CN116686563A - Oil tea mechanized grafting device and grafting method - Google Patents

Abstract

A mechanical grafting device and a mechanical grafting method for oil tea belong to the technical field of oil tea grafting equipment. The application solves the problems of time consuming, labor consuming and difficult realization of mechanization of the conventional manual bud stock grafting method of the oil tea. The seedling picking machine comprises a frame, two circulating chains, a plurality of stock seedling spring sliding blocks, a plurality of spike wood Miao Danhuang sliding blocks, a centering rail, a first moving stator, a third moving stator, a fourth moving stator, a seedling picking manipulator and a fourth moving stator, wherein the two circulating chains are arranged on the frame, the plurality of stock seedling spring sliding blocks are arranged on one circulating chain, the plurality of spike wood Miao Danhuang sliding blocks are arranged on the other circulating chain, the centering rail is arranged on the frame, the centering rail is arranged between the two circulating chains, the first moving stator is arranged on a first stator slideway in a sliding mode, the first moving stator is connected with spike wood Miao Gapian claws, the third moving stator and the fourth moving stator are arranged on a second stator slideway, the third moving stator is connected with the seedling picking manipulator, and the fourth moving stator is connected with the seedling feeding manipulator. The oil tea mechanized grafting device provided by the application realizes automatic butt joint of oil tea stock seedlings and spike seedlings, and reduces the labor cost.

Description

Oil tea mechanized grafting device and grafting method

Technical Field

The application belongs to the technical field of tea-oil tree grafting equipment, and particularly relates to a tea-oil tree mechanized grafting device and a tea-oil tree grafting method.

Background

The split grafting method is a main method for grafting the camellia oleifera seedlings, the traditional manual camellia oleifera grafting method is that a single-sided blade is used for splitting from the center medulla of a stock, the opening is 10mm long, the single-sided blade is used for cutting the right side of a spike Miao Zuo into an included angle of 10-15 degrees, the inclined plane is about 10mm long, the spike is inserted into the stock, and an aluminum foil is used for winding to obtain grafted seedlings, so that the camellia oleifera manual bud stock grafting method is high in survival rate, but is time-consuming, labor-consuming and difficult to realize, and as the labor cost of a camellia production area is higher and labor-consuming, the camellia oleifera planting area is more and more difficult to use, and seedling grafting mechanical equipment is urgently needed.

The actual needs of factorization and mechanization of the grafting of the camellia oleifera seedlings can be realized. The application provides a tea-oil tree grafting device which takes a split grafting method as a main grafting method and can be suitable for accurate butt joint of tea-oil tree seedlings to realize a grafting function, and aims to solve the problems.

Disclosure of Invention

The application aims to solve the problems that the conventional manual bud stock cleft grafting method for the oil tea is time-consuming, labor-consuming and difficult to realize in mechanization. The following presents a simplified summary of the application in order to provide a basic understanding of some aspects of the application. It should be understood that this summary is not an exhaustive overview of the application. It is not intended to identify key or critical elements of the application or to delineate the scope of the application.

The technical scheme of the application is as follows:

scheme one: the utility model provides a tea-oil camellia mechanized grafting device, which comprises a frame, the circulation chain, stock Miao Danhuang slider, ear wood Miao Danhuang slider, centering track, get seedling clamp manipulator, send seedling clamp manipulator, first stator slide and second stator slide, be provided with two circulation chains in the frame, install a plurality of stock seedling spring sliders on one circulation chain, install a plurality of ear wood Miao Danhuang sliders on the other circulation chain, centering track installs in the frame, centering track arranges between two circulation chains, install first stator slide and second stator slide in the frame, slide on the first stator slide and be provided with first removal stator, first removal stator is established with ear wood Miao Gapian claw and is connected, be provided with third removal stator and fourth removal stator on the second stator slide, the third removal stator is established with getting seedling clamp manipulator and is connected, fourth removal stator is established with sending seedling clamp manipulator and is connected.

Further, the frame includes first frame and second frame, and first frame is connected with the second frame, and two circulation chains and first stator slide are installed in first frame, and two circulation chains parallel arrangement still is provided with seedling in the first frame and presss from both sides the feed bin, has a plurality of seedling in the seedling clamp feed bin and presss from both sides, and the second stator slide is installed in the second frame, and first stator slide is 90 with the second stator slide and arranges.

Further, a first electric cylinder is connected to the first movable stator, the execution end of the first electric cylinder is connected with a spike seedling electric claw fixing frame, a spike seedling sleeve sliding block pushing block and a spike Miao Gapian claw are arranged on the spike seedling electric claw fixing frame, a spike Miao Gapian claw clamps a spike Miao Danhuang sliding block, and the spike seedling sleeve sliding block pushing block is connected with a spike Miao Danhuang sliding block

Further, still be provided with second removal stator and motionless stator on the first stator slide, first removal stator, second remove stator and motionless stator arrange in proper order on first stator slide, install the second electric jar on the second removal stator, the execution end of second electric jar is connected with broach device establishment, be connected with ear wood on the broach device and draw the sword, be provided with third electric jar and fourth electric jar on the motionless stator, the rotatory electric clamp of fine motion is installed to the execution end of third electric jar, the rotatory electric clamp of fine motion is connected with the stock riving knife through stock sword link, be connected with stock seedling clamping jaw piece on the fourth electric jar, stock seedling clamping jaw piece is used for centre gripping stock seedling spring slider.

Further, the seedling taking clamp manipulator comprises a second rotary electric clamp and a seedling taking device, the second rotary electric clamp is connected with the third movable stator through a sixth electric cylinder, and the seedling taking device is arranged at the executing end of the second rotary electric clamp.

Further, the seedling feeding clamp manipulator comprises a first rotary electric clamp and a seedling feeding clamp device, wherein the first rotary electric clamp is connected with the fourth movable stator through a fifth electric cylinder, and the seedling feeding clamp device is arranged at the executing end of the first rotary electric clamp.

Further, a centering track connecting table is arranged on the second frame, the centering track is arranged on the second frame through the centering track connecting table, and the centering track connecting table is arranged between the seedling clamping device and the seedling taking device.

Further, stock seedling spring slider includes that stock Miao Ga holds in palm link joint, first rubber piece, first clamp spring and first spring shaft, and stock Miao Gatuo link joint is installed on the circulation chain, and stock Miao Ga holds in the palm the symmetry and is provided with first spring shaft on the link joint, and the epaxial cover of first spring is equipped with first clamp spring, is connected with first rubber piece on every first spring shaft, and the stock seedling is fixed on the stock seedling holds in the palm the link joint through the first rubber piece centre gripping of symmetrical arrangement.

Further, spike seedling spring slider includes spike Miao Ga holds in palm link joint, second rubber piece, second clamp spring, second spring shaft and spike seedling cover slider, spike Miao Ga holds in the palm the link joint and the integrative machine-shaping of spike seedling cover slider, spike Miao Ga holds in the palm the link joint on the symmetry be provided with the second spring shaft, the epaxial second clamp spring that overlaps respectively of every second spring installs the second rubber piece on every second spring, spike seedling is fixed on spike Miao Ga holds in the palm the link joint through the second rubber piece of symmetrical arrangement, spike seedling cover slider is connected with spike seedling cover slider ejector pad cooperation.

Scheme II: the method is realized by means of the mechanical grafting device for the oil tea according to the scheme one, and comprises the following steps:

step one: respectively clamping one stock seedling on each stock seedling spring sliding block on the circulating chain, and respectively clamping one spike seedling on each spike Miao Danhuang sliding block on the other circulating chain;

step two: controlling a first electric cylinder to drive a spike seedling electric claw fixing frame to longitudinally move, clamping spike Miao Gatuo chain plates on a circulation chain through spike Miao Gapian claws on the spike seedling electric claw fixing frame, connecting spike seedling sleeve sliding blocks on the spike seedling electric claw fixing frame with spike seedling sleeve sliding blocks, driving the spike seedling electric claw fixing frame to transversely move through a control first moving stator, and moving spike Miao Danhuang sliding blocks on the circulation chain to one side of a stock Miao Danhuang sliding block through a centering track;

step three: in the moving process of the first moving stator, a second electric cylinder on the second moving stator drives a broaching device to longitudinally move, the first moving stator drives a spike Miao Gapian claw to be attached to the broaching device, a spike broaching knife on the broaching device is positioned above a spike seedling, the second electric cylinder is controlled to continuously move downwards, the spike seedling is broached by the spike broaching knife, the second electric cylinder drives the spike broaching knife to move upwards after broaching, and the first moving stator continuously drives the spike seedling to move towards one side of a stock Miao Danhuang sliding block;

step four: a fourth electric cylinder on the micro-motion rotary electric clamp drives a stock seedling clamping jaw piece to move up and down, a stock seedling clamping plate on the circulation chain is clamped, then a third electric cylinder on the stationary stator drives the micro-motion rotary electric clamp to move downwards until a stock splitting knife on the micro-motion rotary electric clamp is positioned above the spike seedling, the fourth electric cylinder is continuously controlled to move downwards, a stock seedling splitting opening is formed by the stock splitting knife, and the micro-motion rotary electric clamp drives the stock splitting knife to rotate for 0.5 degrees, so that the splitting opening on the stock seedling is opened;

step five: the third electric cylinder drives the stock chopper to move upwards, and the first moving stator drives the spike seedlings clamped on the spikes Miao Gapian claws to continuously move towards the direction of the stock seedlings until the spike seedlings are in butt joint with the stock seedlings;

step six: after the stock seedlings are in butt joint with the spike seedlings, controlling a fourth movable stator to drive a seedling clamping device to horizontally move, driving a fifth electric cylinder to drive the seedling clamping device to longitudinally move, driving the seedling clamping device to take out the seedling clamps in the seedling clamping feed bin through a first rotary electric clamp and move the seedling clamps to the butt joint positions of the stock seedlings and the spike seedlings, tightly binding the butt joint positions of the stock seedlings and the spike seedlings through the seedling clamps, controlling a third movable stator and a sixth electric cylinder to drive a seedling taking device to transversely and longitudinally move, controlling a second rotary electric clamp to control the swing angle of the seedling taking device, and driving the seedling taking device to take out the grafted stock seedlings and the grafted spike seedlings to the next station;

step seven: the first movable stator is reset with the first electric cylinder, the fourth electric cylinder is reset, the stock seedling clamping jaw piece and the stock Miao Gapian claw do not clamp the scion Miao Danhuang sliding block and the stock Miao Danhuang sliding block any more, and the scion Miao Danhuang sliding block and the stock Miao Danhuang sliding block are respectively placed on corresponding circulating chains;

step eight: and repeating the first step to the seventh step to butt the next stock seedling and the spike seedling.

The application has the following beneficial effects:

1. according to the oil tea mechanized grafting device, automatic butt joint of stock seedlings and spike seedlings of oil tea is completed in a seedling cutting, butt joint and seedling conveying mode, so that the labor cost of manpower is reduced, and mechanization and industrialization of oil tea split grafting are realized;

2. according to the oil tea mechanized grafting device, the cutting of the stock and the spike is realized through the stock riving knife and the spike broaching knife respectively, and under the action of the micro-motion rotary electric clamp, the stock riving knife is driven to perform micro-motion for a certain angle in the process of splitting the opening, so that the opening of the stock for a certain angle is improved, and the butt joint of the stock and the spike is facilitated.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a mechanized grafting device for oil tea;

fig. 2 is a schematic diagram of a slide block structure of the stock Miao Danhuang;

FIG. 3 is a spike Miao Danhuang slider;

FIG. 4 is a schematic diagram of the mating relationship of a first stator slide with a first moving stator, a second moving stator, and a stationary stator;

FIG. 5 is a schematic illustration of a spike broaching blade broaching spike seedlings;

fig. 6 is a schematic diagram of a stock riving knife splitting a stock seedling;

FIG. 7 is a schematic view of an endless chain device with a skid of spike Miao Danhuang installed;

FIG. 8 is a schematic diagram of the mating relationship of the second stator slide with the third moving stator and the fourth moving stator;

fig. 9 is a schematic illustration of the butt joint of stock seedlings and scion seedlings;

fig. 10 is a schematic view of the fixation by seedling clamps after the butt joint of the stock seedling and the spike seedling.

In the figure, 1-first frame, 2-second frame, 3-circulation chain, 4-stock Miao Danhuang slide block, 5-spike Miao Danhuang slide block, 6-centering track, 8-seedling taking and clamping mechanical arm, 9-seedling feeding mechanical arm, 10-seedling clamping feed bin, 11-first stator slide rail, 12-second stator slide rail, 13-first movable stator, 14-second movable stator, 15-third movable stator, 16-fourth movable stator, 17-stationary stator, 18-first electric cylinder, 19-second electric cylinder, 20-third electric cylinder, 21-fourth electric cylinder, 22-fifth electric cylinder, 23-sixth electric cylinder, 24-spike seedling electric claw fixing frame, 25-spike seedling sleeve slide block pushing block, 26-spike Miao Gapian claw, 27-broach device, 28-spike broach, 29-micro-rotation electric clamp, 30-stock knife connecting frame, 31-stock chopper, 32-stock seedling clamping jaw piece, 33-first rotation electric clamp, 34-second rotation electric clamp, 35-seedling clamping device, 36-seedling taking device, 37-centering track connecting table, 38-first bracket, 39-second bracket, 40-third bracket, 41-stock Miao Gatuo chain plate, 42-first rubber block, 43-first clamping spring, 44-stock seedling, 45-first spring shaft, 51-spike Miao Gatuo chain plate, 52-second rubber block, 53-second clamping spring, 54-spike seedling, 55-second spring shaft, 56-spike seedling sleeve slide block, 57-seedling clamp.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the application. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present application.

The connection mentioned in the present application is divided into a fixed connection and a detachable connection, wherein the fixed connection (i.e. the non-detachable connection) includes, but is not limited to, a conventional fixed connection manner such as a hemmed connection, a rivet connection, an adhesive connection, a welded connection, etc., and the detachable connection includes, but is not limited to, a conventional detachable manner such as a threaded connection, a snap connection, a pin connection, a hinge connection, etc., and when the specific connection manner is not specifically limited, at least one connection manner can be found in the existing connection manner by default, so that the function can be realized, and a person skilled in the art can select the connection according to needs. For example: the fixed connection is welded connection, and the detachable connection is hinged connection.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

The embodiment 1 is described with reference to fig. 1-10, and the mechanized grafting device for tea-oil trees in this embodiment includes a frame, a circulation chain 3, a stock Miao Danhuang slider 4, a spike Miao Danhuang slider 5, a centering rail 6, a seedling taking clamp manipulator 8, a seedling feeding clamp manipulator 9, a first stator slideway 11 and a second stator slideway 12, two circulation chains 3 are provided on the frame, a plurality of stock seedling spring sliders 4 are installed on one circulation chain 3, a plurality of spike Miao Danhuang sliders 5 are installed on the other circulation chain 3, the centering rail 6 is installed on the frame, the centering rail 6 is arranged between the two circulation chains 3, a first stator slideway 11 and a second stator slideway 12 are installed on the frame, a first movable stator 13 is slidably provided on the first stator slideway 11, a connection is established between the first movable stator 13 and the spike Miao Gapian claw 26, a third movable stator 15 and a fourth movable stator 16 are provided on the second stator slideway 12, a connection is established between the third movable stator 15 and the seedling taking clamp manipulator 8, and a connection is established between the fourth movable stator 16 and the seedling feeding clamp manipulator 9.

The machine frame comprises a first machine frame 1 and a second machine frame 2, wherein two circulating chains 3 are arranged on the first machine frame 1, the two circulating chains 3 are arranged in parallel, a plurality of stock seedling spring sliders 4 are arranged on one circulating chain 3, a plurality of spike Miao Danhuang sliders 5 are arranged on the other circulating chain 3, a centering track connecting table 37 is arranged on the first machine frame 1, a centering track 6 is connected with the first machine frame 1 through the centering track connecting table 37, the centering track 6 is arranged between the two circulating chains 3, and each circulating chain 3 provides power through a motor.

The first frame 1 is provided with a first stator slide 11, the first stator slide 11 is connected with a first movable stator 13 and a second movable stator 14 in a sliding manner, a fixed stator 17 is fixed on the first stator slide 11, the first movable stator 13 is connected with a first electric cylinder 18, the execution end of the first electric cylinder 18 is connected with a spike seedling electric claw fixing frame 24, the spike seedling electric claw fixing frame 24 is respectively provided with a spike seedling sleeve slide block push block 25 and a spike Miao Gapian claw 26, the spike seedling sleeve slide block push block 25 is used for being connected with a spike seedling sleeve slide block 56 of a spike Miao Danhuang slide block 5 to play a role in positioning the spike Miao Danhuang slide block 5, the spike Miao Ga support chain plate 51 of the spike Miao Danhuang slide block 5 is clamped through the spike Miao Gapian claw 26, the spike Miao Danhuang slide block 5 is driven to move transversely through the first movable stator 13, and the spike seedling electric claw fixing frame 24 is driven to move longitudinally through the first electric cylinder 18;

the second movable stator 14 is provided with a second electric cylinder 19, the execution end of the second electric cylinder 19 is provided with a broaching device 27, the bottom of the broaching device 27 is connected with a spike wood broaching blade 28, the spike wood broaching blade 28 driven by the second movable stator 14 moves transversely, the second electric cylinder 19 drives the spike wood broaching blade 28 to move longitudinally, and the spike wood broaching blade 28 is used for broaching the spike wood seedlings 54 to form a wedge shape with an included angle of 12 degrees on the spike wood seedlings 54;

the third electric cylinder 20 and the fourth electric cylinder 21 are installed on the fixed stator 17, the micro-motion rotary electric clamp 29 is connected to the third electric cylinder 20, the execution end of the fourth electric cylinder 21 is provided with a stock seedling clamping jaw 32, the stock seedling clamping plate 41 of the stock Miao Danhuang sliding block 4 is clamped through the stock seedling clamping jaw 32, meanwhile, the execution end of the micro-motion rotary electric clamp 29 is connected with the stock chopper 31 through the stock cutter connecting frame 30, under the action of the third electric cylinder 20, the chopping of the stock seedling 44 is realized through the stock chopper 31, in the chopping process of the stock chopper 31, the micro-motion rotary electric clamp 29 drives the stock chopper 31 to rotate by 0.5 degrees, so that the chopping of the stock seedling 44 opens by a certain angle, and the butt joint of the stock seedling 44 and the spike seedling 54 is facilitated;

the first movable stator 13 is connected with the first electric cylinder 18 through the third bracket 40, the second movable stator 14 is connected with the second electric cylinder 19 through the second bracket 39, the stationary stator 17 is connected with the third electric cylinder 20 through the first bracket 38, and the connection stability between the electric cylinders and the stators is improved under the action of the brackets.

The second bracket 2 is provided with a second stator slideway 12, the second stator slideway 12 and the first stator slideway 11 are arranged at 90 degrees, the second stator slideway 12 is connected with a third movable stator 15 and a fourth movable stator 16 in a sliding way, the third movable stator 15 is provided with a sixth electric cylinder 23, the execution end of the sixth electric cylinder 23 is connected with a seedling taking device 36 through a second rotary electric clamp 34, the second rotary electric clamp 4 and the seedling taking device 36 form a seedling taking clamp manipulator 8, the first bracket 1 is provided with a seedling clamp feeding bin 10, a plurality of seedling clamps 57 are arranged in the seedling clamp feeding bin 10, the seedling taking device 36 is driven to move transversely and longitudinally under the action of the third movable stator 15 and the sixth electric cylinder 23, the rotation angle of the seedling taking device 36 is driven by the second rotary electric clamp 4, and grafted stock seedlings 44 and scion seedlings 54 are moved from a grafting position to the next station;

the fourth moving stator 16 is connected with a fifth electric cylinder 22, the execution end of the fifth electric cylinder 22 is connected with a seedling feeding clamp device 35 through a first rotating electric clamp 33, the seedling feeding clamp device 35 and the first rotating electric clamp 33 form a seedling feeding clamp manipulator 9, the fourth moving stator 16 and the fifth electric cylinder 22 drive the seedling feeding clamp device 35 to move transversely and longitudinally, the first rotating electric clamp 33 is used for rotating the seedling feeding clamp device 35, the seedling feeding clamp 57 in the seedling feeding bin 10 is used for moving the seedling clamping 57 to the position where the stock seedlings 44 are in butt joint with the spike seedlings 54, and the stock seedlings 44 are tightly bound and fixed with the spike seedlings 54 through the seedling clamping 57.

The stock Miao Danhuang sliding block 4 comprises stock Miao Ga pallet plates 41, first rubber blocks 42, first clamping springs 43 and first spring shafts 45, the stock Miao Ga pallet plates 41 are arranged on the circulating chain 3, the first spring shafts 45 are symmetrically arranged on the stock Miao Ga pallet plates 41, the first clamping springs 43 are sleeved on the first spring shafts 45, the first rubber blocks 42 are connected to each first spring shaft 45, and stock seedlings 44 are clamped and fixed on the stock seedling clamping pallet plates 41 through the symmetrically arranged first rubber blocks 42;

spike Miao Danhuang slide block 5 includes spike Miao Ga holds in palm link joint 51, second rubber piece 52, second clamping spring 53, second spring shaft 55 and spike seedling cover slide block 56, spike Miao Ga holds in the palm link joint 51 and spike seedling cover slide block 56 integrated into one piece, spike Miao Ga holds in the palm the link joint 51 on the symmetry be provided with second spring shaft 55, the cover is equipped with second clamping spring 53 respectively on every second spring shaft 55, install second rubber piece 52 on every second spring shaft 55, spike seedling 54 is fixed on spike Miao Ga holds in the palm link joint 51 through symmetrical arrangement's second rubber piece 52, spike seedling cover slide block 56 cooperates with spike seedling cover slide block 25 to be connected.

Embodiment 2, referring to fig. 1 to 10, illustrates a mechanized grafting method of oil tea according to the embodiment, including the following steps:

step one: clamping a stock seedling 44 on each stock seedling spring sliding block 4 on the circulating chain 3, and clamping a spike seedling 54 on each spike Miao Danhuang sliding block 5 on the other circulating chain 3;

step two: controlling a first electric cylinder 18 to drive a spike seedling electric claw fixing frame 24 to longitudinally move, clamping spike Miao Ga support chain plates 51 on a circulating chain 3 through spike Miao Gapian claws 26 on the spike seedling electric claw fixing frame 24, connecting spike seedling sleeve slide block push blocks 25 on the spike seedling electric claw fixing frame 24 with spike seedling sleeve slide blocks 56, driving the spike seedling electric claw fixing frame 24 to transversely move through controlling a first moving stator 13, and moving spike Miao Danhuang slide blocks 5 on the circulating chain 3 to one side of stock Miao Danhuang slide blocks 4 through a centering track 6;

step three: in the moving process of the first moving stator 13, the second electric cylinder 19 on the second moving stator 14 drives the broaching device 27 to longitudinally move, the first moving stator 13 drives the spike Miao Gapian claw 26 to be attached to the broaching device 27, the spike broaching blade 28 on the broaching device 27 is positioned above the spike seedling 54, the second electric cylinder 19 is controlled to continuously move downwards, the spike seedling 54 is broached by the spike broaching blade 28, the second electric cylinder 19 drives the spike broaching blade to move upwards after the broaching, and the first moving stator 13 continuously drives the spike seedling 54 to move towards the side of the stock Miao Danhuang sliding block 4;

step four: the fourth electric cylinder 21 on the micro-motion rotary electric clamp 29 drives the stock seedling clamping jaw 32 to move up and down, the stock seedling clamping support chain plate 41 on the circulating chain 3 is clamped, then the third electric cylinder 20 on the stationary stator 17 drives the micro-motion rotary electric clamp 29 to move down until the stock riving knife 31 on the micro-motion rotary electric clamp 29 is positioned above the spike seedling 54, the fourth electric cylinder 21 is continuously controlled to move down, the stock seedling 44 is split through the stock riving knife 31, and the micro-motion rotary electric clamp 29 drives the stock riving knife 31 to rotate by 0.5 degrees, so that the split on the stock seedling 44 is opened;

step five: the third electric cylinder 20 drives the stock chopper 31 to move upwards, and the first moving stator 13 drives the spike seedlings 54 clamped on the spikes Miao Gapian claws 26 to continuously move towards the direction of the stock seedlings 44 until the spike seedlings 54 are in butt joint with the stock seedlings 44;

step six: after the stock seedling 44 is in butt joint with the spike seedling 54, the fourth moving stator 16 is controlled to drive the seedling clamping device 35 to horizontally move, the fifth electric cylinder 22 drives the seedling clamping device 35 to longitudinally move, the first rotary electric clamp 33 drives the seedling clamping device 35 to take out the seedling clamp 57 in the seedling clamping feed bin 10 and move the seedling clamp 57 to the butt joint position of the stock seedling 44 and the spike seedling 54, the butt joint position of the stock seedling 44 and the spike seedling 54 is tightly bound by the seedling clamp 57, the third moving stator 15 and the sixth electric cylinder 23 are controlled to drive the seedling taking device 36 to transversely and longitudinally move, the second rotary electric clamp 34 is controlled to control the swinging angle of the seedling taking device 36, and the seedling taking device 36 is driven to take out the grafted stock seedling 44 and the spike seedling 54 to the next station;

step seven: the first movable stator 13 is reset with the first electric cylinder 18, the fourth electric cylinder 21 is reset, the stock seedling clamping jaw 26 and the stock Miao Gapian claw 32 do not clamp the scion Miao Danhuang sliding block 5 and the stock Miao Danhuang sliding block 4 any more, and the scion Miao Danhuang sliding block 5 and the stock Miao Danhuang sliding block 4 are respectively placed on the corresponding circulating chain 3;

step eight: and repeating the first step to the seventh step to perform the butt joint of the next stock seedling 44 and the spike seedling 54.

The present embodiment is only illustrative of the present patent and does not limit the scope of protection thereof, and those skilled in the art can also change the part thereof, which is within the scope of protection of the present patent without exceeding the spirit of the present patent.

Claims (10)

1. The utility model provides a tea-oil camellia mechanized grafting device which characterized in that: including frame, circulation chain (3), stock Miao Danhuang slider (4), ear wood Miao Danhuang slider (5), centering track (6), get seedling clamp manipulator (8), send seedling clamp manipulator (9), first stator slide (11) and second stator slide (12), be provided with two circulation chains (3) in the frame, install a plurality of stock seedling spring sliders (4) on one circulation chain (3), install a plurality of ear wood Miao Danhuang sliders (5) on another circulation chain (3), centering track (6) are installed in the frame, centering track (6) are arranged between two circulation chains (3), install first stator slide (11) and second stator slide (12) in the frame, slide on first stator slide (11) and be provided with first removal stator (13), first removal stator (13) are connected with ear wood Miao Gapian claw (26) establishment, be provided with third removal stator (15) and fourth removal stator (16) on second stator slide (12), third removal stator (15) are connected with getting seedling clamp manipulator (8) and are connected with fourth stator slide (16) establishment of seedling clamp manipulator (9).

2. The mechanized grafting device for oil tea according to claim 1, wherein: the frame includes first frame (1) and second frame (2), first frame (1) is connected with second frame (2), two circulation chains (3) and first stator slide (11) are installed on first frame (1), two circulation chains (3) parallel arrangement still are provided with seedling clamp feed bin (10) on first frame (1), seedling clamp feed bin (10) are interior to have a plurality of seedling clamps (57), second stator slide (12) are installed on second frame (2), first stator slide (11) are 90 with second stator slide (12) and arrange.

3. The mechanized grafting device for oil tea according to claim 2, wherein: the first movable stator (13) is connected with a first electric cylinder (18), the execution end of the first electric cylinder (18) is connected with a spike seedling electric claw fixing frame (24), a spike seedling sleeve sliding block pushing block (25) and spike Miao Gapian claws (26) are arranged on the spike seedling electric claw fixing frame (24), the spike Miao Gapian claws (26) clamp spike Miao Danhuang sliding blocks (5), and the spike seedling sleeve sliding block pushing block (25) is connected with the spike Miao Danhuang sliding blocks (5).

4. A motorized grafting device for camellia oleifera according to claim 3, characterized in that: the novel wood splitting machine is characterized in that a second movable stator (14) and a fixed stator (17) are further arranged on the first stator slide (11), the first movable stator (13), the second movable stator (14) and the fixed stator (17) are sequentially arranged on the first stator slide (11), a second electric cylinder (19) is arranged on the second movable stator (14), an executing end of the second electric cylinder (19) is connected with a broach device (27), a cutting knife (28) is connected to the broach device (27), a third electric cylinder (20) and a fourth electric cylinder (21) are arranged on the fixed stator (17), a micro-motion rotary electric clamp (29) is arranged at an executing end of the third electric cylinder (20), the micro-motion rotary electric clamp (29) is connected with a stock splitting knife (31) through a stock knife connecting frame (30), a stock clamping jaw piece (32) is connected to the fourth electric cylinder (21), and the stock clamping jaw piece (32) is used for clamping a stock Miao Danhuang sliding block (4).

5. The mechanized grafting device for oil tea according to claim 4, wherein: the seedling taking clamp manipulator (8) comprises a second rotary electric clamp (34) and a seedling taking device (36), the second rotary electric clamp (34) is connected with the third movable stator (15) through a sixth electric cylinder (23), and the seedling taking device (36) is arranged at the executing end of the second rotary electric clamp (34).

6. The mechanized grafting device for oil tea according to claim 5, wherein: the seedling feeding clamp manipulator (9) comprises a first rotary electric clamp (33) and a seedling feeding clamp device (35), wherein the first rotary electric clamp (33) is connected with the fourth movable stator (16) through a fifth electric cylinder (22), and the seedling feeding clamp device (35) is arranged at the execution end of the first rotary electric clamp (33).

7. The mechanized grafting device for oil tea according to claim 6, wherein: the second frame (2) is provided with a centering track connecting table (37), the centering track (6) is arranged on the second frame (2) through the centering track connecting table (37), and the centering track connecting table (37) is arranged between the seedling loading clamp device (35) and the seedling taking device (36).

8. The mechanized grafting device for oil tea according to claim 7, wherein: the utility model provides a stock Miao Danhuang slider (4) includes stock Miao Gatuo link joint (41), first rubber piece (42), first clamp spring (43) and first spring axle (45), stock Miao Gatuo link joint (41) are installed on circulation chain (3), the symmetry is provided with first spring axle (45) on stock Miao Gatuo link joint (41), the cover is equipped with first clamp spring (43) on first spring axle (45), be connected with first rubber piece (42) on every first spring axle (45), stock seedling (44) are fixed on stock seedling clamp holds in palm link joint (41) through symmetrical arrangement's first rubber piece (42) centre gripping.

9. The mechanized grafting device for oil tea according to claim 8, wherein: spike Miao Danhuang slider (5) include spike Miao Gatuo link joint (51), second rubber piece (52), second clamp spring (53), second spring axle (55) and spike seedling cover slider (56), spike Miao Gatuo link joint (51) and spike seedling cover slider (56) integrated into one piece, the symmetry is provided with second spring axle (55) on spike Miao Gatuo link joint (51), the cover is equipped with second clamp spring (53) on every second spring axle (55) respectively, install second rubber piece (52) on every second spring axle (55), spike seedling (54) are fixed on spike Miao Gatuo link joint (51) through symmetrical arrangement's second rubber piece (52), spike seedling cover slider (56) are connected with spike seedling cover slider ejector pad (25) cooperation.

10. The grafting method of the mechanized grafting device for the camellia oleifera, which is realized by the mechanized grafting device for the camellia oleifera according to the claim 9, is characterized by comprising the following steps:

step one: clamping a stock seedling (44) on each stock seedling spring sliding block (4) on the circulating chain (3), and clamping a spike seedling (54) on each spike Miao Danhuang sliding block (5) on the other circulating chain (3);

step two: controlling a first electric cylinder (18) to drive a spike seedling electric claw fixing frame (24) to move longitudinally, clamping spike Miao Gatuo chain plates (51) on a circulation chain (3) through spike Miao Gapian claws (26) on the spike seedling electric claw fixing frame (24), connecting spike seedling sleeve sliding blocks (25) on the spike seedling electric claw fixing frame (24) with spike seedling sleeve sliding blocks (56), driving the spike seedling electric claw fixing frame (24) to move transversely through controlling a first moving stator (13), and moving spike Miao Danhuang sliding blocks (5) on the circulation chain (3) to one side of stock Miao Danhuang sliding blocks (4) through a centering track (6);

step three: in the moving process of the first moving stator (13), a second electric cylinder (19) on the second moving stator (14) drives a broaching device (27) to longitudinally move, the first moving stator (13) drives a spike Miao Gapian claw (26) to be attached to the broaching device (27), a spike broaching blade (28) on the broaching device (27) is positioned above a spike seedling (54), the second electric cylinder (19) is controlled to continuously move downwards, the spike seedling (54) is broached through the spike broaching blade (28), the second electric cylinder (19) drives the spike broaching blade to move upwards after the broaching, and the first moving stator (13) continuously drives the spike seedling (54) to move towards one side of a stock Miao Danhuang sliding block (4);

step four: a fourth electric cylinder (21) on the micro-motion rotary electric clamp (29) drives a stock seedling clamping jaw piece (32) to move up and down, a stock seedling clamping support chain plate (41) on the circulation chain (3) is clamped, then the third electric cylinder (20) on the fixed stator (17) drives the micro-motion rotary electric clamp (29) to move downwards until a stock chopper (31) on the micro-motion rotary electric clamp (29) is positioned above a spike seedling (54), the fourth electric cylinder (21) is continuously controlled to move downwards, a stock seedling (44) is split through the stock chopper (31), and the micro-motion rotary electric clamp (29) drives the stock chopper (31) to rotate for 0.5 degrees, so that the split on the stock seedling (44) is opened;

step five: the third electric cylinder (20) drives the stock chopper (31) to move upwards, and the first moving stator (13) drives the spike seedlings (54) clamped on the spikes Miao Gapian claws (26) to continuously move towards the direction of the stock seedlings (44) until the spike seedlings (54) are in butt joint with the stock seedlings (44);

step six: after the stock seedlings (44) are in butt joint with the spike seedlings (54), the fourth moving stator (16) is controlled to drive the seedling clamping device (35) to horizontally move, the fifth electric cylinder (22) is controlled to drive the seedling clamping device (35) to longitudinally move, then the first rotating electric clamp (33) is used for driving the seedling clamping device (35) to take out the seedling clamp (57) in the seedling clamping feed bin (10) and move the seedling clamp to the butt joint position of the stock seedlings (44) and the spike seedlings (54), the butt joint position of the stock seedlings (44) and the spike seedlings (54) is tightly bound through the seedling clamp (57), the third moving stator (15) and the sixth electric cylinder (23) are controlled to drive the seedling taking device (36) to transversely and longitudinally move, the second rotating electric clamp (34) is controlled to control the swinging angle of the seedling taking device (36), and the seedling taking device (36) is driven to take out the grafted stock seedlings (44) and the spike seedlings (54) to the next station;

step seven: the first movable stator (13) is reset with the first electric cylinder (18), the fourth electric cylinder (21) is reset, the spike Miao Gapian claw (26) and the stock seedling clamping jaw piece (32) are not used for clamping the spike Miao Danhuang sliding block (5) and the stock Miao Danhuang sliding block (4) any more, and the spike Miao Danhuang sliding block (5) and the stock Miao Danhuang sliding block (4) are respectively placed on the corresponding circulating chain (3);

step eight: and repeating the first step to the seventh step to butt joint the next stock seedling (44) and the spike seedling (54).