CN220630180U

CN220630180U - Positioning and clamping mechanism of seedling grafting machine

Info

Publication number: CN220630180U
Application number: CN202322181855.6U
Authority: CN
Inventors: 郑涛; 胡宏广; 朱伟强; 盛珂; 王洁; 边晓东
Original assignee: Jinhua Wayne Agricultural Machinery Co ltd
Current assignee: Jinhua Wayne Agricultural Machinery Co ltd
Priority date: 2023-08-14
Filing date: 2023-08-14
Publication date: 2024-03-22
Anticipated expiration: 2033-08-14

Abstract

The utility model discloses a positioning and clamping mechanism of a seedling grafting machine, which comprises a clamping part and a positioning part, wherein the positioning part is arranged right above the clamping part; the clamping part comprises a pair of opposite clamping arms, the middle parts of the clamping arms are respectively provided with a bearing structure, and the two bearing structures define a clamping accommodating space for accommodating the grafting clamp; the upper ends of the clamping arms are respectively provided with a seedling supporting inclined table for guiding and righting scions and stocks deviating from the butt joint position, and the two clamping arms can be mutually closed and separated along the X direction under the action of a clamping driving piece so as to clamp the clamping; the positioning part comprises a positioning piece, the positioning piece can move up and down between an initial position and a seedling positioning position along the Z direction, a positioning structure is arranged at the bottom of the positioning piece, the positioning structure corresponds to the clamping opening of the grafting clamp up and down, and the positioning piece can be propped against the butt joint section of the stock and the scion after reaching the seedling positioning position. According to the utility model, the seedling can be righted and positioned by optimizing the structure of the clamping arm and setting the positioning piece, so that the butt joint precision of the scion and the stock is improved.

Description

Positioning and clamping mechanism of seedling grafting machine

Technical Field

The utility model belongs to the field of seedling raising machinery, and particularly relates to a positioning and clamping mechanism of a seedling grafting machine

Background

The grafting technology is widely applied to the agricultural field, grafting is a nutrition reproduction in asexual propagation, and the scion is tightly combined with the cutting surface of the stock during grafting so as to ensure the survival of the scion, so that a grafting clamp is used for clamping and fixing the grafted seedling, and the survival rate of the grafted seedling is improved. In order to improve grafting efficiency, people have developed grafting machine, carry out automatic clamping to scion and stock, but because original seedling is not the growth of standing vertically completely, lead to scion and stock butt joint accuracy low, and in automatic clamping process, the scion and the stock that dock easily produce the dislocation, lead to the formation of scion and stock can't combine closely, have reduced grafting survival rate.

Disclosure of Invention

The utility model provides a seedling grafting machine positioning and clamping mechanism, which aims at the problems that in the prior art, in the clamping process of a grafting machine, the butt joint precision of scions and stocks is low and the grafting survival rate is influenced.

The seedling grafting machine positioning and clamping mechanism comprises a clamping part and a positioning part, wherein the positioning part is arranged right above the clamping part; the clamping part comprises a pair of clamping arms which are oppositely arranged, the middle parts of the clamping arms are respectively provided with a bearing structure for bearing the grafting clip, and the two bearing structures define a holding space for containing the grafting clip; the upper ends of the clamping arms are respectively provided with a seedling supporting inclined table for guiding and righting scions and stocks deviating from the butt joint position, and the two clamping arms can be mutually closed and separated along the X direction under the action of a clamping driving piece so as to clamp the clamping; the positioning part comprises a positioning piece, the positioning piece can move up and down between an initial position and a seedling positioning position along the Z direction under the action of the positioning driving piece, a positioning structure is arranged at the bottom of the positioning piece, the positioning structure corresponds to the clamping opening of the grafting clamp up and down, and the positioning piece can be propped against the butt joint section of the stock and the scion after reaching the seedling positioning position.

Preferably, the two clamping arms can synchronously reciprocate between respective clamping positions along the Z direction under the action of the clamping driving piece; the seedling supporting inclined tables are provided with guide inclined planes which are arranged oppositely and gradually retract from top to bottom; the width of holding the clamp space and the width phase-match of grafting clamp, two when the clamping arm draws close, grafting clamp opens, and two support seedling inclined bench limit a loudspeaker groove that has the bottom clearance, loudspeaker groove and grafting clamp opening intercommunication.

Preferably, the lower part of the positioning piece is provided with a trapezoid block which is matched with the outline of the horn slot, the positioning structure is a positioning slot concavely arranged at the bottom of the trapezoid block, the positioning piece is positioned at a seedling positioning position, when the clamping arm is positioned at a clamping position, the trapezoid block is embedded in the horn slot, and the notch of the positioning slot faces downwards and is communicated with a grafting clamping opening; the inner pad of the positioning groove is provided with a flexible pad.

Preferably, the front of clamping portion is equipped with and prepares the clamp portion, prepare the clamp portion including driving the feed subassembly that makes the holding strip antedisplacement and cutting assembly who makes the holding strip cutting grafting clamp, make the holding strip and extend along Y, the feed subassembly includes the feed anchor clamps, the feed anchor clamps can be under the effect of feed cylinder along Y reciprocating translation, establish the first through cavity that supplies the holding strip to pass in the feed anchor clamps.

Preferably, the cutting assembly comprises a cutting fixture and a blade, a second penetrating cavity for the clamping strip to penetrate is formed in the cutting fixture, a cutter passing gap for the blade to do vertical cutting action is formed in the middle section of the cutting fixture, and the cutter passing gap is perpendicular to the length direction of the clamping strip.

Preferably, the second penetrating cavity is divided into a front cavity and a rear cavity by the clearance between the cutting tool and the cutting tool, wherein the rear cavity is arranged close to the clamping part, the length of the rear cavity is A, the length of the grafting clip is B, and A=nB; and the horizontal pushing stroke of the feeding cylinder is B.

Preferably, the longitudinal sections of the first penetrating cavity and the second penetrating cavity are matched with the longitudinal inclined planes of the clamping strips; a first jacking cylinder is arranged below the feeding clamp, a first assembly hole for accommodating a jacking rod of the first jacking cylinder is arranged in the feeding clamp, and the first assembly hole is communicated with the first through cavity; when the first jacking cylinder is jacked up, the ejector rod of the first jacking cylinder is propped against the clamping strip, and the relative freedom degree of the feeding clamp and the clamping strip is limited; a second jacking cylinder is arranged below the cutting clamp, a second assembly hole for accommodating a second jacking cylinder ejector rod is arranged in the cutting clamp, and the second assembly hole is communicated with the second penetrating cavity and is positioned in front of the clearance of the cutter; when the second jacking cylinder jacks up, the ejector rod of the second jacking cylinder butts against the clamping strip, and the relative freedom degree of the cutting clamp and the clamping strip is limited; the first jacking cylinder and the second jacking cylinder alternately jack.

Preferably, the feeding assembly further comprises a carrier roller, and the carrier roller, the feeding clamp and the cutting clamp are sequentially arranged along the Y direction; the carrier roller sets up along circumference and makes holding in palm strip width assorted support groove.

Preferably, a seedling transplanting part is further arranged on the side of the positioning part, the seedling transplanting part comprises a seedling transplanting grabbing clamp, the seedling transplanting grabbing clamp and the positioning part move synchronously, the seedling transplanting grabbing clamp moves up and down between an initial position and a seedling taking position along the Z direction, the initial position of the seedling transplanting grabbing clamp is arranged right above the stock, and the seedling grabbing clamp synchronously reaches the seedling taking position to clamp the stock section of the grafted seedling when the positioning part reaches the positioning position.

Preferably, the positioning part and the seedling transplanting part are both arranged on a sliding rail in a sliding manner, the sliding rail extends along the Y direction, and the positioning part and the seedling transplanting part slide back and forth between an initial position and a seedling transferring position along the Y direction under the action of the seedling transplanting driving piece so as to transfer grafted seedlings.

Compared with the prior art, the utility model has the following technical effects: by optimizing the structure of the clamping arm, the seedling supporting inclined table is arranged at the upper end of the clamping arm, and in the upward moving process of the clamping arm, the seedling supporting inclined table can guide and support the stock and the scion deviating from the butt joint position, so that the cutting surfaces of the stock and the scion can be tightly combined, and the survival rate of grafted seedlings is improved; the positioning piece is matched with the two seedling supporting inclined tables, so that the cutting ends of the stock and the scion can accurately enter and are limited in the clamping opening of the grafting clamp during clamping, the cutting ends of the stock and the scion are prevented from generating displacement during clamping, and the grafting precision is improved; the clamp preparation part utilizes the whole strip clamping strip to cut on site to prepare the grafting clamp, so that the gesture position of the grafting clamp is ensured to be accurate, and the clamping efficiency and the clamping accuracy are improved; the feeding clamp is matched with the feeding cylinder to realize the forward movement of the clamping strip, the cutting clamp is matched with the cutting assembly to realize the cutting of the clamping strip, two clamps are arranged, and the two clamps are clamped alternately and loosened, so that the clamping efficiency can be effectively improved; through cavities which are matched with the profile of the clamping strip are formed in the two clamps, and the clamping strip is fixed by using the jacking cylinder, so that the position of the clamping strip is prevented from shifting in the clamping and loosening process of the clamps, and the grafting clamp is ensured to enter the clamping part in accurate posture and position; through setting up the seedling that moves with setting element synchronous motion and grab the clamp, clamping and seedling that moves can high-efficient synchronous going on, has improved scion efficiency.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a side view of a backup clip portion and a clamping portion according to the present utility model;

FIG. 3 is a schematic view of a backup clamping part and a clamping part structure in the utility model;

FIG. 4 is a schematic view of a positioning part and a seedling transplanting part according to the present utility model;

FIG. 5 is a schematic view of a positioning member according to the present utility model;

FIG. 6 is a schematic view of a clamping arm structure according to the present utility model;

the marks in the figure: a frame 10; a clamping arm 21; a receiving structure 211; miao Xietai 212 and 212; a guide slope 2121; a positioning member 31; a trapezoid block 311; a positioning groove 312; a feed jig 41; a feed cylinder 42; a first overhead cylinder 43; a first through cavity 411; a cutting jig 44; a second through cavity 441; a second overhead cylinder 45; a carrier roller 46; a blade 47; clip strip 50; a seedling-transplanting gripping clamp 61; a slide rail 62; and a connection plate 63.

Detailed Description

The utility model is further described below with reference to embodiments shown in the drawings in which:

as shown in fig. 1-6, the embodiment discloses a positioning and clamping mechanism of a seedling grafting machine, which comprises a clamping part and a positioning part which are arranged on a frame 10, wherein the positioning part is arranged right above the clamping part.

The clamping part comprises a pair of clamping arms 21 which are oppositely arranged, the middle parts of the clamping arms 21 are respectively provided with a bearing structure 211 for bearing grafting clips, and the two bearing structures 211 define a holding space for holding the grafting clips; the upper ends of the clamping arms 21 are respectively provided with a seedling supporting inclined table 212 for guiding and supporting scions and stocks deviating from the butt joint position, and the two clamping arms 21 can be mutually closed and separated along the X direction under the action of a clamping driving piece so as to clamp the clamping; the positioning part comprises a positioning part 31, the positioning part 31 can move up and down between an initial position and a seedling positioning position along the Z direction under the action of a positioning driving part, a positioning structure is arranged at the bottom of the positioning part 31, the positioning structure corresponds to the position of a clamping opening of the grafting clamp up and down, and the positioning part 31 can be propped against a butt joint section of a stock and a scion after reaching the seedling positioning position.

The two clamping arms 21 can synchronously move up and down along the Z direction under the action of the clamping driving piece; the seedling supporting inclined tables 212 are provided with guide inclined planes 2121, and the two guide inclined planes 2121 are oppositely arranged and gradually retract from top to bottom; the width of the holding space is matched with the width of the grafting clip, when the two clamping arms 21 are closed, the grafting clip is opened, and the two seedling supporting inclined tables 212 define a horn groove with a bottom gap, and the horn groove is communicated with the opening of the grafting clip. In the process of upward moving of the clamping arm 21, the seedling supporting inclined table 212 can guide and support the stock and the scion deviating from the butt joint position, so that the stock and the scion can enter the clamp opening of the grafting clamp in accurate positions and postures, the butt joint accuracy of the scion and the stock is higher, the cutting surfaces can be tightly combined, the survival rate of grafted seedlings is improved, and the seedling plants which are not straight enough can be grafted with high accuracy under the action of the seedling supporting inclined table 212. The positioning driving piece, the tensioning driving piece and the clamping driving piece are all air cylinders.

The lower part of the positioning piece 31 is provided with a trapezoid block 311 which is matched with the outline of the horn slot, the positioning structure is a positioning slot 312 concavely arranged at the bottom of the trapezoid block 311, the positioning piece 31 is positioned at a seedling positioning position, when the clamping arm 21 is positioned at a clamping position, the trapezoid block 311 is embedded in the horn slot, the notch of the positioning slot 312 faces downwards and is communicated with a grafting clamping opening, and the trapezoid block 311 is matched with the horn slot to ensure that the relative positions of the positioning slot 312 and the grafting clamp are always consistent so as to realize the positioning of seedlings; in order to avoid the hard positioning piece 31 damaging the stock and scion, a flexible pad is arranged in the positioning groove 312.

In order to further improve grafting efficiency and grafting accuracy, a backup clip part is arranged in front of the clamping part, and is used for conveying the whole clamping strip 50 and cutting the clamping strip 50 into grafting clips. The clamping preparation part comprises a feeding assembly for driving the clamping strip 50 to move forwards and a cutting assembly for cutting the clamping strip 50 into grafting clamps, the clamping strip 50 extends along the Y direction, the feeding assembly comprises a feeding clamp 41, the feeding clamp 41 can move forwards and backwards along the Y direction under the action of a feeding cylinder 42, and a first penetrating cavity 411 for the clamping strip 50 to pass through is arranged in the feeding clamp 41; the feeding assembly further comprises a carrier roller 46, the feeding clamp 41 and the cutting clamp 44 are sequentially arranged along the Y direction, a carrier groove matched with the width of the clamping strip 50 is formed in the circumferential direction of the carrier roller 46, the carrier roller 46 can further improve the stability of the horizontal support of the clamping strip 50, and the accuracy of feeding cutting is guaranteed.

The cutting assembly comprises a cutting fixture 44 and a blade 47, a second penetrating cavity 441 for the clamping strip 50 to penetrate is arranged in the cutting fixture 44, a cutter passing gap for the blade 47 to perform vertical cutting action is arranged in the middle section of the cutting fixture 44, the cutter passing gap is perpendicular to the length direction of the clamping strip 50, and the cutter passing gap is arranged in the middle section of a cutting house, so that the front section and the rear section of the cutting position are effectively supported, and smooth cutting is ensured; the second through cavity 441 is divided into a front cavity and a rear cavity by the clearance between the two cavities, wherein the rear cavity is arranged close to the clamping part, the length of the rear cavity is A, the length of the grafting clip is B, and A=B; the horizontal pushing stroke of the feeding cylinder 42 is B. The rear cavity can be used as a temporary storage space of the grafting clamp, so that the posture of the grafting clamp is kept, and the grafting clamp can reach the clamping part in an accurate posture; the length of the rear cavity and the formation of the feeding air cylinder 42 are matched with the length of the grafting clip, and the grafting clip in the rear cavity can be completely pushed out to the clamping part by utilizing the forward movement of the clip making strip 50, so that the energy-saving and efficient effects are achieved.

The longitudinal sections of the first through cavity 411 and the second through cavity 441 are matched with the longitudinal inclined surfaces of the clamping strip 50; a first jacking cylinder 43 is arranged below the feeding clamp 41, a first assembly hole for accommodating the ejector rod of the first jacking cylinder 43 is arranged in the feeding clamp 41, and the first assembly hole is communicated with the first through cavity 411; when the first jacking cylinder 43 is jacked up, the ejector rod of the first jacking cylinder is propped against the clamping strip 50, and the relative freedom degree of the feeding clamp 41 and the clamping strip 50 is limited; a second jacking cylinder 45 is arranged below the cutting clamp 44, a second assembly hole for accommodating the ejector rod of the second jacking cylinder 45 is arranged in the cutting clamp 44, and the second assembly hole is communicated with the second through cavity 441 and is positioned in front of the clearance between the cutters; when the second jacking cylinder 45 is jacked up, the ejector rod of the second jacking cylinder is propped against the clamping strip 50, and the relative freedom degree of the cutting clamp 44 and the clamping strip 50 is limited; the first jacking cylinder 43 is alternately jacked with the second jacking cylinder 45.

The clamping arms 21 are provided with clamping parts for conveying the whole clamping strip 50 and cutting the clamping strip 50 into grafting clamps, the clamping parts are used for loading the grafting clamps on grafted seedlings, when the two clamping arms 21 are positioned at the clamping positions, the clamping accommodating spaces are aligned with the cavity openings of the second through cavity 441, the two clamping arms 21 are positioned at the clamping positions to complete the bearing of the grafting clamps, and when the two clamping arms 21 are positioned at the clamping positions, the clamping of the grafting clamps is completed. Compared with the method for cutting the grafting clips for conveying a large number of scattered grafting clips in real time, the whole clipping strip 50 is used for cutting the clipping strips in real time, the gesture position of the grafting clips can be guaranteed to be accurate, the clamping efficiency and the clamping accuracy are improved, the feeding clips 41 are matched with the feeding air cylinders 42 to achieve the forward movement of the clipping strips 50, the cutting clips 44 are matched with the cutting assembly to achieve the cutting of the clipping strips 50, two clips are arranged, the two clips are alternately clamped and loosened, the clipping efficiency can be effectively improved, when the feeding air cylinders 42 push the first clips, the feeding clips 41 clamp the clipping strips 50, the cutting clips 44 are loosened to achieve the forward movement of the clipping strips 50, the clipping clips are pushed to the holding clip space of the clamping arms 21, when the cutting assembly cuts the clipping strips 50, the clipping strips 50 are clamped, the feeding clips 41 are loosened to follow the returning of the feeding air cylinders 42, and preparation is made for next feeding.

The lateral side of the positioning part is also provided with a seedling transplanting part, the seedling transplanting part and the positioning part are fixedly connected through a connecting plate 63, the seedling transplanting part comprises a seedling transplanting grabbing clamp 61, when the positioning driving part drives the positioning part 31, the seedling transplanting grabbing clamp 61 and the positioning part 31 synchronously move, the seedling transplanting grabbing clamp and the positioning part move up and down along the Z direction between an initial position and a seedling taking position, the initial position of the seedling transplanting grabbing clamp 61 is arranged right above a stock and synchronously reaches the seedling taking position to clamp a stock section of a grafted seedling when the positioning part 31 reaches the seedling positioning position, the stock is heavier with soil, and the seedling transplanting grabbing clamp 61 is clamped on the stock section, so that displacement of the stock and a scion can be avoided when the grafted seedling is transferred; the positioning part and the seedling transplanting part are both arranged on a slide rail 62 in a sliding way, the slide rail 62 extends along the Y direction, the positioning part and the seedling transplanting part slide back and forth between an initial position and a seedling transferring position along the Y direction under the action of a seedling transplanting driving piece so as to transfer grafted seedlings, and a conveying belt is arranged below the seedling transferring position. By providing the seedling transplanting gripping clips 61 which move synchronously with the positioning members 31, the gripping and seedling transplanting can be performed efficiently and synchronously, and the scion efficiency is improved.

It should be understood that in the claims, the specification of the present utility model, all "including … …" should be interpreted as open-ended meaning that it is equivalent to "at least … …", and not as closed-ended meaning that it should not be interpreted to "include … …" only. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

The specific embodiments described herein are offered by way of example only to illustrate the spirit of the utility model. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the utility model or exceeding the scope of the utility model as defined in the accompanying claims.

Claims

1. The seedling grafting machine positioning and clamping mechanism is characterized by comprising a clamping part and a positioning part, wherein the positioning part is arranged right above the clamping part; the clamping part comprises a pair of clamping arms which are oppositely arranged, the middle parts of the clamping arms are respectively provided with a bearing structure for bearing the grafting clip, and the two bearing structures define a holding space for containing the grafting clip; the upper ends of the clamping arms are respectively provided with a seedling supporting inclined table for guiding and righting scions and stocks deviating from the butt joint position, and the two clamping arms can be mutually closed and separated along the X direction under the action of a clamping driving piece so as to clamp the clamping; the positioning part comprises a positioning piece, the positioning piece can move up and down between an initial position and a seedling positioning position along the Z direction under the action of the positioning driving piece, a positioning structure is arranged at the bottom of the positioning piece, the positioning structure corresponds to the clamping opening of the grafting clamp up and down, and the positioning piece can be propped against the butt joint section of the stock and the scion after reaching the seedling positioning position.

2. The positioning and clamping mechanism of a seedling grafting machine according to claim 1, wherein the two clamping arms can synchronously reciprocate between respective clamping positions along the Z direction under the action of the clamping driving piece; the seedling supporting inclined tables are provided with guide inclined planes which are arranged oppositely and gradually retract from top to bottom; the width of holding the clamp space and the width phase-match of grafting clamp, two when the clamping arm draws close, grafting clamp opens, and two support seedling inclined bench limit a loudspeaker groove that has the bottom clearance, loudspeaker groove and grafting clamp opening intercommunication.

3. The positioning and clamping mechanism of the seedling grafting machine according to claim 2, wherein a trapezoid block which is matched with the outline of the horn slot is arranged at the lower part of the positioning piece, the positioning structure is a positioning slot concavely arranged at the bottom of the trapezoid block, when the positioning piece is positioned at a seedling positioning position and the clamping arm is positioned at a clamping position, the trapezoid block is embedded in the horn slot, and the notch of the positioning slot faces downwards and is communicated with the grafting clamping opening; the inner pad of the positioning groove is provided with a flexible pad.

4. A seedling grafting machine positioning and clamping mechanism according to any one of claims 1-3, wherein a backup clamping part is arranged in front of the clamping part, the backup clamping part comprises a feeding component for driving a clamping strip to move forward and a cutting component for cutting the clamping strip into grafting clamps, the clamping strip extends along the Y direction, the feeding component comprises a feeding clamp which can move back and forth along the Y direction under the action of a feeding cylinder, and a first through cavity for the clamping strip to pass through is arranged in the feeding clamp.

5. The positioning and clamping mechanism of a seedling grafting machine according to claim 4, wherein the cutting assembly comprises a cutting clamp and a blade, a second penetrating cavity for a clamping strip to penetrate is formed in the cutting clamp, a cutter passing gap for the blade to perform vertical cutting action is formed in the middle section of the cutting clamp, and the cutter passing gap is perpendicular to the length direction of the clamping strip.

6. The positioning and clamping mechanism of a seedling grafting machine according to claim 5, wherein the second penetrating cavity is divided into a front cavity and a rear cavity by the clearance between the blades, wherein the rear cavity is arranged close to the clamping part, the length of the rear cavity is a, the length of the grafting clip is B, and a=b; and the horizontal pushing stroke of the feeding cylinder is B.

7. The seedling grafting machine positioning and clamping mechanism of claim 6, wherein the longitudinal sections of the first penetrating cavity and the second penetrating cavity are matched with the longitudinal inclined planes of the clamping bars; a first jacking cylinder is arranged below the feeding clamp, a first assembly hole for accommodating a jacking rod of the first jacking cylinder is arranged in the feeding clamp, and the first assembly hole is communicated with the first through cavity; when the first jacking cylinder is jacked up, the ejector rod of the first jacking cylinder is propped against the clamping strip, and the relative freedom degree of the feeding clamp and the clamping strip is limited; a second jacking cylinder is arranged below the cutting clamp, a second assembly hole for accommodating a second jacking cylinder ejector rod is arranged in the cutting clamp, and the second assembly hole is communicated with the second penetrating cavity and is positioned in front of the clearance of the cutter; when the second jacking cylinder jacks up, the ejector rod of the second jacking cylinder butts against the clamping strip, and the relative freedom degree of the cutting clamp and the clamping strip is limited; the first jacking cylinder and the second jacking cylinder alternately jack.

8. The positioning and clamping mechanism of a seedling grafting machine according to claim 5, wherein the feeding assembly further comprises a carrier roller, and the carrier roller, the feeding clamp and the cutting clamp are sequentially arranged along the Y direction; the carrier roller sets up along circumference and makes holding in palm strip width assorted support groove.

9. The seedling grafting machine positioning and clamping mechanism according to claim 1, wherein a seedling transplanting portion is further arranged on the side of the positioning portion, the seedling transplanting portion comprises a seedling transplanting grabbing clamp, the seedling transplanting grabbing clamp and the positioning piece move synchronously, the seedling transplanting grabbing clamp moves up and down between an initial position and a seedling taking position along the Z direction, the initial position of the seedling transplanting grabbing clamp is arranged right above a stock, and the seedling grabbing clamp synchronously reaches the seedling taking position to clamp a stock section of grafted seedlings when the positioning piece reaches the seedling positioning position.

10. The positioning and clamping mechanism of a seedling grafting machine according to claim 9, wherein the positioning part and the seedling transplanting part are both arranged on a sliding rail in a sliding manner, the sliding rail extends along the Y direction, and the positioning part and the seedling transplanting part slide back and forth between an initial position and a seedling transferring position along the Y direction under the action of the seedling transplanting driving piece so as to transfer grafted seedlings.