CN115211294B - Joint grafting equipment and method for seedling grafting - Google Patents
Joint grafting equipment and method for seedling grafting Download PDFInfo
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- CN115211294B CN115211294B CN202210760309.5A CN202210760309A CN115211294B CN 115211294 B CN115211294 B CN 115211294B CN 202210760309 A CN202210760309 A CN 202210760309A CN 115211294 B CN115211294 B CN 115211294B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 97
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000000903 blocking effect Effects 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 4
- 239000003814 drug Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/38—Holding; Ligating
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/32—Automatic apparatus therefor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/35—Cutting; Inserting
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- Life Sciences & Earth Sciences (AREA)
- Botany (AREA)
- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The application discloses a grafting equipment and a method for grafting seedlings, which relate to the technical field of the grafting of the seedlings and comprise a subsidiary seedling feeding tray arranged at one end of a conveying mechanism and a main seedling feeding tray arranged at the other end of the conveying mechanism, wherein a seedling cutting mechanism is arranged at the middle section of the conveying mechanism, and a grafting clamp is arranged in the seedling cutting mechanism; the main seedling conveying tray and the auxiliary seedling conveying tray Miao Panzhou are respectively provided with a plurality of seedling placing chambers, and are provided with seedling pushing mechanisms corresponding to the conveying mechanisms; the seedling tray is characterized in that a first detection camera is arranged on one side of the auxiliary seedling tray, a second detection camera is arranged on one side of the main seedling tray, the second detection camera is used for acquiring seedling information output by the main seedling tray, and when the first detection camera detects information matched with the seedling information, the pushing mechanism of the auxiliary seedling tray pushes out seedlings corresponding to the seedling placing chamber. The application can automatically realize the grafting of the nursery stock and shorten the grafting period; and the grafted seedlings can be ensured to meet the requirements, and the matching degree of grafting is improved.
Description
Technical Field
The application relates to the technical field of seedling grafting, in particular to a grafting device and a grafting method for seedling grafting.
Background
The traditional grafting mode mainly uses grafting pliers to graft through the manual work, and no matter select from the nursery stock or grafting process, grafting time has all been increased, and grafting efficiency is also lower. Currently, there are devices capable of automatic grafting, such as: CN106034759a discloses a nursery stock automatic grafting equipment, including nursery stock grafting fixed layer, nursery stock grafting fixed layer upper and lower tie coat respectively is provided with upper and lower tie coat, upper tie coat upper portion and lower tie coat lower part are provided with grafting medicine layer and lower grafting medicine layer respectively, and upper grafting medicine layer upper portion and lower grafting medicine layer lower part are provided with bonding binding layer and air filter layer respectively, are connected with a plurality of grafting binding ropes between upper grafting medicine layer and the upper tie coat, are connected with a plurality of grafting binding ropes between lower grafting medicine layer and the lower tie coat. The scheme is suitable for forming the nursery stock corresponding to the notch, and is fixed through the binding rope, the whole function of the equipment is limited, and the efficiency is relatively low.
CN102805007a discloses a seedling grafting machine and its grafting method, which comprises a workbench, a cutting joint device and a seedling positioning device, wherein two sets of seedling fixing parts are respectively composed of a fixed plate, a spring and a movable plate, the inner sides of the fixed plates of the two sets of seedling fixing parts are arranged on the same plane and fixed on the workbench, the spring is connected with the fixed plate and the movable plate, and the movable plate is fixed in a chute reserved on the workbench through a sliding pin and a lock catch on the movable plate; the two sets of seedling pushing parts are respectively composed of driving equipment and a pushing plate; the cutting and jointing device mainly comprises a cutting component and a jointing component. Although the scheme can cut to form a notch, the scheme cannot ensure that the butted seedlings meet the requirements.
Disclosure of Invention
Aiming at the defects of the prior art, the application aims to provide a grafting equipment and a method for grafting seedlings, which can automatically realize the grafting of the seedlings and shorten the grafting period; and the grafted seedlings can be ensured to meet the requirements, and the matching degree of grafting is improved.
In order to achieve the above object, the present application is realized by the following technical scheme:
in a first aspect, an embodiment of the present application provides a grafting apparatus for grafting seedlings, including a sub-seedling feeding tray provided at one end of a conveying mechanism, a main seedling feeding tray provided at the other end of the conveying mechanism, a seedling cutting mechanism provided at a middle section of the conveying mechanism, and a grafting clip provided in the seedling cutting mechanism; the main seedling conveying tray and the auxiliary seedling conveying tray Miao Panzhou are respectively provided with a plurality of seedling placing chambers, and are provided with seedling pushing mechanisms corresponding to the conveying mechanisms;
the seedling tray is characterized in that a first detection camera is arranged on one side of the auxiliary seedling tray, a second detection camera is arranged on one side of the main seedling tray, the second detection camera is used for acquiring seedling information output by the main seedling tray, and when the first detection camera detects information matched with the seedling information, the pushing mechanism of the auxiliary seedling tray pushes out seedlings corresponding to the seedling placing chamber.
As a further implementation mode, the main seedling feeding tray and the auxiliary seedling feeding tray respectively comprise tray bodies, and a planetary gear transmission mechanism is arranged at the inner sides of the tray bodies;
the seedling placing chamber is provided with openable baffle plates corresponding to the outer circumferential surface of the tray body.
As a further implementation manner, the seedling pushing mechanism comprises a seedling pushing power assembly and a seedling pushing member arranged in the seedling placing chamber, the main seedling feeding tray and/or the auxiliary seedling feeding tray rotate to the seedling pushing power assembly, and the seedling pushing power assembly pushes the seedling pushing member to extend.
As a further implementation manner, a spring is arranged between the seedling pushing component and the inner wall of the tray body; the seedling pushing power assembly comprises a cam and a motor connected with the cam.
As a further implementation mode, the auxiliary seedling feeding tray is at least provided with two layers, and the auxiliary seedling feeding trays in each layer are connected through a screw transmission mechanism.
As a further implementation mode, the seedling cutting mechanism comprises a mounting plate and two cutting knives arranged on one side of the mounting plate, wherein each cutting knife corresponds to one pneumatic gripper, and the two pneumatic grippers synchronously move.
As a further implementation mode, the two pneumatic grippers are respectively connected with the horizontal screw rods through the moving blocks, and the rotation directions of the two horizontal screw rods are opposite; one of the pneumatic handles is positioned on the upper side of the cutting knife, and the other pneumatic handle is positioned on the lower side of the cutting knife.
As a further implementation, the two cutters are located at the same horizontal plane and correspond to the conveying mechanism.
In a second aspect, an embodiment of the present application further provides a working method of a grafting apparatus for seedling grafting, including:
the seedling pushing mechanism corresponding to the main seedling tray pushes the seedlings to the conveying mechanism, and the second detection camera acquires the seedling information and sends the seedling information to the processor;
the first detection camera acquires the seedling information in the auxiliary seedling feeding tray, sends the seedling information to the processor, and judges whether the information is matched with the information acquired by the second detection camera through the processor; when the information is matched, the pushing mechanism pushes out the seedlings in the auxiliary seedling feeding tray;
the pneumatic grippers respectively grasp the seedlings at the two ends and cut the seedlings by the cutting knife; the two pneumatic handles relatively move to the butt joint position and are clamped and fixed through the grafting clamp.
As a further implementation mode, when the information is matched, the seedling pushing mechanism pushes out seedlings of the auxiliary seedling feeding tray; when the information is not matched, the auxiliary seedling feeding disc continues to rotate to the next station, and the first detection camera acquires the seedling information of the station.
The beneficial effects of the application are as follows:
(1) According to the application, the main seedling feeding tray and the auxiliary seedling feeding tray are arranged, and the seedlings with matched output sizes of the main seedling feeding tray and the auxiliary seedling feeding tray are realized through the cooperation of the corresponding detection cameras and the corresponding processor; and the automatic grafting of the seedlings is realized by matching with the pneumatic handles and the grafting clamps, so that the grafting quality and efficiency are improved.
(2) According to the seedling pushing device, the seedling pushing mechanism is matched with the rotatable seedling feeding tray, so that the seedlings are automatically pushed out; the pneumatic gripper can automatically grip the seedlings and realize cutting through the horizontal movement of the pneumatic gripper; the cut nursery stock is clamped and fixed by the grafting clamp, so that the grafting time is shortened.
(3) The application is additionally provided with the auxiliary seedling feeding tray, so that the matching degree of seedlings can be ensured, and the grafting time is further shortened.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
FIG. 1 is a schematic diagram of a structure in accordance with one or more embodiments of the application;
FIG. 2 is a top view of a seedling tray according to one or more embodiments of the application;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a schematic view of a seedling pushing mechanism according to one or more embodiments of the present application;
FIG. 5 is a schematic view of a cutting mechanism according to one or more embodiments of the present application;
FIG. 6 is a schematic view of a grafting clip storage bin according to one or more embodiments of the application;
fig. 7 is a partial enlarged view at B in fig. 6.
The seedling feeding device comprises a 1-base, a 2-supporting platform, a 3-auxiliary seedling feeding tray, a 4-vertical lead screw, a 5-supporting plate, a 6-gear box, a 7-motor, an 8-first detection camera, a 9-seedling cutting mechanism, a 10-conveying mechanism, an 11-second detection camera, a 12-seedling pushing mechanism, a 13-main seedling feeding tray, a 14-connecting block, a 15-planetary gear transmission mechanism, a 16-seedling placing chamber, a 17-tray body, a 18-baffle, a 19-spring, a 20-pin shaft, a 21-seedling pushing member, a 22-guide groove, a 23-spring, a 24-mounting plate, a 25-second moving block, a 26-motor, a 27-first pneumatic gripper, a 28-first cutting knife, a 29-lead screw, a 30-right pneumatic gripper, a 31-base, a 32-first moving block, a 33-second horizontal lead screw, a 34-grafting clip outlet, a 35-push rod, a 36-barrier switch, a 37-barrier, a 38-barrier and a 39-pressing plate.
Detailed Description
Embodiment one:
the embodiment provides a grafting equipment for seedling grafting, as shown in fig. 1, including a main seedling tray 13, an auxiliary seedling tray 3, a conveying mechanism 10, a seedling cutting mechanism 9, a docking mechanism and the like, wherein the main seedling tray 13 and the auxiliary seedling tray 3 are respectively provided with a seedling pushing mechanism 12, the seedlings in the main seedling tray 13 and the auxiliary seedling tray 3 are pushed to the conveying mechanism 10 through the seedling pushing mechanism 12, are conveyed to the seedling cutting mechanism 9 through the conveying mechanism 10, and are subjected to seedling grafting by the docking mechanism after being cut.
Specifically, the main seedling feeding tray 13, the auxiliary seedling feeding tray 3, the conveying mechanism 10 and the seedling cutting mechanism 9 are all arranged on the supporting platform 2, the main seedling feeding tray 13 is positioned at one end of the conveying mechanism 10, and the auxiliary seedling feeding tray 3 is positioned at the other end of the conveying mechanism 10. The main structure of the main seedling feeding tray 13 is the same as that of the auxiliary seedling feeding tray 3, and the main structure of the main seedling feeding tray 13 and the auxiliary seedling feeding tray 3 are described in detail by taking the auxiliary seedling feeding tray 3 as an example:
the bottom of the auxiliary seedling feeding tray 3 is provided with a supporting plate 5, and the supporting plate 5 is matched with the supporting platform 2. The sub seedling-feeding tray 3 is circumferentially provided with a plurality of seedling-placing chambers 16 at intervals, and the sub seedling-feeding tray 3 is rotated to make the different seedling-placing chambers 16 correspond to the conveying mechanism 10.
As shown in fig. 2, the auxiliary seedling feeding tray 3 comprises a tray body 17 and a driving mechanism installed in the tray body 17, the driving mechanism of the embodiment adopts a planetary gear transmission mechanism 15, the planetary gear transmission mechanism 15 is connected with a motor, and the planetary gear transmission mechanism 15 is driven by the motor, so that the tray body 17 rotates.
In the embodiment, two groups of auxiliary seedling-conveying trays 3 are arranged, and the two groups of auxiliary seedling-conveying trays 3 are arranged in layers, wherein one group serves as a standby, so that when seedlings in the auxiliary seedling-conveying trays 3 do not meet the requirements, the other group of auxiliary seedling-conveying trays 3 are replaced; or after the seedlings in one group of the auxiliary seedling feeding trays 3 are grafted, the other group of the auxiliary seedling feeding trays 3 are replaced.
The supporting plate 5 of the main seedling feeding tray is detachably connected with the supporting platform 2, or the supporting platform 2 is provided with a placing groove for matching with the supporting plate 5, and the supporting plate 5 is placed in the placing groove. Through holes for the supporting plates 5 to pass through are formed in the corresponding positions of the supporting platforms 2 of the auxiliary seedling feeding trays 3, and lifting of the supporting platforms 2 is achieved through a screw transmission mechanism, so that replacement of the auxiliary seedling feeding trays 3 is achieved.
Specifically, as shown in fig. 2, a plurality of connecting blocks 14 are arranged on the inner side of the supporting plate 5 corresponding to the auxiliary seedling feeding tray 3, and the connecting blocks 14 and the vertical screw 4 are matched to form a screw transmission mechanism; as shown in fig. 1, each vertical screw 4 is vertically arranged, the bottom of the vertical screw 4 is connected with the base 1 through a bearing, and the top of the vertical screw 4 is connected with the motor 7 through a gear box 6. Each vertical screw 4 is connected with a gear, each gear is meshed with a gear arranged on a motor shaft, and the motors 7 rotate to enable each vertical screw 4 to synchronously move, so that the supporting plate 5 and the auxiliary seedling feeding tray 3 are lifted.
In the embodiment, four vertical screw rods 4 are arranged to enable the supporting plate 5 and the auxiliary seedling feeding tray 3 to stably lift; of course, in other embodiments, the vertical screws 4 may be provided in three or other numbers.
As shown in fig. 1, one of the sub seedling trays 3 corresponds to the conveying mechanism 10, the other sub seedling tray 3 is located at the upper set position, and the upper sub seedling tray 3 can be lowered to the position corresponding to the conveying mechanism 10 by the motor 7, and the lower sub seedling tray 3 can be lowered to the bottom of the supporting platform 2.
As shown in fig. 3, the seedling chamber 16 is a groove formed in the circumferential direction of the tray 17 and inwards along the outer circumferential surface, the outer circumferential surface of the tray 17 is provided with openable baffle plates 18 corresponding to the seedling chamber 16, one end of each baffle plate 18 is connected with the tray 17 through a pin shaft 20, springs 19 are connected between two sides of the connecting end of each baffle plate 18 and the tray 17, and the baffle plates 18 can be opened outwards or reset to a horizontal state through the springs 19 and the pin shafts 20.
In the horizontal state of the blocking pieces 18, a certain gap is reserved between two opposite blocking pieces 18, and when the blocking pieces 18 are opened outwards, the gap is increased, so that seedlings are pushed out.
As shown in fig. 4, each seedling-pushing member 21 is provided in each seedling-placing chamber 16, and the support plate 5 is provided with a seedling-pushing power assembly corresponding to the conveying mechanism 10, and the seedling-pushing power assembly and each seedling-pushing member 21 constitute a seedling-pushing mechanism 12.
In this embodiment, the seedling pushing member 21 includes a telescopic portion and a pushing portion, which are integrally connected to form a T-shaped structure; the inner side of the seedling placing chamber 16 is provided with a through hole for one end of the telescopic part to pass through, the other end of the telescopic part is connected with the pushing part, and the pushing part is of a cambered structure protruding towards the telescopic part, so that seedlings can be pushed conveniently. A spring 23 is installed between the pushing part and the seedling-placing chamber 16 for restoring the seedling-pushing member 21.
For stable movement of the pushing part, a guiding groove 22 may be provided on the bottom surface of the seedling chamber 16, and a slider cooperating with the guiding groove 22 is provided on the bottom surface of the pushing part.
The seedling pushing power assembly comprises a motor and a cam arranged on a motor shaft, the motor drives the cam to rotate, so that the tip of the cam contacts with the telescopic part, the seedling pushing member 21 moves outwards, and seedlings are pushed out; the cam rotates to other positions, and the seedling pushing member 21 is reset under the action of the spring 23.
In this embodiment, the conveying mechanism 10 adopts a belt transmission mechanism, two groups of conveying mechanisms 10 are arranged and are parallel to each other, wherein one group of conveying mechanism 10 is used for transferring the seedlings on the main seedling conveying tray 13, and the other conveying mechanism 10 is used for transferring the seedlings on the auxiliary seedling conveying tray 3; the transport directions of the two transport mechanisms 10 are opposite.
A first detection camera 8 is arranged at one end of the conveying mechanism 10 close to the auxiliary seedling conveying tray 3, a second detection camera 11 is arranged at one end of the conveying mechanism close to the main seedling conveying tray 13, and the seedling state is obtained through the detection cameras; the first detection camera 8 and the second detection camera 11 respectively feed the diameters of the obtained seedlings back to the processor, and the processor controls the pushing mechanism 12 to act for the seedling placing chamber 16 of the auxiliary seedling feeding tray 3 meeting the requirements by comparison, so that the auxiliary seedling feeding tray 3 outputs the seedlings with the diameters consistent or basically consistent with the diameters of the main seedling feeding tray 13.
As shown in fig. 5, the seedling cutting mechanism 9 is provided with a pneumatic gripper and a cutting knife 28, and the pneumatic gripper 27 clamps the seedlings and moves along the cutting edge of the cutting knife 28 so as to realize cutting; the cut nursery stock is fixed by a grafting clip.
In this embodiment, two cutting knives, namely, a first cutting knife 28 and a second cutting knife 31 are provided, the first cutting knife 28 and the second cutting knife 31 are both fixed with the mounting plate 24, the first cutting knife 28 and the second cutting knife 31 are located on the same horizontal plane and are horizontally arranged, one end of each of the two cutting knives is fixed with the mounting plate 24, and the other end of each of the two cutting knives is provided with a cutting edge.
The first pneumatic gripper 27 is arranged on the upper side of the first cutting knife 28, the first pneumatic gripper 27 is connected with the first horizontal screw rod 29 through the first moving block 32, the second pneumatic gripper 30 is connected with the second horizontal screw rod 33 through the second moving block 25, the first horizontal screw rod 29 and the second horizontal screw rod 33 are parallel to each other, and the first pneumatic gripper 27 and the second pneumatic gripper 30 are connected with the same driving mechanism so as to realize synchronous movement.
The threads of the first horizontal screw 29 and the second horizontal screw 33 are rotated in opposite directions, so that the first pneumatic gripper 27 and the second pneumatic gripper 30 can move toward and away from each other.
In the present embodiment, the driving mechanism of the first horizontal screw 29 and the second horizontal screw 33 is a transmission mechanism driven by the motor 26, and the transmission mechanism is composed of a screw and a bevel gear set.
Of course, in other embodiments, the drive mechanism may take other forms.
The mounting positions of the first cutting knife 28 and the second cutting knife 31 correspond to the conveying mechanism 10, and when the seedlings move to the positions close to the corresponding cutting knives, the seedlings are grabbed by the pneumatic grabbing hands, so that cutting is realized. The first pneumatic gripper 27 and the second pneumatic gripper 30 are arranged up and down, so that interference is avoided, and up-down butt joint is realized.
The middle position of the mounting plate 24 is provided with a grafting clip storage box, the grafting clip storage box is provided with a grafting clip outlet 34, and two sections of cut seedlings are in butt joint and fixed through grafting clips extending out of the grafting clip outlet 34.
As shown in fig. 6 and 7, the grafting clip storage box is a closed cavity, and a grafting clip outlet 34 is formed in one side of the bottom, and the opening position is toward the side where the conveying mechanism 10 is located. The inner wall of the grafting clip storage box is symmetrically provided with baffle strips 38, the baffle strips 38 extend along the width direction of the grafting clip storage box, and the bottom surface of the baffle strips 38 is at a certain distance from the top of the grafting clip outlet 34; a plurality of grafting clips are stored in the area above the stop bar 38.
Taking the side of the opening of the grafting clip outlet 34 as the front, the rear side of the grafting clip storage box is provided with a push rod 35 corresponding to the grafting clip outlet 34; the two sides of the inner wall of the grafting clip outlet 34 are symmetrically provided with V-shaped blocking blocks 37, and the grafting clip is extruded and blocked by the blocking blocks 37 at the two sides in the pushing process of the push rod 35 to be in an opening state so as to clamp the root of the seedling.
The blocking piece 37 is provided with a barrier switch 36 at the rear side, and the barrier switch 36 is used for controlling the barrier 38 to move, so that the lower end of the barrier 38 moves outwards (moves towards the inner wall of the grafting clip storage box). For example: the barrier strip 38 is an inclined plate, the top end of the inclined plate is hinged with the inner wall of the grafting clip storage box, the lower end of the barrier strip 38 is connected with a telescopic rod, and the main body part of the telescopic rod is positioned in the inner wall of the grafting clip storage box; the telescopic rod is electrically connected with a stop switch 36, and the stop bar 38 is controlled to move through the stop switch 36.
Of course, the movement of the barrier strip 38 can be achieved by other structures.
When the push rod 35 is pushed out to a certain distance, the stop bar switch 36 is triggered, and the stop bar 38 is moved outwards after the stop bar switch 36 is pressed, so that the stop bar 38 contacts the blocking function of the upper grafting clip, and the grafting clip slides down to the upper end of the push rod 35. The distance between the push rod 35 and the bottom surface of the barrier strip is only enough to accommodate one grafting clip height, and the grafting clip falls down and stays in a space area (corresponding to the grafting clip outlet 34 area) in front of the push rod 35 in the recovery process of the push rod 35; the push rod repeats the above actions to realize the matching of the new grafting clip and the next seedling.
A pressing plate 39 is connected between the two blocking blocks 37, and the grafting clamp is ensured to always maintain a state in the pushing-out process through the pressing plate 39, so that the seedlings cannot be clamped due to the fact that the grafting clamp can not turn over.
Embodiment two:
the embodiment provides a working method of a grafting equipment for grafting seedlings, which adopts the equipment in the first embodiment and comprises the following steps:
the main seedling feeding tray 13 is used as a main seedling feeding tray for providing seedlings to be cut for the seedling cutting mechanism 9, the second detection camera 11 is used for detecting the diameters of the seedlings, the seedling pushing mechanism 12 is used for pushing the seedlings out of the seedling placing chamber 16 onto the conveying mechanism 10, and the second detection camera 11 is used for conveying detection information to the processor; the first detection camera 8 also transmits information to the processor, and the processor compares and judges whether the seedling information of the first detection camera 8 is consistent with the second detection camera 11, so that the auxiliary seedling feeding tray 3 outputs seedlings with proper diameters within the range corresponding to the main seedling feeding tray 13.
If the seedling is not in accordance with the requirement, the planetary gear transmission mechanism 15 rotates to continuously detect the seedlings in the next seedling placing chamber 16, and when the seedlings with proper sizes are not detected, the seedling pushing mechanism 12 corresponding to the auxiliary seedling feeding tray 3 does not act; when no seedling exists in the auxiliary seedling feeding tray 3 or proper seedlings exist in the auxiliary seedling feeding tray, the motor 7 acts to drive the gears in the gear box 6 to synchronously act, the auxiliary seedling feeding tray 3 is replaced, and detection is continued.
When a seedling of a suitable size is detected, the seedling pushing mechanism 12 acts to push the seedling to the conveying mechanism 10.
Two moving blocks in the seedling cutting mechanism 9 are driven by the same motor 26 and synchronously move. The two grippers are driven by air pressure, when the two grippers are conveyed to the central position, the two cut seedlings to be grafted are connected together by the grafting clamp, and the width of the grafting clamp outlet 35 is utilized to prop open the clamp mouth to clamp the seedlings. After the completion, the grippers are loosened, and the seedlings fall from the lower part and return to the position for the next cycle.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. The seedling cutting mechanism is arranged in the middle section of the conveying mechanism, and a grafting clamp is arranged in the seedling cutting mechanism; the main seedling conveying tray and the auxiliary seedling conveying tray Miao Panzhou are respectively provided with a plurality of seedling placing chambers, and are provided with seedling pushing mechanisms corresponding to the conveying mechanisms;
a first detection camera is arranged on one side of the auxiliary seedling feeding tray, a second detection camera is arranged on one side of the main seedling feeding tray, the second detection camera is used for acquiring seedling information output by the main seedling feeding tray, and when the first detection camera detects information matched with the seedling information, a pushing mechanism of the auxiliary seedling feeding tray pushes out seedlings corresponding to the seedling placing chamber;
the seedling cutting mechanism comprises a mounting plate and two cutting knives arranged on one side of the mounting plate, each cutting knife corresponds to one pneumatic gripper, and the two pneumatic grippers synchronously move; the two pneumatic grippers are respectively connected with the horizontal screw rods through the moving blocks, and the rotation directions of the two horizontal screw rods are opposite; one pneumatic gripper is positioned on the upper side of the cutting knife, and the other pneumatic gripper is positioned on the lower side of the cutting knife;
the grafting clamp storage box is arranged in the middle of the mounting plate and is a closed cavity, a grafting clamp outlet is formed in one side of the bottom of the grafting clamp storage box, and the opening of the grafting clamp storage box faces to the side where the conveying mechanism is located; the inner wall of the grafting clip storage box is symmetrically provided with barrier strips, and the rear side of the grafting clip storage box is provided with push rods corresponding to the grafting clip outlets; the grafting clamp is characterized in that blocking blocks which are in V shapes are symmetrically arranged on two sides of the inner wall of the grafting clamp outlet, and a pressing plate is connected between the two blocking blocks.
2. The grafting equipment for seedling grafting according to claim 1, wherein the main seedling feeding tray and the auxiliary seedling feeding tray respectively comprise tray bodies, and a planetary gear transmission mechanism is arranged on the inner sides of the tray bodies;
the seedling placing chamber is provided with openable baffle plates corresponding to the outer circumferential surface of the tray body.
3. The grafting equipment for seedling grafting according to claim 1, wherein the seedling pushing mechanism comprises a seedling pushing power assembly and a seedling pushing member arranged in the seedling placing chamber, the main seedling feeding tray and/or the auxiliary seedling feeding tray rotate to the seedling pushing power assembly, and the seedling pushing power assembly pushes the seedling pushing member to extend.
4. A grafting apparatus for nursery stock grafting according to claim 3, wherein a spring is installed between the seedling pushing member and the inner wall of the tray body; the seedling pushing power assembly comprises a cam and a motor connected with the cam.
5. The grafting equipment for seedling grafting according to claim 1, wherein the auxiliary seedling feeding tray is at least provided with two layers, and each layer of auxiliary seedling feeding tray is connected through a screw transmission mechanism.
6. The grafting apparatus for nursery stock grafting according to claim 1, wherein the two cutters are positioned on the same horizontal plane and correspond to the transfer mechanism.
7. A method of operating a grafting apparatus for nursery stock grafting according to any one of claims 1-6, comprising:
the seedling pushing mechanism corresponding to the main seedling tray pushes the seedlings to the conveying mechanism, and the second detection camera acquires the seedling information and sends the seedling information to the processor;
the first detection camera acquires the seedling information in the auxiliary seedling feeding tray, sends the seedling information to the processor, and judges whether the information is matched with the information acquired by the second detection camera through the processor; when the information is matched, the pushing mechanism pushes out the seedlings in the auxiliary seedling feeding tray;
the pneumatic grippers respectively grasp the seedlings at the two ends and cut the seedlings by the cutting knife; the two pneumatic handles relatively move to the butt joint position and are clamped and fixed through the grafting clamp.
8. The method according to claim 7, wherein the seedling pushing mechanism pushes out the seedlings of the auxiliary seedling feeding tray when the information matches; when the information is not matched, the auxiliary seedling feeding disc continues to rotate to the next station, and the first detection camera acquires the seedling information of the station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210760309.5A CN115211294B (en) | 2022-06-30 | 2022-06-30 | Joint grafting equipment and method for seedling grafting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210760309.5A CN115211294B (en) | 2022-06-30 | 2022-06-30 | Joint grafting equipment and method for seedling grafting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115211294A CN115211294A (en) | 2022-10-21 |
| CN115211294B true CN115211294B (en) | 2023-12-15 |
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| CN1119593A (en) * | 1994-09-30 | 1996-04-03 | 东京金属工业株式会社 | Clamper |
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| CN1860840A (en) * | 2006-06-16 | 2006-11-15 | 浙江理工大学 | Squirrel cage rotation type ordered rice seedling distribution mechanism |
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| CN203206787U (en) * | 2013-04-27 | 2013-09-25 | 杭州百乡缘农业开发有限公司 | Grafting clamp pushing mechanism for grafting machine |
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| CN204579093U (en) * | 2015-02-04 | 2015-08-26 | 昆明理工大学 | A kind of vertical Cell wheel feed seed dresser structure |
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| CN211626250U (en) * | 2020-02-18 | 2020-10-02 | 焦作市三利达射箭器材股份有限公司 | Composite bow distributor |
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| CN115211294A (en) | 2022-10-21 |
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