug seedling grafting machine, including the frame, its characterized in that: the frame is provided with a stock seedling conveying mechanism for respectively conveying stock seedling trays and a scion seedling conveying mechanism for conveying the scion seedling trays, a stock seedling clamping mechanism for respectively clamping the stock seedlings and a scion seedling clamping mechanism for clamping the scion seedlings, a scion seedling obliquely cutting mechanism for cutting the scion seedlings in a row, a clamping mechanism for fixing the stock seedlings and the scion seedlings, and a stock clamping and moving mechanism for respectively moving the stock seedling clamping and moving mechanism and a scion seedling clamping and moving mechanism; the device also comprises a stock seedling inclined cutting mechanism for cutting the stock seedlings in a whole plate, and a stock seedling gathering mechanism and a scion seedling gathering mechanism respectively used for gathering the stock seedlings and gathering the scion seedlings.
Description
Technical Field
The invention relates to the technical field of plug seedling whole-tray grafting, in particular to a device for cutting and grafting stock seedlings and scion seedlings of 6X12 plug seedlings by using a grafting method.
Background
Grafting, which is a kind of vegetative reproduction in vegetative propagation, is called scion, and the grafted plant body is called rootstock or table wood. The grafting can enhance the disease resistance and low temperature resistance of plants, is favorable for overcoming continuous cropping hazards, enlarges the absorption range and capacity of the root system and improves the yield. Common grafting methods include a proximity grafting method, a cleft grafting method, a sleeve grafting method and the like. At present, the grafting machine research in China is mainly focused on colleges and universities and is developed later. The existing grafting machine mostly adopts single-plant nursery stock grafting, the efficiency is low, and the full automation is mostly not realized.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and provide a full-automatic parallel plug seedling grafting machine which can improve the grafting efficiency.
The technical scheme provided by the invention is as follows:
the utility model provides a full-automatic whole row of parallel mode plug seedling grafting machine, includes the frame, its characterized in that: the frame is provided with a stock seedling conveying mechanism for respectively conveying stock seedling trays and a scion seedling conveying mechanism for conveying the scion seedling trays, a stock seedling clamping mechanism for respectively clamping the stock seedlings and a scion seedling clamping mechanism for clamping the scion seedlings, a scion seedling obliquely cutting mechanism for cutting the scion seedlings in a row, a clamping mechanism for fixing the stock seedlings and the scion seedlings, and a stock clamping and moving mechanism for respectively moving the stock seedling clamping and moving mechanism and a scion seedling clamping and moving mechanism; the device also comprises a stock seedling inclined cutting mechanism for cutting the stock seedlings in a whole tray, a stock seedling collecting mechanism for collecting the stock seedlings and a scion seedling collecting mechanism for collecting the scion seedlings respectively.
The positions at which the mechanisms are arranged in order along the Y direction are: the rootstock clamping mechanism and the rootstock seedling collecting mechanism are arranged side by side; the device comprises a stock seedling conveying mechanism, a scion clamping mechanism and a clamping supplying mechanism which are arranged side by side; a stock seedling oblique cutting mechanism; the scion seedling conveying mechanism and the scion seedling inclined cutting mechanism are arranged side by side; a scion and seedling gathering mechanism; the horizontal projection planes of the stock clamping mechanism and the stock seedling gathering mechanism and the horizontal projection planes of the stock seedling conveying mechanism, the stock seedling inclined cutting mechanism, the scion seedling conveying mechanism and the scion seedling gathering mechanism are arranged in a straight line.
The stock seedling conveying mechanism and the scion seedling conveying mechanism are identical in structure and respectively comprise a conveying platform, a driving roller and a driven roller which are positioned at two ends of the conveying platform in a rotating manner, a conveying belt matched with the driving roller and the driven roller and a conveying motor for driving the driving roller to rotate through a transmission unit; the transmission unit comprises a large chain wheel fixed at one end of the driving roller, a small chain wheel fixed on a rotating shaft of the conveying motor and a conveying chain for connecting the large chain wheel and the small chain wheel.
The stock seedling gathering mechanism and the scion seedling gathering structure are the same and respectively comprise a seedling gathering platform horizontally fixed on the rack, a second rodless cylinder fixed on the seedling gathering platform, two fourth slide rails which are arranged on the seedling gathering platform in parallel and are respectively provided with a fourth slide block, a seedling gathering frame which is fixed on the two fourth slide blocks and the second rodless cylinder slide block and driven by the second rodless cylinder, a fifth slide rail fixed on the seedling gathering frame, five fifth slide blocks which are fixed on the fifth slide rail and keep intervals mutually, an upper seedling gathering rod connecting plate fixed on the five fifth slide blocks and driven by the seedling gathering cylinders, an upper seedling gathering rod fixed on the upper seedling gathering rod connecting plate, a lower seedling gathering rod and seedling gathering cylinder fixed on the seedling gathering frame, and a cylinder connecting piece fixed on the upper seedling gathering rod connecting plate and connected with the cylinder rod of the seedling gathering cylinder.
The stock miter cutting mechanism comprises a cutting platform horizontally positioned on the rack, two sixth sliding rails which are arranged on the cutting platform in parallel and are respectively provided with a sixth sliding block, a third rodless cylinder which is fixed on the cutting platform and is positioned between the two sliding rails, a seedling taking rod seat which is fixed on the two sixth sliding blocks and the third rodless cylinder sliding block at the same time and is driven by the rodless cylinder, twelve stock cutting cutter rods which are arranged in parallel and of which the rear ends are fixed on the seedling taking rod seat, and twelve cutter heads which are respectively fixed at the front ends of the stock cutting cutter rods and have inclination angles relative to the horizontal plane.
The rootstock clamping mechanism comprises a seedling clamping platform which is horizontally arranged, two first slide rails which are horizontally arranged on the seedling taking platform in parallel with each other and are respectively provided with a first slide block, a first rodless cylinder which is fixed on the seedling clamping platform and is positioned on the two first slide rails, a seedling taking rod seat which is simultaneously fixed on the two first slide blocks and the first rodless cylinder slide blocks and is driven by the first rodless cylinder, a second slide rail which is fixed on the seedling taking rod seat and is provided with five second slide blocks, an upper seedling collecting rod connecting plate which is fixed on the five slide blocks and can move along the slide rails, an upper seedling taking rod which is fixed on the upper seedling collecting rod connecting plate, a lower seedling taking rod which is fixed on the seedling taking rod seat, a first clamping cylinder which is fixed on the seedling taking rod seat, and a cylinder connecting piece which is fixed on the upper seedling collecting rod connecting plate and is connected with a cylinder rod of the seedling taking cylinder; every is got seedling pole on and is all got seedling pole and one and get seedling pole and pair the setting parallel to each other and can be close to each other down to be used for centre gripping stock seedling.
The screw rod transmission mechanism in the rootstock clamping and moving mechanism comprises two tenth slide rails which are parallel to each other and are respectively provided with tenth slide blocks, an eighth slide rail seat which is fixed on the two tenth slide blocks and is fixed with a first clamping sensor and a second clamping sensor, an eighth slide rail which is fixed on the eighth slide rail seat, a first Y-direction screw rod which is fixed on the eighth slide rail seat and is in threaded fit with the eighth slide block, a motor which drives the first Y-direction screw rod, three eighth slide blocks which are in threaded fit with the first Y-direction screw rod and can move along the eighth slide rail in the Y direction, a second Z-direction air cylinder and two ninth slide rails which are respectively fixed on the eighth slide blocks, and two ninth slide blocks which are respectively in sliding fit with the two ninth slide rails; the first X-direction cylinder is fixed on the rack through a cylinder mounting plate, and the cylinder rod is connected with the eighth slide rail seat.
The scion clamping mechanism comprises a seedling taking platform horizontally fixed on a third Z-direction air cylinder, a third slide rail horizontally fixed on the seedling taking platform and provided with a third slide block, a plurality of upper seedling taking claws movably positioned on the third slide rail through an upper seedling taking claw connecting plate connected with the third slide block, a plurality of lower seedling taking claws arranged at intervals and fixed on the seedling taking platform, a second clamping air cylinder fixed on the seedling taking platform, and a second air cylinder connecting piece fixed on the upper seedling taking claw connecting plate and connected with the second clamping air cylinder; every is gone up and is got seedling claw and one and get seedling claw pairing setting parallel to each other and can be close to each other down to be used for the centre gripping scion grafting seedling.
The scion clamping and moving mechanism comprises two X-direction screw rod transmission mechanisms which are horizontally fixed on the rack in parallel and are spaced, a Y-direction screw rod transmission mechanism driven by the two X-direction screw rod transmission mechanisms, and a third Z-direction cylinder driven by the Y-direction screw rod transmission mechanism; each X-direction screw rod transmission mechanism comprises an X-direction guide rail, an X-direction screw rod and an X-direction screw rod motor, wherein the X-direction guide rail is fixed on the rack through an X-direction guide rail seat and is provided with an X-direction sliding block; each Y-direction screw rod transmission mechanism comprises a Y-direction guide rail, a second Y-direction screw rod and a Y-direction screw rod motor, wherein the Y-direction guide rail is fixed with two X-direction sliding blocks through a Y-direction guide rail seat and is provided with Y-direction sliding blocks, the second Y-direction screw rod is rotatably positioned on the Y-direction guide rail seat through a bearing and can be in threaded fit with the Y-direction sliding blocks, and the Y-direction screw rod motor is fixed with the Y-direction guide rail seat and is in power connection with the second Y-direction screw rod; and a third Z-direction cylinder is fixed on the Y-direction sliding block, and a cylinder rod of the third Z-direction cylinder is fixedly connected with the seedling taking platform.
The scion miter mechanism comprises a scion cutting platform horizontally fixed on the rack, a fourth rodless cylinder fixed on the cutting platform, two seventh slide rails which are fixed on the cutting platform in parallel and are respectively provided with a seventh slide block, a scion seedling seat which is fixed on the two seventh slide blocks and the fourth rodless cylinder slide block and is driven by the rodless cylinder, six scion cutting tool bars which are arranged in parallel and of which the rear ends are fixed on the scion seedling seat, and six blades which are fixed at the front ends of the scion cutting tool bars one by one and have inclination angles relative to the horizontal plane.
The working principle of the invention is as follows:
respectively placing the stock seedling tray and the scion seedling tray into a stock seedling conveying mechanism and a scion seedling conveying mechanism, and stopping when the two seedling trays move to the position for conveying the first sensor (the two seedling trays are positioned on the same straight line); two seedling holding mechanisms hold the seedling to stock seedling and scion seedling respectively simultaneously and move, all hold the seedling pole forward motion promptly (perpendicular with the direction of motion of seedling dish), and one row of seedling is held in two seedling holding poles in pairs, makes the seedling be in upright state, makes things convenient for subsequent cutting and presss from both sides and gets.
Then, the rootstock clamping mechanism moves (the moving direction is vertical to the moving direction of the seedling tray) to a clamping position (the rear side of the rootstock seedling tray), the clamping hands extend out under the action of the first rodless cylinder (the extending direction is parallel to the moving direction of the seedling tray), and under the action of the first clamping cylinder, two paired seedling taking rods clamp (the seedling clamping position of each seedling is higher than the seedling gathering position) a row of seedlings to finish seedling clamping; then, a cutter head of the stock oblique cutting mechanism extends out under the action of the air cylinder (the extending direction is vertical to the moving direction of the seedling tray), and the whole-tray cutting of the stock seedling tray is completed (the cutting part of each seedling is positioned between a seedling taking rod and a seedling collecting rod); after cutting, the stock clamping mechanism clamps the cut stock seedlings out of the rack, and the seedling abandoning action is completed.
Then, when the stock seedling collecting mechanism and the first inclined cutting mechanism reset, the stock seedling tray continuously moves to the grafting position; a seedling collecting rod of the seedling collecting mechanism moves forwards (the moving direction is vertical to the moving direction of the seedling tray), and ear seedlings are butted and collected; after the scion seedlings are gathered, the scion clamping mechanism moves (the movement direction is vertical to the movement direction of the seedling tray) to a clamping position, and the seedling taking claw clamps the first row of scion seedlings under the action of a second clamping cylinder; then, the cutter head of the scion angle-cutting mechanism extends out under the action of the air cylinder to complete the whole row cutting of the first row of scion seedlings (the cut scion seedlings are still clamped by the scion clamping mechanism); the scion clamping mechanism moves the cut scion seedlings to be above the hole tray of the forefront row of the stock seedling tray, and aligns the scion seedlings and the stocks up and down; the position of the clamping mechanism is adjusted, and then the grafting clamp is pushed out to clamp and fix the stock and the scion seedling (the clamping and fixing mode is the prior art). Then, in order to carry out the grafting of the next row, the clamping mechanism is lifted, the stock seedling tray moves forward by the distance of one hole, the scion clamping mechanism and the scion oblique cutting mechanism continue to clamp and cut the second row, and the clamping mechanism move to the position above the hole tray of the second row to carry out the grafting; and sequentially carrying out the cyclic grafting steps until the whole-tray seedling grafting work is completed.
The invention has the beneficial effects that:
compared with the prior art, the whole tray of stock seedlings and scion seedlings on the plug tray is adopted, and grafted seedlings take the plug tray as a unit, and the seedlings are automatically put into the whole tray; the whole row of parallel grafting is carried out, 6 grafted seedlings are simultaneously grafted by one-time circulation operation, and the operations of stock seedling feeding, stock cutting, stock growing point cutting, scion seedling feeding, scion cutting and stock and scion butt joint can be automatically completed. The automatic grafting machine has the advantages of high automation degree, low labor intensity, high grafting operation productivity, good operation accuracy, stable grafting operation quality and high device operation reliability.
Drawings
Fig. 1.1 is a schematic perspective view of an embodiment of the present invention.
Fig. 1.2 is a schematic front view structure diagram of the embodiment of the invention.
Fig. 1.3 is a left-view structural diagram of the embodiment of the invention.
Fig. 1.4 is a schematic top view of the structure according to the embodiment of the present invention.
Fig. 2.1 is a schematic three-dimensional structure diagram of the stock seedling conveying mechanism in the embodiment of the invention.
Fig. 2.2 is a left-side view structural schematic diagram of the stock seedling conveying mechanism in the embodiment of the invention.
Fig. 3.1 is a schematic perspective view of the rootstock clamping mechanism in the embodiment of the present invention.
Fig. 3.2 is a schematic top view of the rootstock clamping mechanism in the embodiment of the present invention.
Fig. 3.3 is a second schematic top view of the rootstock clamping mechanism in the embodiment of the present invention.
Fig. 4 is a schematic perspective view of a scion clamping mechanism in the embodiment of the present invention.
Fig. 5.1 is a schematic view of a main view structure of the seedling gathering mechanism (top view state) in the embodiment of the present invention.
Fig. 5.2 is one of the schematic three-dimensional structures (one of the working states) of the seedling gathering mechanism in the embodiment of the present invention.
Fig. 5.3 is a second schematic perspective view (second working state) of the seedling collecting mechanism in the embodiment of the present invention.
Fig. 6.1 is a schematic three-dimensional structure diagram of the rootstock seedling oblique cutting mechanism in the embodiment of the invention.
Fig. 6.2 is a schematic view of the working state of the rootstock seedling oblique cutting mechanism in the embodiment of the invention.
Fig. 7.1 is a schematic perspective view of the scion seedling mitre mechanism in the embodiment of the invention.
FIG. 7.2 is a schematic view of the working state of the scion seedling mitre cutting mechanism in the embodiment of the invention.
Fig. 8.1 is a schematic perspective view of a clamping mechanism in the embodiment of the present invention.
Fig. 8.2 is a schematic top view of the clamping mechanism in the embodiment of the present invention.
Fig. 8.3 is a left side view structural schematic diagram of the clip supply mechanism in the embodiment of the invention.
Fig. 9 is a schematic perspective view of the first Z-direction cylinder in the embodiment of the present invention.
Fig. 10.1 is a schematic perspective view of the moving mechanism for clamping the rootstock in the embodiment of the present invention.
Fig. 10.2 is a schematic structural view of the rootstock clamping and moving mechanism in the embodiment of the present invention.
Fig. 11 is a schematic perspective view of the scion gripping and moving mechanism in the embodiment of the present invention.
Reference numbers in the figures:
1. a stock seedling conveying mechanism; 1-1, a stock seedling conveying platform; 1-2, a driving roller; 1-3, a driven roller; 1-4 conveyer belts; 1-5, a conveying motor; 1-6, a conveying motor mounting plate; 1-7, a small chain wheel; 1-8, a big chain wheel; 1-9, a chain; 1-10, a first transport sensor; 1-11, a second delivery sensor;
2. a scion seedling conveying mechanism;
3. a rootstock clamping mechanism; 3-1-1, taking seedling stems; 3-1-2, putting seedling-taking rods; 3-2, a first slide rail; 3-3, a first rodless cylinder; 3-4, a first clamping cylinder; 3-5, a first cylinder connecting piece; 3-6, taking a seedling rod seat; 3-7, a seedling clamping platform; 3-8, a first sliding block; 3-9, a second slide rail; 3-10, a second slide block; 3-11, arranging a seedling collecting rod connecting plate;
4. a scion clamping mechanism; 4-1, taking a seedling platform; 4-2, a second clamping cylinder; 4-3-1, arranging seedling taking claws; 4-3-2, placing seedling-taking claws; 4-4, a second cylinder connecting piece; 4-5, a third slide block; 4-6, a third slide rail; 4-7, arranging a seedling taking claw connecting plate;
5. a stock seedling gathering mechanism; 5-1, collecting seedlings; 5-2-1, putting a seedling collecting rod; 5-2-2, putting seedling collecting rods; 5-3, a fourth slide rail; 5-4, a second rodless cylinder; 5-5, a cylinder connecting plate; 5-6, a seedling gathering cylinder; 5-7, arranging a seedling collecting rod connecting plate; 5-8, a fourth slide block; 5-9, a second rodless cylinder slide block; 5-10, seedling gathering rod seats; 5-11, a fifth slide rail; 5-12, a fifth slide block;
6. a scion and seedling gathering mechanism;
7. a stock seedling oblique cutting mechanism; 7-1, stock cutting platform; 7-2, a rootstock blade; 7-3, cutting a stock cutter bar; 7-4, a sixth sliding rail; 7-5, a third rodless cylinder; 7-6, taking a seedling rod seat; 7-7 sixth slide block; 7-8, a third rodless cylinder slide block;
8. a scion seedling oblique cutting mechanism; 8-1, a scion cutting platform; 8-2, a scion blade; 8-3, cutting a scion cutter bar; 8-4, a seventh slide rail; 8-5, a fourth rodless cylinder; 8-6, inoculating seedlings; 8-7 seventh slide block;
9. a clip supply mechanism; 9-1, a clamping supply platform; 9-2, conveying plates; 9-3, conveying grooves; 9-4, clamping the push rod; 9-5, clamping a platform mounting plate; 9-6, slide holes; 9-7, clamping and pushing a cylinder; 9-8, pushing the clamping plate; 9-9, a first Z-direction cylinder; 9-10, a first cylinder mounting plate;
10. a stock clamping and moving mechanism; 10-1, a second Z-direction cylinder; 10-2, a first Y-direction screw rod; 10-3, a motor; 10-4, an eighth slide block; 10-5, an eighth slide rail; 10-6, a ninth slider; 10-7, a ninth slide rail; 10-8, a coupler; 10-9, a tenth sliding rail; 10-10, tenth slider; 10-11, an eighth slide rail seat; 10-12, a first x-direction cylinder; 10-13, a second cylinder mounting plate; 10-14, a first pick sensor; 10-15, a second pick-up sensor;
11. a scion clamping and moving mechanism; 11-1, x-direction screw rod; 11-2, x-guide rail; 11-3, an x-direction screw rod motor; 11-4, a second y-direction screw rod; 11-5, y-direction guide rail; 11-6, y-direction screw rod motor; 11-7 and a third Z-direction cylinder.
Detailed Description
The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following examples.
The whole row parallel plug seedling grafting machine using the sticking method shown in the attached drawing comprises a frame, a stock seedling conveying mechanism 1, a scion seedling conveying mechanism 2, a stock clamping mechanism 3, a scion clamping mechanism 4, a stock seedling collecting mechanism 5, a scion seedling collecting mechanism 6, a stock seedling obliquely cutting mechanism 7, a scion seedling obliquely cutting mechanism 8, a clamping mechanism 9, a stock clamping moving mechanism 10 and a scion clamping moving mechanism 11.
The plan layout of the various mechanism positions (see fig. 1.4) is: the rootstock clamping mechanism 3 and the rootstock seedling gathering mechanism 5 are arranged on the left side of the upper part in the figure; a stock seedling conveying mechanism 1, a stock seedling inclined cutting mechanism 7, a scion seedling conveying mechanism 2 and a scion seedling gathering mechanism 6 are sequentially arranged downwards (Y direction); the arrangement on the right side of the upper part in the figure is: a scion clamping mechanism 4 and a scion feeding mechanism 9 which correspond to the stock seedling conveying mechanism, and a scion seedling inclined cutting mechanism 8 which corresponds to the scion seedling conveying mechanism 2; in addition, a second Y-direction screw rod 11-4 in the scion clamping moving mechanism is vertically arranged in the middle of the rack and extends to the whole rack so as to be convenient for carrying the scion clamping mechanism; a first Y-direction screw rod 10-2 in the rootstock clamping and moving mechanism 10 is vertically arranged at the rootstock seedling conveying mechanism 1 and the parts above the rootstock seedling conveying mechanism so as to be convenient for carrying the rootstock clamping and moving mechanism.
The height layout in the Z direction of the various mechanisms (see fig. 1.2, 1.3) is: the scion clamping and moving mechanism 11 is the highest, and the stock seedling inclined cutting mechanism 7 and the scion seedling inclined cutting mechanism 8 are the lowest; wherein the mechanism is positioned in the middle of the mechanism.
The conveying mechanism (see fig. 2.1 and 2.2) comprises a stock seedling conveying mechanism for conveying a stock seedling tray and a scion seedling conveying mechanism for conveying a scion seedling tray, the 2 conveying mechanisms are arranged side by side and have the same structure (except the difference of the number of sensors), each conveying mechanism comprises a conveying platform 1-1, a driving roller 1-2 and a driven roller 1-3 which can be rotatably positioned at two ends of the conveying mechanism platform around a horizontal axis through bearings 1-12, a conveying belt 1-4 matched with the driving roller and the driven roller and a conveying motor 1-5 for driving the driving roller to rotate through a transmission unit, and the conveying platform is also provided with a sensor; the conveying motor is fixed on the conveying platform through a conveying motor mounting plate 1-6; the transmission unit comprises a large chain wheel (1-8) fixed at one end of the driving roller, a small chain wheel (1-7) fixed on the rotating shaft of the conveying motor, and a conveying chain (1-9) connecting the large chain wheel and the small chain wheel; the 2 conveying mechanisms are respectively provided with a first conveying sensor 1-10, and the stock seedling conveying mechanism is also provided with a second conveying sensor 1-11; the first conveying sensors and the second conveying sensors are sequentially arranged along the direction of conveying the seedling trays by the conveying platform, the two first conveying sensors are used for positioning the stock seedling trays and the scion seedling trays, and the second conveying sensors are used for positioning the treated stock trays.
The seedling collecting mechanism has the functions (see fig. 5.1 to 5.3) of keeping all seedlings in the plug in an upright state during cutting to facilitate subsequent cutting, and comprises a stock seedling collecting mechanism and a scion seedling collecting mechanism which have the same structure, and the stock seedling collecting mechanism is taken as an example; the seedling collecting device comprises a seedling collecting platform 5-1 horizontally fixed on a rack, a second rodless cylinder 5-4 fixed on the seedling collecting platform and provided with a second rodless cylinder slide block 5-9, two fourth slide rails 5-3 arranged on the upper plane of the seedling collecting platform in parallel and at a distance, two fourth slide blocks 5-8 arranged on the fourth slide rails, a seedling collecting frame 5-10 fixed on the two fourth slide blocks and the second rodless cylinder slide blocks 5-9 and driven by the second rodless cylinder to move (move in the Y direction) along the two fourth slide rails, a fifth slide rail 5-11 fixed on the seedling collecting frame, five fifth slide blocks 5-12 fixed on the fifth slide rails and keeping a distance from each other, an upper seedling collecting rod connecting plate 5-7 fixed on the five fifth slide blocks and driven by seedling collecting cylinders 5-16 to move along the fifth slide rails, a seedling collecting rod 5-2-1 fixed on the upper seedling collecting rod connecting plate, a lower seedling collecting rod 5-2-2 fixed on the seedling collecting frame, a seedling collecting cylinder connecting plate fixed on the seedling collecting frame, and a seedling collecting cylinder connecting plate for connecting the seedling collecting cylinder 5-2-1 and the seedling collecting cylinder and connecting plate. The second rodless cylinder pushes out the seedling gathering frame, so that the seedling gathering rods can be inserted into the seedling stems of the plug tray, and two seedling gathering rods (an upper seedling gathering rod 5-2-1 and a lower seedling gathering rod 5-2-2) of each pair of seedling gathering rods are inserted into two sides (twelve pairs in total) of one row of seedlings; the seedling gathering cylinder 5-6 extends out, the upper seedling gathering rod connecting piece is driven by the cylinder connecting piece to slide on the fifth slide rail 5-11, so that the upper seedling gathering rod is close to the lower seedling gathering rod (the distance kept between the two seedling gathering rods is larger than the diameter of a seedling stem and is used as a support of a seedling during cutting, and the seedling stem cannot move when the blade is used for cutting, so that the cutting effect is ensured).
The stock oblique cutting mechanism can cut the whole tray of stock seedlings at one time (see fig. 6.1 and 6.2); the stock miter cutting mechanism comprises a cutting platform 7-1 horizontally positioned on a rack, two sixth sliding rails 7-4 arranged on the cutting platform in parallel, two sixth sliding blocks 7-7 arranged on the sixth sliding rails, a third rodless cylinder (7-5) fixed on the cutting platform and positioned between the two sliding rails, a seedling taking rod seat 7-6 fixed on the two sixth sliding blocks and the third rodless cylinder sliding block 7-8 simultaneously and driven by the rodless cylinder to move (move in the Y direction) along the two sliding rails, twelve stock cutting knife bars 7-3 arranged in parallel and fixed at the rear ends on the seedling taking rod seat, and twelve knife heads 7-2 fixed at the front ends of the stock cutting knife bars through bolts respectively and inclined at an angle (preferably inclined by 45 degrees) relative to the horizontal plane.
The rootstock clamping mechanism (see fig. 3.1 to 3.3) is used for clamping the cut top part of the rootstock seedling; the rootstock clamping mechanism comprises a seedling clamping platform 3-7, two first slide rails 3-2 which are arranged horizontally, a first rodless cylinder 3-3 which is fixed on the seedling clamping platform and is positioned on the two first slide rails, two first slide blocks 3-8 which are arranged on the first slide rails, a seedling taking rod seat 3-6 which is fixed on the two first slide blocks and the first rodless cylinder slide blocks simultaneously and is driven by the first rodless cylinder to move along the two slide rails (X direction), a second slide rail 3-9 which is fixed on the seedling taking rod seat, five second slide blocks 3-10 which are fixed on the second slide rails and keep intervals, an upper seedling gathering rod connecting plate 3-11 which is fixed on the five slide blocks and can move along the slide rails (Y direction), a seedling taking rod 3-1-1 which is fixed on the upper seedling collecting rod connecting plate, a lower seedling taking rod 3-1-2 which is fixed on the seedling taking rod seat, a first seedling gathering cylinder 3-4 which is fixed on the seedling taking rod seat, and a connecting plate 3-11 which is fixed on the upper seedling collecting rod connecting plate and is connected with a seedling taking cylinder 5 of the seedling taking rod. Every is gone up and is got seedling pole and one and get seedling pole and pair the setting parallel to each other and can be close to each other down to be used for centre gripping stock seedling. The first rodless cylinder is started to push out the seedling taking rod seats, so that the seedling taking rods are inserted into the plug tray, and a pair of (two) seedling taking rods are inserted into the left side and the right side (6 pairs in total) of a row of seedlings; the clamping cylinder is started to extend out, and the upper seedling gathering rod connecting plate 3-11 is driven to slide on the second slide rail 3-9 through the first cylinder connecting piece, so that the upper seedling taking rod is close to the lower seedling taking rod to clamp the seedlings.
The rootstock clamping and moving mechanism is used for moving the rootstock clamping and moving mechanism; comprises a screw rod transmission mechanism and an X-direction cylinder. The screw rod transmission mechanism comprises two tenth slide rails 10-9 (arranged along the X direction) which are parallel to each other and fixed on the rack at intervals, two tenth slide blocks 10-10 which are respectively in sliding fit with the two tenth slide rails, eighth slide rail seats 10-11 which are fixed on the two slide blocks (10-10), a first clamping sensor 10-14 and a second clamping sensor 10-15 which are fixed on the eighth slide rail seats and have certain intervals, a motor 10-3 which is fixed on the eighth slide rail seats, eighth slide rails 10-5 (arranged along the Y direction) which are fixed on the eighth slide rail seats, a first Y-direction screw rod 10-2 (arranged along the Y direction) which is fixed on the eighth slide rail seats and is connected with the motor through a coupler 10-8, three eighth slide blocks 10-4 which are in threaded fit with the first Y-direction screw rod and can slide and move along the Y direction, a second Z-direction air cylinder 10-1 which is fixed on the eighth slide blocks in the middle, two ninth slide rails 10-7 which are respectively fixed on the two eighth slide blocks through a connecting plate, and a ninth slide rail 10-7 which is respectively matched with the ninth slide rails 6. The first X-direction cylinder 10-12 is fixed on the rack through a cylinder mounting plate, a cylinder rod is connected with the eighth slide rail seat 10-11, and the first X-direction cylinder can push the screw rod transmission mechanism to move along the tenth slide rail 10-9 when being started.
The seedling clamping platform 3-7 is horizontally fixed on the two ninth sliding blocks 10-6 of the seedling clamping platform 1 and is connected with a cylinder rod of the second Z-direction cylinder 10-1, and the second Z-direction cylinder drives the ninth sliding rail 10-7 to move (move in the Z direction); the screw rod transmission mechanism drives the clamping platform to move in the Y direction.
The scion gripping mechanism (see fig. 4) is used to grip the tips of the cut scion seedlings. The scion clamping mechanism comprises a seedling taking platform 4-1 horizontally fixed on a third Z-direction air cylinder 11-7, a third slide rail 4-6 horizontally fixed on the seedling taking platform, three third slide blocks 4-5 matched with the third slide rail and keeping intervals among the three slide blocks, an upper seedling taking claw connecting plate 4-7 fixed on the three third slide blocks and capable of moving on the third slide rail along the Y direction, a plurality of upper seedling taking claws 4-3-1 arranged at intervals and fixed on the upper seedling taking claw connecting plate, a plurality of lower seedling taking claws 4-3-2 arranged at intervals and fixed on the seedling taking platform, a second clamping air cylinder 4-2 fixed on the seedling taking platform through bolts, and a second air cylinder connecting piece 4-4 fixed on the upper seedling taking claw connecting plate and connected with the second clamping air cylinder. Each upper seedling taking claw and one lower seedling taking claw are arranged in parallel in a paired mode and can be close to each other so as to be used for clamping the scion seedlings. The third Z-direction cylinder is driven by a Y-direction screw rod transmission mechanism of the scion clamping and moving mechanism; the second clamping cylinder extends out, the second cylinder connecting piece drives the upper seedling taking claw connecting plate to slide on the third slide rail 4-6, so that the upper seedling taking claw is close to the lower seedling taking claw, and scion seedlings are clamped and fixed to clamp the seedlings.
The scion clamping and moving mechanism (see fig. 11) comprises two X-direction screw rod transmission mechanisms which are horizontally fixed on the rack in parallel and are spaced apart, a Y-direction screw rod transmission mechanism fixed on the sliding blocks of the two X-direction screw rod transmission mechanisms, and a third Z-direction air cylinder 7 fixed on the sliding block of the Y-direction screw rod transmission mechanism; two sensors (a first clamping sensor 10-14 and a second clamping sensor 10-15) are fixed on a guide rail seat of the Y-direction screw rod transmission mechanism. Each X-direction screw rod transmission mechanism comprises an X-direction guide rail 11-2 fixed on the frame through an X-direction guide rail seat, an X-direction screw rod 11-1 rotatably positioned on the X-direction guide rail seat through a bearing, an X-direction sliding block in sliding fit with the X-direction guide rail and in threaded fit with the X-direction screw rod, and an X-direction motor fixed on the X-direction guide rail seat and in power connection with the X-direction screw rod through a coupler. Each Y-direction screw rod transmission mechanism comprises a Y-direction guide rail 11-5 fixed with two X-direction slide blocks through a Y-direction guide rail seat, a second Y-direction screw rod 11-4 rotatably positioned on the Y-direction guide rail seat through a bearing, a Y-direction slide block in sliding fit with the Y-direction guide rail and in threaded fit with the second Y-direction screw rod, and a Y-direction motor 11-3 fixed with the Y-direction guide rail seat and in power connection with the second Y-direction screw rod through a coupler. And a third Z-direction cylinder is fixed on the Y-direction slide block, and a cylinder rod of the third Z-direction cylinder is fixedly connected with the seedling taking platform 4-1.
The clamp supplying mechanism (see fig. 8.1 to 8.3) is used for fixing the cut scion seedlings and the rootstocks into a whole (the prior art); the clamp supplying mechanism comprises a clamp supplying platform 9-1 which is obliquely arranged and driven by a first Z-direction air cylinder, a conveying plate 9-2 arranged on the clamp supplying platform, 5 conveying grooves 9-3 which are formed in the conveying plate and are arranged in parallel, a sliding hole 9-6 arranged in each conveying groove, a push clamp plate 9-8 movably positioned between the clamp supplying platform and the conveying plate, a clamp supplying air cylinder 9-7 (a piston rod of the clamp supplying air cylinder is connected with the push clamp plate) with a cylinder body fixed on the clamp supplying platform and used for pushing the push clamp plate, a clamp supplying platform mounting plate 9-5 obliquely fixed on the conveying plate, and a plurality of push clamp rods 9-4 which are positioned in the conveying grooves one by one and fixed with the clamp push plates after the bottom end of the push clamp supplying air cylinder penetrates through the sliding holes. The clamp supplying platform mounting plate is connected with a cylinder rod of a first Z-direction cylinder 9-9, the first Z-direction cylinder drives the clamp supplying mechanism to move in the Z direction, and the first Z-direction cylinder is fixed on the rack through a first cylinder mounting plate 9-10.
The distance between the adjacent conveying grooves is suitable for the distance between the plug holes, the width of each conveying groove is suitable for the size of the grafting clamp, the width of each conveying groove is gradually reduced from top to bottom, the arrangement direction of the conveying grooves is perpendicular to the conveying direction of the stock seedling conveying mechanism, and the telescopic direction of the clamping air cylinder is perpendicular to the telescopic direction of the second clamping air cylinder 4-2; the grafting clamp (omitted in the figure) is placed into the conveying groove by an external device, the clamping cylinder pushes the grafting clamp to slide in the conveying groove through the clamping push rod, the gradually narrowed groove wall can extrude the clamping arm of the grafting clamp to open the clamping opening when the grafting clamp moves, and the clamping opening is closed under the action of self elasticity after the grafting clamp is pushed out of the conveying groove, so that the scion seedlings and the rootstock are clamped tightly, and the grafting is completed.
The scion angle-cutting mechanism (see fig. 7.1 and 7.2) is used for cutting the whole row of scion seedlings in the Y direction. The scion miter mechanism comprises a scion cutting platform 8-1 horizontally fixed on the rack, a fourth rodless cylinder 8-5 fixed on the cutting platform, two seventh slide rails 8-4 fixed on the cutting platform in parallel, two seventh slide blocks 8-7 on the two seventh slide rails one by one, scion seedling seats 8-6 fixed on the two seventh slide blocks and the fourth rodless cylinder slide blocks simultaneously and driven by the rodless cylinder to move on the two seventh slide rails along the X direction, six scion cutting tool bars 8-3 fixed on the scion seedling seats in parallel and at intervals (the rear ends of the cutting tool bars are fixed on the scion seedling seats), and six scion blades 8-2 fixed at the front ends of the scion cutting tool bars one by one and inclined at an angle (preferably 45 degrees) relative to the horizontal plane.
In the invention, the stock seedling tray and the scion seedling tray both adopt plug trays with 6x12 holes. The invention adopts a grafting method to graft, namely, the stock seedling and the scion seedling are firstly obliquely cut and then aligned and then fixed by grafting connection. For realizing the simultaneous grafting of whole row of stock seedlings and scion seedlings, in order to improve the efficiency, a seedling collecting mechanism, an inclined cutting mechanism, a clamping mechanism and a clamping mechanism are designed according to the size of a 6x12 hole tray, the seedling collecting mechanism collects the distance between seedling rods, the blade distance of the inclined cutting mechanism, the distance between the clamping mechanism for clamping the grippers and the scion clamping mechanism for clamping the grippers, and the distance between the conveying grooves are the same as the hole distance of the hole tray, so that the fixed precision of the clamping and clamping of the grafting clamps is ensured.
The motion of all the components is conveniently identified by electrically connecting each sensor and each motor through a PLC controller, and XYZ coordinates are marked in the figure of the invention.
Claims (10)
1. The utility model provides a full-automatic whole row of parallel mode plug seedling grafting machine, includes the frame, its characterized in that: the machine frame is provided with a stock seedling conveying mechanism (1) for respectively conveying stock seedling trays, a scion seedling conveying mechanism (2) for conveying the scion seedling trays, a stock seedling clamping mechanism (3) for respectively clamping the stock seedlings, a scion seedling clamping mechanism (4) for clamping the scion seedlings, a scion seedling angle cutting mechanism (8) for cutting the scion seedlings in a row, a clamping mechanism (9) for fixing the stock seedlings and the scion seedlings, and a stock clamping moving mechanism (10) for respectively moving the stock seedling clamping mechanism and a scion seedling clamping moving mechanism (11) for moving the scion seedling clamping mechanism in parallel; the device also comprises a stock seedling inclined cutting mechanism (7) for cutting the stock seedlings in a whole disc, a stock seedling gathering mechanism (5) for gathering the stock seedlings and a scion seedling gathering mechanism (6) for gathering the scion seedlings.
2. The full-automatic row-parallel plug seedling grafting machine according to claim 1, characterized in that: the positions at which the mechanisms are arranged in order along the Y direction are: the rootstock clamping mechanism and the rootstock seedling collecting mechanism are arranged side by side; the device comprises a stock seedling conveying mechanism, a scion clamping mechanism and a clamping supplying mechanism which are arranged side by side; a stock seedling oblique cutting mechanism; the scion grafting seedling conveying mechanism and the scion grafting seedling slant cutting mechanism are arranged side by side; a scion and seedling gathering mechanism; the horizontal projection planes of the stock clamping mechanism and the stock seedling collecting mechanism and the horizontal projection planes of the stock seedling conveying mechanism, the stock seedling inclined cutting mechanism, the scion seedling conveying mechanism and the scion seedling collecting mechanism are arranged in a straight line.
3. The full-automatic row-parallel plug seedling grafting machine according to claim 2, characterized in that: the stock seedling conveying mechanism and the scion seedling conveying mechanism are identical in structure and respectively comprise a conveying platform (1-1), a driving roller (1-2) and a driven roller (1-3) which are positioned at two ends of the conveying mechanism platform in a rotating mode, a conveying belt (1-4) matched with the driving roller and the driven roller and a conveying motor (1-5) for driving the driving roller to rotate through a transmission unit; the transmission unit comprises a large chain wheel (1-8) fixed at one end of the driving roller, a small chain wheel (1-7) fixed on the rotating shaft of the conveying motor and a conveying chain (1-9) connecting the large chain wheel and the small chain wheel.
4. The full-automatic row-parallel plug seedling grafting machine according to claim 3, characterized in that: the stock seedling gathering mechanism and the scion seedling gathering mechanism are identical in structure and respectively comprise a seedling gathering platform (5-1) horizontally fixed on a rack, a second rodless cylinder (5-4) fixed on the seedling gathering platform, two fourth slide rails (5-3) which are arranged on the seedling gathering platform in parallel and are respectively provided with a fourth slide block (5-8), a seedling gathering frame (5-10) which is simultaneously fixed on the two fourth slide blocks and the second rodless cylinder slide block (5-9) and is driven by the second rodless cylinder, a fifth slide rail (5-11) fixed on the seedling gathering frame, five fifth slide blocks (5-12) which are fixed on the fifth slide rails and keep intervals mutually, an upper seedling gathering rod connecting plate (5-7) fixed on the five fifth slide blocks and driven by the seedling gathering cylinders (5-16), an upper seedling gathering rod (5-2-1) fixed on the upper seedling gathering rod connecting plate, a lower seedling gathering rod (5-2-2) fixed on the seedling gathering frame and an upper seedling gathering cylinder (5-6), and a connecting plate which is fixed on the seedling gathering rod and is connected with the seedling gathering cylinder (5-2-1).
5. The full-automatic row-parallel plug seedling grafting machine according to claim 4, characterized in that: the stock miter cutting mechanism comprises a cutting platform (7-1) horizontally positioned on the rack, two sixth sliding rails (7-4) which are arranged on the cutting platform in parallel and are respectively provided with a sixth sliding block (7-7), a third rodless cylinder (7-5) which is fixed on the cutting platform and is positioned between the two sliding rails, a seedling taking rod seat (7-6) which is simultaneously fixed on the two sixth sliding blocks and the third rodless cylinder sliding block (7-8) and is driven by the rodless cylinder, twelve stock cutting cutter rods (7-3) which are arranged in parallel and of which the rear ends are fixed on the seedling taking rod seat, and twelve cutter heads (7-2) which are respectively fixed at the front ends of the stock cutting cutter rods and have inclination angles relative to the horizontal plane.
6. The full-automatic row-parallel plug seedling grafting machine according to claim 5, characterized in that: the rootstock clamping mechanism comprises a seedling clamping platform (3-7) which is horizontally arranged, two first slide rails (3-2) which are horizontally arranged in parallel with each other on the seedling taking platform and are respectively provided with a first slide block (3-8), a first rodless cylinder (3-3) which is fixed on the seedling clamping platform and is positioned on the two first slide rails, a seedling taking rod seat (3-6) which is simultaneously fixed on the two first slide blocks and the first rodless cylinder slide blocks and is driven by the first rodless cylinder, a second slide rail (3-9) which is fixed on the seedling taking rod seat and is provided with five second slide blocks (3-10), an upper seedling collecting rod connecting plate (3-11) which is fixed on the five slide blocks and can move along the slide rails, an upper seedling taking rod (3-1-1) which is fixed on the upper seedling collecting rod connecting plate, a lower seedling taking rod (3-1-2) which is fixed on the seedling taking rod seat, a first cylinder (3-4) which is fixed on the seedling taking rod, and a connecting piece (3-5) which is fixed on the upper seedling collecting rod connecting plate and is connected with the rod of the seedling taking cylinder; every is gone up and is got seedling pole and all get seedling pole and one down and mate the setting mutually parallelly and can be close to each other to be used for centre gripping stock seedling.
7. The full-automatic row-parallel plug seedling grafting machine according to claim 6, characterized in that: the screw rod transmission mechanism in the rootstock clamping and moving mechanism comprises two tenth slide rails (10-9) which are parallel to each other and are respectively provided with tenth slide blocks (10-10), an eighth slide rail seat (10-11) which is fixed on the two tenth slide blocks and is fixed with a first clamping sensor (10-14) and a second clamping sensor (10-15), an eighth slide rail (10-5) which is fixed on the eighth slide rail seat, a first Y-direction screw rod (10-2) which is fixed on the eighth slide rail seat and is in threaded fit with the eighth slide blocks, a motor (10-3) which drives the first Y-direction screw rod, three eighth slide blocks (10-4) which are in threaded fit with the first Y-direction screw rod and can move along the Y direction of the eighth slide rails, a second Z-direction air cylinder (10-1) and two ninth slide rails (10-7) which are respectively fixed on the eighth slide blocks, and two ninth slide blocks (10-6) which are in sliding fit with the two ninth slide rails respectively; the first X-direction cylinder (10-12) is fixed on the rack through a cylinder mounting plate, and a cylinder rod is connected with the eighth slide rail seat (10-11).
8. The full-automatic row-parallel plug seedling grafting machine according to claim 7, characterized in that: the scion clamping mechanism comprises a seedling taking platform (4-1) horizontally fixed on a third Z-direction air cylinder (11-7), a third slide rail (4-6) horizontally fixed on the seedling taking platform and provided with a third slide block (4-5), a plurality of upper seedling taking claws (4-3-1) movably positioned on the third slide rail through an upper seedling taking claw connecting plate connected with the third slide block, a plurality of lower seedling taking claws (4-3-2) arranged at intervals and fixed on the seedling taking platform, a second clamping air cylinder (4-2) fixed on the seedling taking platform, and a second air cylinder connecting piece (4-4) fixed on the upper seedling taking claw connecting plate and connected with the second clamping air cylinder; every is got seedling claw and is got seedling claw down and mate the setting and can be close to each other parallelly to each other for the centre gripping scion seedling.
9. The full-automatic row-parallel plug seedling grafting machine according to claim 8, characterized in that: the scion clamping and moving mechanism comprises two X-direction screw rod transmission mechanisms which are horizontally fixed on the rack in parallel and are spaced, a Y-direction screw rod transmission mechanism driven by the two X-direction screw rod transmission mechanisms, and a third Z-direction cylinder (7) driven by the Y-direction screw rod transmission mechanism; each X-direction screw rod transmission mechanism comprises an X-direction guide rail (11-2) which is fixed on the frame through an X-direction guide rail seat and is provided with an X-direction sliding block, an X-direction screw rod (11-1) which is rotatably positioned on the X-direction guide rail seat and can be in threaded fit with the X-direction sliding block, and an X-direction screw rod motor (11-3) which is fixed with the X-direction guide rail seat and is in power connection with the X-direction screw rod; each Y-direction screw rod transmission mechanism comprises a Y-direction guide rail (11-5) which is fixed with two X-direction sliding blocks through a Y-direction guide rail seat and is provided with a Y-direction sliding block, a second Y-direction screw rod (11-4) which is rotatably positioned on the Y-direction guide rail seat through a bearing and can be in threaded fit with the Y-direction sliding block, and a Y-direction screw rod motor (11-6) which is fixed with the Y-direction guide rail seat and is in power connection with the second Y-direction screw rod; and a third Z-direction cylinder is fixed on the Y-direction sliding block, and a cylinder rod of the third Z-direction cylinder is fixedly connected with the seedling taking platform (4-1).
10. The full-automatic row-parallel plug seedling grafting machine according to claim 9, characterized in that: the scion miter mechanism comprises a scion cutting platform (8-1) horizontally fixed on the rack, a fourth rodless cylinder (8-5) fixed on the cutting platform, two seventh sliding rails (8-4) which are fixed on the cutting platform in parallel and are respectively provided with seventh sliding blocks (8-7), scion seedling seats (8-6) which are simultaneously fixed on the two seventh sliding blocks and the fourth rodless cylinder sliding blocks and are driven by the rodless cylinders, six scion cutting cutter bars (8-3) which are arranged in parallel and of which the rear ends are fixed on the scion seedling seats, and six blades (8-2) which are fixed at the front ends of the scion cutting cutter bars one by one and have inclination angles relative to the horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210924466.5A CN115250778B (en) | 2022-08-02 | 2022-08-02 | Whole row parallel plug seedling grafting machine using sticking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210924466.5A CN115250778B (en) | 2022-08-02 | 2022-08-02 | Whole row parallel plug seedling grafting machine using sticking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115250778A true CN115250778A (en) | 2022-11-01 |
| CN115250778B CN115250778B (en) | 2024-03-15 |
Family
ID=83747853
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210924466.5A Active CN115250778B (en) | 2022-08-02 | 2022-08-02 | Whole row parallel plug seedling grafting machine using sticking method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115250778B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1839674A (en) * | 2005-03-29 | 2006-10-04 | 湖南农业大学 | Automatic grafting machine for vegetable |
| JP2007074930A (en) * | 2005-09-12 | 2007-03-29 | Yanmar Agricult Equip Co Ltd | Graft-seedling production system |
| KR20100044582A (en) * | 2008-10-22 | 2010-04-30 | 대한민국(관리부서:농촌진흥청장) | Wrapping device for grafting |
| CN102283024A (en) * | 2011-06-30 | 2011-12-21 | 马稚昱 | Adjustable rotary oblique-cutting automatic grafting device and method |
| CN203467267U (en) * | 2013-09-18 | 2014-03-12 | 浙江理工大学 | Locating and clamping device of grafted seedlings |
| CN103843594A (en) * | 2014-03-28 | 2014-06-11 | 沈阳农业大学 | Full-automatic melon stock and scion grafting machine |
| CN104285688A (en) * | 2014-10-21 | 2015-01-21 | 重庆茂旭科技有限责任公司 | Rootstock clamping and carrying device with earth carrier and grafting machine comprising same |
-
2022
- 2022-08-02 CN CN202210924466.5A patent/CN115250778B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1839674A (en) * | 2005-03-29 | 2006-10-04 | 湖南农业大学 | Automatic grafting machine for vegetable |
| JP2007074930A (en) * | 2005-09-12 | 2007-03-29 | Yanmar Agricult Equip Co Ltd | Graft-seedling production system |
| KR20100044582A (en) * | 2008-10-22 | 2010-04-30 | 대한민국(관리부서:농촌진흥청장) | Wrapping device for grafting |
| CN102283024A (en) * | 2011-06-30 | 2011-12-21 | 马稚昱 | Adjustable rotary oblique-cutting automatic grafting device and method |
| CN203467267U (en) * | 2013-09-18 | 2014-03-12 | 浙江理工大学 | Locating and clamping device of grafted seedlings |
| CN103843594A (en) * | 2014-03-28 | 2014-06-11 | 沈阳农业大学 | Full-automatic melon stock and scion grafting machine |
| CN104285688A (en) * | 2014-10-21 | 2015-01-21 | 重庆茂旭科技有限责任公司 | Rootstock clamping and carrying device with earth carrier and grafting machine comprising same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115250778B (en) | 2024-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107047073B (en) | Multi-plant synchronous vegetable seedling grafting device | |
| CN108184466B (en) | Transplanting and whole-row parallel type plug seedling grafting all-in-one machine | |
| CN107667695B (en) | Automatic grafting device | |
| CN107173073B (en) | Multi-stock synchronous beveling device for automatic vegetable grafting | |
| CN113615569B (en) | Corn castration robot paw | |
| CN1084139C (en) | Automatic peg grafting machine | |
| CN209078909U (en) | A kind of multistation wooden stick drilling equipment | |
| CN115024093A (en) | Rail-mounted orchard mechanical device and high-branch fruit picking method thereof | |
| CN115250778A (en) | Whole-row parallel type plug seedling grafting machine utilizing sticking method | |
| CN214628274U (en) | Automatic grafting device of multistation hardwood nursery stock | |
| CN210589451U (en) | Automatic vegetable harvesting and cutting machine | |
| CN115088494B (en) | High-efficient horizontal automatic grafting machine | |
| CN217184250U (en) | Full-automatic high flux group of potato tissue culture seedling banks up rapid propagation device with earth | |
| CN110603972A (en) | Opening device for tea grafting and operation method thereof | |
| CN214282269U (en) | Seedling clamping and cutting device and seedling grafting machine | |
| CN111684941A (en) | Anvil breaking device for automatic grafting of apple trees | |
| CN210537582U (en) | Synchronous wedge-shaped cutting device for grafting multiple scions on plug seedlings | |
| CN114568306A (en) | Full-automatic high flux group of potato tissue culture seedling banks up rapid propagation device with earth | |
| CN210312456U (en) | Conveying device | |
| CN209824513U (en) | Anvil breaking device for automatic grafting of apple trees | |
| CN208037668U (en) | One kind automatically cutting cloth cover material cabinet | |
| CN220630180U (en) | Positioning and clamping mechanism of seedling grafting machine | |
| CN112449895B (en) | Semi-automatization grafting robot | |
| CN110788625A (en) | Automatic mouth-bottom welding machine for stainless steel vacuum cup | |
| CN215269532U (en) | Water planting vegetables harvester |
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 |