The Research Of Direct Insert Type Automatic Grafting Machine For Vegetables

The technology of vegetable grafting can strengthen the resistance to disease from soil, increase the stress resistance and the production. The automatic grafting based on grafting is a advanced technology with machinery,automatic control and gardening. It is of great significance to scale, intensive, modernization, specialization of vegetables production.An automatic grafting robot was designed according to the fact of the large planting area for vegetable and the low level of mechanization and device of Zhejiang province. It had the advantage of simple structure, high automation, convenient operation and low costs.The size and the mechanical properties of the grafted seedlings were measured. An conclusion is got after testing, that the average plant height of rootstocks is 70.88mm, the average stem crude is 2.58mm; the average plant height of scion is 35.41mm, the average stem crude is 1.98mm. Under the premise of not injuring the grafted seedlings (the deformation of the seedling stem is under 20%) and the clamping speed is 5mm/min, the minimum endurance of rootstocks is 2.12N, and 1.61N of scion. The data is the basement of the mechanical design. This robot was made up of a grafting device and a device which can take seedling to the grafting device. The grafting device bear responsibility for stock clamping, pressing cotyledon, jacking on the stock, cutting off the stock root, scion clamping the scion, cutting the scion and jointing the scion and stock, It was driven by air and micro-adjusting mechanism added made the device adaptive. The other device was used for taking seedling to the grafting device, a 2-PPa parallel manipulator was proposed, optimize the length of poles and analyse the precision in workspace. After analysis, we find that the error of manipulator is 0.12mm which guarantees the device can work successfully.A FX-series PLC (Programmable logic controller) made by mitsubishi was used in control system. GX-Developer was adopted as programming language. Experiment showed that this grafting robot had the features of reliable running, convenient operation, good compatibility, besides, this robot's grafting rate can reach 548 plants per hour, grafting success rate is above 90%, all this can fully meet the demands of design requirements.