阅读说明：本技术 一种苗株嫁接装置 (Seedling grafting device ) 是由 郑涛 朱伟强 陈长卿 胡宏广 王涛 朱建锡 边晓东 于 2021-08-18 设计创作，主要内容包括：本发明公开一种苗株嫁接装置,其机架上沿X轴方向间隔设有砧木备苗机构和接穗备苗机构,砧木备苗机构包括砧木保持部和砧木切割部,接穗备苗机构包括接穗保持部和接穗切割部,砧木保持部对横置在其上的砧木进行姿态保持,接穗保持部对横置在其上的接穗进行姿态保持,砧木保持部与接穗保持部能够沿X轴方向靠近和远离,砧木保持部与接穗保持部之间形成位移区间；砧木备苗机构与接穗备苗机构之间设夹苗机构,夹苗机构包括备夹部及装夹部,备夹部沿Y轴方向设置,装夹部设于备夹部的前端,并位于位移区间的下方。本发明夹苗机构、砧木备苗机构、接穗备苗机构位置关系合理,相互配合即能实现自动切苗、自动嫁接、自动装夹,配合高效,嫁接效率高。(The invention discloses a seedling grafting device, wherein a stock seedling preparing mechanism and a scion seedling preparing mechanism are arranged on a rack at intervals along the X-axis direction, the stock seedling preparing mechanism comprises a stock holding part and a stock cutting part, the scion seedling preparing mechanism comprises a scion holding part and a scion cutting part, the stock holding part is used for maintaining the posture of a stock transversely arranged on the stock holding part, the scion holding part is used for maintaining the posture of a scion transversely arranged on the stock holding part, the stock holding part and the scion holding part can approach and depart from each other along the X-axis direction, and a displacement interval is formed between the stock holding part and the scion holding part; the seedling clamping mechanism is arranged between the stock seedling preparing mechanism and the scion seedling preparing mechanism and comprises a clamping part and a clamping part, the clamping part is arranged along the Y-axis direction, and the clamping part is arranged at the front end of the clamping part and is positioned below the displacement section. The seedling clamping mechanism, the stock seedling preparing mechanism and the scion seedling preparing mechanism have reasonable position relationship, can realize automatic seedling cutting, automatic grafting and automatic clamping by matching, and has high matching efficiency and high grafting efficiency.)

1. A seedling grafting device comprises a rack and is characterized in that a stock seedling preparing mechanism and a scion seedling preparing mechanism are arranged on the rack at intervals along the X-axis direction, wherein the stock seedling preparing mechanism comprises a stock holding part and a stock cutting part, the scion seedling preparing mechanism comprises a scion holding part and a scion cutting part, the stock holding part is used for maintaining the posture of a stock transversely arranged on the stock holding part, the scion holding part is used for maintaining the posture of a scion transversely arranged on the stock holding part, the stock holding part and the scion holding part can be close to and far away from each other along the X-axis direction, and a displacement zone is formed between the stock holding part and the scion holding part; the seedling clamping mechanism is arranged between the stock seedling preparing mechanism and the scion seedling preparing mechanism and comprises a clamping part and a clamping part, the clamping part is arranged along the Y-axis direction, and the clamping part is arranged at the front end of the clamping part and is positioned below the displacement interval.

2. A seedling grafting device as claimed in claim 1, wherein the stock keeping part comprises stock claws and stock clamping plates with clamping grooves, the scion keeping part comprises scion claws and scion clamping plates with clamping grooves, and the clamping surfaces of the stock claws and the scion claws are provided with protective pads.

3. A seedling grafting device as claimed in claim 1, wherein the stock cutting part is arranged on the right side of the stock holding part, correspondingly, the scion cutting part is arranged on the left side of the scion holding part, the stock cutting part and the scion cutting part each comprise a cutter and a cutting driving member, the cutter is driven by the cutting driving member to perform an oscillating cutting motion, the end of the cutter is provided with an inclined edge, and the inclined edges of the two cutters are inclined in opposite directions.

4. A seedling grafting device as claimed in claim 1, wherein the stock seedling preparing mechanism further comprises a stock supporting plate disposed on a side of the stock holding portion, and the scion seedling preparing mechanism further comprises a scion supporting plate disposed on a side of the scion cutting portion.

5. A seedling grafting device as claimed in claim 4, wherein the stock support plate is driven by the first driving member to move linearly back and forth along with the stock holding part, the scion support plate is fixed to the frame, and the scion holding part is driven by the second driving member to move linearly back and forth.

6. A seedling grafting device as claimed in any one of claims 1 to 5, wherein the stock-preparing part comprises a feeding assembly and a cutting assembly, the feeding assembly comprises a first clamp and a second clamp which are arranged in sequence along the Y-axis direction, the first clamp is driven by a feeding cylinder to move back and forth along the Y-axis direction, and the first clamp and the second clamp are alternately clamped and loosened.

7. A seedling grafting device as claimed in claim 6, wherein the cutting assembly comprises a support member and a slice, a through cavity for the clamping strip to pass through is formed in the support member, and a support seat adapted to the bottom contour of the clamping strip is arranged at the bottom of the through cavity; the middle section of the supporting piece is provided with a cutter passing gap for the slicing to do vertical cutting action.

8. A seedling grafting device as claimed in claim 6, wherein the clamping part comprises a pair of clamping arms arranged oppositely, the upper ends of the clamping arms are respectively provided with a receiving part for receiving the grafting clip, the two receiving parts define a clip accommodating space, and the width of the clip accommodating space is matched with that of the grafting clip.

9. A plant grafting apparatus as claimed in claim 8, wherein the clamping part further comprises a third driving member for driving the two clamping arms to move toward and away from each other along the X-axis direction.

10. A seedling grafting device as claimed in claim 8, wherein the two clamping arms are synchronously reciprocated linearly in the Z-axis direction between a first position and a second position by the fourth driving member, the clamping arms are positioned at the first position with their clamping spaces aligned with the openings of the through cavities, and the clamping arms are positioned at the second position with their clamping spaces intersecting the butt joint positions of the stock and the scion.

Technical Field

The invention belongs to the field of seedling raising machinery, and particularly relates to a seedling grafting device.

Background

The grafting technology is widely applied to the agricultural field at present, the grafting is one of vegetative reproduction in vegetative propagation, the scion is tightly combined with a cambium of a stock during grafting so as to ensure that the scion survives, and a grafted branch or bud is called as the scion; the grafted plant is called a stock, the scion becomes the upper part or the top part of the plant after grafting, and the stock becomes the root part of the plant after grafting. The advantages of the scion and the stock can be fully utilized through grafting, the disease resistance and low temperature resistance of the plant are enhanced, and the yield is improved. At present, seedling grafting mainly depends on manual operation, the working efficiency is low, the labor intensity is high, manual operation is carried out, the grafting precision cannot be controlled, root systems are easy to damage, and the survival rate is difficult to guarantee.

Disclosure of Invention

The invention provides a seedling grafting device aiming at the problems of low seedling grafting efficiency and uncontrollable grafting precision in the prior art. The invention aims to be realized by the following technical scheme:

a seedling grafting device comprises a rack, wherein a stock seedling preparing mechanism and a scion seedling preparing mechanism are arranged on the rack at intervals along the X-axis direction, the stock seedling preparing mechanism comprises a stock holding part and a stock cutting part, the scion seedling preparing mechanism comprises a scion holding part and a scion cutting part, the stock holding part is used for maintaining the posture of a stock transversely placed on the stock holding part, the scion holding part is used for maintaining the posture of a scion transversely placed on the stock holding part, the stock holding part and the scion holding part can approach and depart from each other along the X-axis direction, and a displacement interval is formed between the stock holding part and the scion holding part; the seedling clamping mechanism is arranged between the stock seedling preparing mechanism and the scion seedling preparing mechanism and comprises a clamping part and a clamping part, the clamping part is arranged along the Y-axis direction, and the clamping part is arranged at the front end of the clamping part and is located below the displacement interval.

In the scheme, the stock seedling preparing mechanism is used for preparing the stock, the scion seedling preparing mechanism is used for preparing the scion, the stock and the scion are cut in a horizontal posture, the influence of the self gravity of the seedling plant on the cutting precision can be reduced, and if the seedling plant in a vertical state is cut, the seedling plant cannot carry soil in order to avoid the influence on the cutting caused by the overweight of the seedling plant, so that the seedling plant is cut in a horizontal posture, the seedling plant can carry soil, the root of the stock is effectively protected, and the survival rate of the grafted seedling is improved; the clamping part is used for installing the grafting clamp on the grafted seedling, and compared with the grafting clamp which is used for conveying a large amount of scattered grafting clamps, the clamping part cuts the clamping clamp in real time by utilizing the whole clamping strip, so that the posture and the position of the grafting clamp can be ensured to be accurate, and the clamping efficiency and the clamping accuracy are improved.

Preferably, the stock holding part comprises stock claws and a stock clamping plate provided with clamping grooves, the scion holding part comprises scion claws and a scion clamping plate provided with clamping grooves, and protection pads are arranged on clamping surfaces of the stock claws and the scion claws. The clamping jaws and the clamping plates are arranged on the stock holding part and the scion holding part, so that seedling plants can be effectively supported, and the cutting precision and the butt joint precision are improved.

Preferably, the rootstock cutting part is provided on the right side of the rootstock holding part, and accordingly, the scion cutting part is provided on the left side of the scion holding part. The cutting part is arranged on the side of the holding part, so that the cutting precision can be improved, and the structure of the whole device is more compact.

Preferably, the stock cutting part and the scion cutting part both comprise a cutter and a cutting driving part, the cutter is driven by the cutting driving part to swing and cut, an inclined blade is arranged at the end part of the cutter, and the inclined blades of the two cutters are opposite in inclination direction. The oblique edges of the two cutters are opposite in inclination direction, so that the cuts of the stock and the scion are accurately butted.

Preferably, the stock seedling preparing mechanism further comprises a stock supporting plate, the stock supporting plate is arranged on the side of the stock holding part, the scion seedling preparing mechanism further comprises a scion supporting plate, and the scion supporting plate is arranged on the side of the scion cutting part. The stock supporting plate and the scion supporting plate are used for supporting the root of the seedling plant with soil, so that the influence of the self gravity of the seedling plant on the cutting precision is further reduced.

Preferably, the stock supporting plate and the stock holding part are driven by the first driving part to do reciprocating linear motion together, the scion supporting plate is fixedly arranged on the rack, and the scion holding part is driven by the second driving part to do reciprocating linear motion.

The root with the soil is reserved on the stock, so that the stock supporting plate moves along with the stock retaining part, when the stock is in butt joint with the scion, the stock supporting plate can support the heavy root with the soil, and the butt joint accuracy is improved; the scion is kept the plant stem leaf and is docked with the stock, and the maintenance portion can provide sufficient holding power for the scion, and its root is detained on the scion layer board, therefore the scion layer board need not to follow scion maintenance portion and remove together.

Preferably, the stock holder is provided with a first guide member, and the scion holder is provided with a second guide member.

Preferably, the clamping preparation portion comprises a feeding assembly and a cutting assembly, the feeding assembly comprises a first clamp and a second clamp which are sequentially arranged along the Y-axis direction, the first clamp is driven by a feeding cylinder to reciprocate along the Y-axis direction, and the first clamp and the second clamp are alternately clamped and loosened.

The feeding component is used for driving the clamping strip to move forwards, and the cutting component is used for cutting the whole clamping strip into the grafting clip; first anchor clamps cooperation feed cylinder realizes making the holding strip antedisplacement, second anchor clamps cooperation cutting assembly realizes making the holding strip cutting, set up two anchor clamps, and two anchor clamps press from both sides tightly in turn, relax and can effectively improve system and press from both sides efficiency, when feed cylinder impels first anchor clamps, first anchor clamps press from both sides tight system holding strip, the second anchor clamps relax, realize making the holding strip antedisplacement, when cutting assembly cuts the system holding strip, the second anchor clamps press from both sides tightly, fix the system holding strip, first anchor clamps relax and follow the return of feed cylinder, prepare for the feed next time.

Preferably, the feeding assembly further comprises a carrier roller, and the carrier roller is arranged at the tail end of the clamping part. The supporting stability of system holding strip can further be improved in the setting of bearing roller, guarantees the accuracy nature of feed cutting.

Preferably, the cutting assembly comprises a supporting piece and a cutting piece, a through cavity for the clamping strip to pass through is formed in the supporting piece, and a supporting seat matched with the profile of the bottom of the clamping strip is arranged at the bottom of the through cavity; the middle section of the supporting piece is provided with a cutter passing gap for the slicing to do vertical cutting action. When the section is cut the system holding strip, support piece can provide effective support for the system holding strip, crosses the sword clearance and locates the support piece middle section, can make the front and back section of cutting position all effectively supported, guarantees that the cutting is smooth and easy.

Preferably, the clamping part comprises a pair of clamping arms which are oppositely arranged, the upper ends of the clamping arms are respectively provided with a receiving part for receiving the grafting clip, the two receiving parts define a clip containing space, and the width of the clip containing space is matched with that of the grafting clip.

Preferably, the clamping part further comprises a third driving part for driving the two clamping arms to move close to and separate from each other along the X-axis direction. When the two clamping arms are close to each other, the grafting clamp connected to the two clamping arms is opened, and the butt joint section of the stock and the scion enters the clamp opening; when the two clamping arms are far away from each other, the grafting clamp which is connected to the two clamping arms is closed, and the clamping of the grafted seedling is completed.

Preferably, the two clamping arms synchronously reciprocate linearly between the first position and the second position along the Z-axis direction under the action of the fourth driving part, when the clamping arms are located at the first position, the clamping accommodating spaces are aligned with the openings of the through cavities, and when the clamping arms are located at the second position, the clamping accommodating spaces are intersected with the butt joint positions of the rootstock and the scion. And when the two clamping arms are positioned at the first position, the connection of the grafting clamp is completed, and when the two clamping arms are positioned at the second position, the clamping of the grafting clamp is completed.

Compared with the prior art, the invention has the following beneficial effects: the seedling plants are cut and butted in a horizontal state, so that the interference of the soil gravity on cutting and grafting is reduced, the grafting with soil is realized while the cutting and grafting accuracy is ensured, the root system of the stock is effectively protected, and the survival rate of the grafted seedlings is improved; the stock keeping part and the scion keeping part are reasonable in structural position, the horizontal posture of the stock and the scion can be effectively kept, and the cutting and grafting precision is guaranteed; the seedling clamping mechanism, the stock seedling preparing mechanism and the scion seedling preparing mechanism are reasonable in position relation, automatic seedling cutting, automatic grafting and automatic clamping can be realized by matching the seedling clamping mechanism, the stock seedling preparing mechanism and the scion seedling preparing mechanism with each other, the movement directions of the mechanisms are reasonable, the mechanisms are not interfered with each other, the matching is efficient, and the grafting efficiency is high; the seedling clamping mechanism utilizes the whole clamping strip to cut and prepare the grafting clamp on site, can ensure that the posture and the position of the grafting clamp are accurate, and improves the clamping efficiency and the clamping accuracy.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a schematic structural view of a stock seedling preparing mechanism, a scion seedling preparing mechanism and a seedling clamping mechanism in the invention;

FIG. 4 is a schematic structural view of a stock seedling preparing mechanism in the invention;

FIG. 5 is a schematic structural view of a scion seedling preparation mechanism according to the present invention;

FIG. 6 is a schematic view of a structure of a seedling clamping mechanism according to the present invention;

FIG. 7 is a schematic view of a structure of a backup clamping part in the seedling clamping mechanism of the present invention;

the labels in the figure are: a frame 10; an electric control cabinet 11; a rootstock holding portion 21; a rootstock cutting part 22; a rootstock claw 211; a rootstock pallet 212; a rootstock supporting plate 23; a first driving member 24; a first guide assembly 25; a cutter 231; a scion holding section 31; a scion cutting section 32; a scion claw 311; a scion clamp plate 312; a scion supporting plate 33; a second drive member 34; a second guide assembly 35; a seedling clamping mechanism 40; a backup clip portion 41; a clamping portion 42; a first clamp 411; a second clamp 412; a feed cylinder 413; a carrier roller 414; a support 415; a slice 416; a blade guard 417; a through cavity 4151; a support seat 4152; clamping arms 421 are installed; a third driving member 422; a rootstock 50; manufacturing a clamping strip 60; and a grafting clip 61.

Detailed Description

The invention will be further described with reference to examples of embodiments shown in the drawings to which:

embodiment 1, as shown in fig. 1 to 7, this embodiment discloses a seedling grafting device, which includes a rack 10 and an electric control cabinet 11, wherein a stock seedling preparing mechanism and a scion seedling preparing mechanism are arranged on the rack 10 at intervals along an X-axis direction, and a seedling clamping mechanism 40 is arranged between the stock seedling preparing mechanism and the scion seedling preparing mechanism. The stock seedling preparing mechanism is used for preparing the stock 50, the scion seedling preparing mechanism is used for preparing scions, and the seedling clamping mechanism 40 is used for preparing the grafting clip 61 and clamping the grafting clip 61 on a grafted seedling.

The stock seedling preparation mechanism comprises a stock keeping part and a stock cutting part 22, the stock keeping part 21 keeps the posture of the stock 50 transversely placed on the stock keeping part, the scion seedling preparation mechanism comprises a scion keeping part 31 and a scion cutting part 32, the stock keeping part 21 keeps the posture of the stock 50 transversely placed on the stock keeping part, the scion keeping part 31 keeps the posture of the scion transversely placed on the stock keeping part, the stock keeping part 21 and the scion keeping part 31 can synchronously approach and depart from each other along the X-axis direction, and a displacement zone for the movement of the two keeping parts is formed between the stock keeping part 21 and the scion keeping part 31; the stock keeping part 21 and the scion keeping part 31 are positioned on the same horizontal plane and are arranged in a staggered mode in the horizontal direction, so that the cut of the stock 50 and the cut of the scion can be accurately butted.

The stock keeping part 21 comprises a stock claw 211 and a stock clamping plate 212 with a clamping groove, the stock clamping plate 212 supports and limits the stock 50, the stock claw 211 fixes the stock 50, the stock clamping plate 212 and the stock claw 211 have a certain distance, positioning points of the stock clamping plate 212 and the stock clamping plate 211 are equal in height, so that two points in the length direction of the stock 50 are positioned, the horizontal and horizontal posture of the stock is kept, preparation is made for subsequent cutting and butt joint, and the stock clamping claw 211 realizes clamping and loosening through an air cylinder hinged on the frame 10, and the stock clamping plate is simple and reliable; the clamping surface of the stock claw 211 is provided with a protective pad to protect the stock 50 and prevent the stock 50 from being damaged; the stock seedling preparing mechanism further comprises a stock supporting plate 23, the stock supporting plate 23 is arranged on the left side of the stock keeping portion 21, the stock supporting plate 23 supports the root portion with soil of the stock 50, and the influence of the weight of the seedling plant with soil on cutting precision and butt joint precision is further reduced.

The scion holding part 31 comprises a scion claw 311 and a scion clamping plate 312 provided with a clamping groove, the scion clamping plate 312 supports and limits the scion, the scion claw 311 fixes the scion, the scion clamping plate 312 and the scion claw 311 have a certain distance, positioning points of the scion clamping plate 312 and the scion clamping plate 311 are positioned on the same straight line parallel to the horizontal plane and are as high as the positioning points of the scion clamping plate 312 and the scion clamping plate 311 in height so as to realize the positioning of two points in the length direction of the scion, the horizontal and horizontal posture of the scion is kept, preparation is made for subsequent cutting and butt joint, and the scion clamping plate 311 realizes clamping and loosening through an air cylinder hinged on the frame 10, so that the scion holding part is simple and reliable; the clamping surface of the scion claw 311 is provided with a protection point to protect the scion so as to prevent the scion from being damaged; the scion seedling preparing mechanism further comprises a scion supporting plate 33, the scion supporting plate 33 is arranged on the left side of the scion holding part 31, the scion supporting plate 33 supports the soil-carrying root of the scion, and the influence of the self weight of the soil-carrying seedling plant on cutting precision and butt joint precision is further reduced.

The stock supporting plate 23 makes reciprocating linear motion together with the stock keeping part 21 under the driving of the first driving part 24, the scion supporting plate 33 is fixedly arranged on the rack 10, the scion keeping part 31 makes reciprocating linear motion under the driving of the second driving part 34, and the stock 50 keeps the root with soil, so that the stock supporting plate 23 moves together with the stock keeping part 21, and when the stock is in butt joint with the scion, the stock supporting plate 23 can support the heavy root with soil, thereby improving the butt joint accuracy; the scion is kept in butt joint of plant stems and leaves and the stock, the holding part can provide enough supporting force for the scion, and the root of the holding part is retained on the scion supporting plate 33, so that the scion supporting plate 33 does not need to move along with the scion holding part 31. In the embodiment, the first driving member 24 and the second driving member 34 are both cylinders, and the strokes of the two cylinders are the same, and the two cylinders are respectively and fixedly connected with the stock holding part 21 and the scion holding part 31 through connecting plates; establish first guide assembly 25 between stock keeping portion 21 and frame 10, establish second guide assembly 35 between scion keeping portion 31 and frame 10, two sets of guide assemblies all include slider and slide rail, and guide assembly can guarantee that stock keeping portion 21 and scion keeping portion 31 are steady straight-going, guarantees that stock and scion that keep on it dock with the scion is accurate.

The rootstock cutting part 22 is provided on the right side of the rootstock holding part 21, specifically, the rootstock cutting part 22 is provided on the right side of the rootstock claws 211, and the scion cutting part 32 is provided on the left side of the scion holding part 31, specifically, the scion cutting part 32 is provided on the left side of the scion claws 311. The stock cutting part 22 and the scion cutting part 32 both comprise a cutter 231 and a cutting driving part, the cutter 231 performs swinging cutting motion under the driving of the cutting driving part, the end part of the cutter 231 is provided with an oblique edge, the oblique edges of the two cutters 231 are opposite in inclination direction, and the oblique edges of the two cutters 231 of the cutter 231 of the stock cutting part 22 are opposite in inclination direction, so that the cuts of the stock 50 and the scion are accurately butted; the cutting driving part is a servo motor, the tail end of the cutter 231 is fixedly connected with a rotating shaft of the servo motor, the inclined blade is arranged at the front end of the cutter 231, the cutter 231 is driven by the servo motor to perform cutting action, and the fixed cutting angle and cutting frequency can be kept, so that the consistency of cuts is improved, and the grafting precision is improved. The oblique sword of the cutter 231 of stock cutting portion 22 is close to stock jack catch 211 and sets up, and the cutter 231 people of scion cutting portion 32 is close to scion jack catch 311 and sets up, is guaranteeing under the prerequisite that cutter 231 can accomplish the cutting action, reduces the clearance between oblique sword and the jack catch as far as possible, can improve the degree of maintenance of seedling trunk gesture when cutter 231 cuts, takes place the displacement deformation when avoiding the seedling trunk to receive the shearing force to improve cutting accuracy.

Press from both sides seedling mechanism 40 including being equipped with clamping part 41 and clamping part 42, be equipped with clamping part 41 and set up along the Y axle direction, clamping part 42 is located the front end of being equipped with clamping part 41 to be located the interval below of displacement, the clamping part 41 of being equipped with of clamping seedling mechanism 40 is used for carrying whole system holding strip 60, and will make holding strip 60 cut into grafting clamp 61, clamping part 42 is used for installing grafting clamp 61 on the grafting, compare in clamping 61 to carrying a large amount of scattered grafting, utilize whole system holding strip 60 to cut in real time and press from both sides, can guarantee that grafting clamp 61 gesture position is accurate, improve clamping efficiency and clamping accuracy.

The clamping part 41 comprises a feeding component and a cutting component, the feeding component is used for driving the clamping strip 60 to move forwards, and the cutting component is used for cutting the whole clamping strip 60 into the grafting clamp 61. The feeding assembly comprises a first clamp 411 and a second clamp 412 which are sequentially arranged along the Y-axis direction, wherein the first clamp 411 reciprocates along the Y-axis direction under the driving of a feeding cylinder 413, the first clamp 411 and the second clamp 412 are alternately clamped and loosened, the first clamp 411 is matched with the feeding cylinder 413 to realize the forward movement of the clamping strip 60, the second clamp 412 is matched with a cutting assembly to realize the fixed cutting of the clamping strip 60, two clamps are arranged, the clamping and loosening of the two clamps can effectively improve the clamping efficiency, when the feeding cylinder 413 pushes the first clamp 411, the first clamp 411 clamps the clamping strip 60, the second clamp 412 is loosened to realize the forward movement of the clamping strip 60, the single forward movement distance of the clamping strip 60 is the length of the grafting clamp 610, when the cutting assembly cuts the clamping strip 60, the second clamp 412 clamps to fix the clamping strip 60, the first clamp 411 is loosened to return along with the feeding cylinder 413, in preparation for the next feeding, in this embodiment, the first clamp 411 and the second clamp 412 both use pneumatic fingers; the feeding assembly further comprises a carrier roller 414, the carrier roller 414 is arranged at the tail end of the clamping portion 41, and the arrangement of the carrier roller 414 can further improve the supporting stability of the clamping strip 60 and ensure the accuracy of feeding and cutting.

The cutting assembly comprises a supporting piece 415 and a cutting piece 416, wherein a through cavity 4151 for the clamping strip 60 to pass through is formed in the supporting piece 415, a supporting seat 4152 which is matched with the bottom contour of the clamping strip 60 is arranged at the bottom of the through cavity 4151, and when the cutting piece 416 cuts the clamping strip 60, the supporting piece 415 can provide effective support for the clamping strip 60; the middle section of the supporting part 415 is provided with a cutter passing gap for the slice 416 to perform vertical cutting action, and the cutter passing gap is arranged at the middle section of the supporting part 415, so that the front section and the rear section of a cutting position can be effectively supported, and smooth cutting is ensured; the through-cutter gap divides the penetrating cavity 4151 into a first cavity and a second cavity from front to back, wherein the length of the first cavity is matched with that of the grafting clip 61, the first cavity can be used as a temporary storage space of the grafting clip 61 to maintain the posture of the grafting clip 61, the grafting clip 61 can be guaranteed to reach the clamping part 42 in an accurate posture, the length of the first cavity is matched with that of the grafting clip 61, the grafting clip 61 in the first cavity can be completely pushed out to the clamping part by the forward movement of the clamping strip 60, and the device is efficient and energy-saving; the blade is arranged between two blade protection plates 417, the blade is driven by a cylinder to vertically cut, and the blade protection plates 417 are arranged to improve the safety of the device, ensure the vertical cutting of the blade and improve the cutting precision.

The clamping part 42 comprises a pair of clamping arms 421 which are oppositely arranged, the upper ends of the clamping arms 421 are respectively provided with a bearing part for bearing the grafting clip 61, the two bearing parts define a clip containing space, the width of the clip containing space is matched with the width of the grafting clip 61, so that the accurate posture of the grafting clip 61 can be kept after entering the clip containing space; the two clamping arms 421 are mounted on the mounting table, the clamping arms 421 are further respectively mounted with a third driving member 422 for driving the two clamping arms 421 to move toward and away from each other along the X-axis direction, in this embodiment, a finger cylinder is used as the driving member, when the two clamping arms 421 move toward each other, the grafting clamp 61 supported thereon opens, and the butt-joint section of the stock and the scion enters the clamp opening; when the two clamping arms 421 are away from each other, the grafting clamp 61 received thereon is closed, and the clamping of the grafted seedling is completed. A fourth driving part is arranged below the mounting platform, the two clamping arms 421 synchronously reciprocate between a first position and a second position along the Z-axis direction under the action of the fourth driving part, when the clamping arms 421 are positioned at the first position, the clamping containing space is aligned with the opening of the through cavity 4151, when the clamping arms 421 are positioned at the second position, the clamping containing space is intersected with the butt joint position of the stock and the scion, when the two clamping arms 421 are positioned at the first position, the grafting clamp 61 is received, the grafting clamp 61 temporarily stored in the through cavity 4151 is pushed out by the forwards moved clamping strip 60 to enter the clamping containing space of the clamping arms 421, after the grafting clamp 61 enters the clamping arms 421, the clamping arms are driven by the fourth driving part to reach the second position from the first position, the second position is positioned in the middle of the displacement zone, the stock keeping part 21 and the scion keeping part 31 respectively drive the stock 50 and the scion to reach the middle of the displacement zone, after the stock 50 and the scion are in butt joint, the two clamping arms 421 are close to each other under the driving of the finger cylinder, the grafting clamp 61 is opened under the extrusion of the clamping arms 421, the butt joint section of the stock 50 and the scion enters the clamp opening in the process of moving up the grafting clamp 61, then the two clamping arms 421 are mutually away under the driving of the finger cylinder, the grafting clamp 61 is closed, the clamping of the grafted seedling is completed, after the clamping of the grafted seedling is successful, the stock retaining part 21 and the scion retaining part 31 finish the posture retaining of the stock and the scion, the stock 50 and the scion are respectively loosened and return along the X-axis direction, the next seedling preparation is carried out, and the clamping arms 421 also return to the first position for the next clamping. In this embodiment, the fourth driving member is an air cylinder, and the stroke of the air cylinder is fixed, so that the clamping arm 421 can be ensured to accurately reach the first position and the second position, and thus the clamping arm can be accurately matched with the stock clamping part 41, the stock holding part 21, and the scion holding part 31.

The seedling grafting device disclosed by the invention can realize automatic grafting of the seedling, and is high in efficiency and high in grafting precision. The seedling clamping mechanism 40, the stock seedling preparing mechanism and the scion seedling preparing mechanism are reasonable in position relation and can be efficiently matched, corresponding functional parts respectively move along the X-axis direction, the Y-axis direction and the Z-axis direction, the displacement space in each direction is fully utilized, the whole device is compact in structure, all the mechanisms can run simultaneously and do not interfere with one another, and efficient matching is achieved; the seedling plants are cut and butted in a horizontal state, so that the interference of the soil gravity on cutting and grafting is reduced, the cutting and grafting accuracy is ensured, meanwhile, the root system of the stock is effectively protected, and the survival rate of the grafted seedlings is improved; the stock keeping part 21 and the scion keeping part 31 are reasonable in structural position, so that the horizontal posture of the stock and the scion can be effectively kept, and the cutting and grafting precision is ensured; each mechanism has reasonable structure, and improves the grafting precision in multi-dimensional consideration of seedling posture maintenance, seedling cutting precision, butt joint precision and clamping precision.

It is to be understood that in the claims, the specification of the present invention, all "including … …" are to be interpreted in an open-ended sense, i.e., in a sense equivalent to "including at least … …", and not in a closed sense, i.e., in a sense not to be interpreted as "including only … …". The terms "first", "second", "third" and "fourth" 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 merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.