Design And Experimental Study On The Equipment Of Feed Seedling To The Grafting Robot For Fruits And Vegetables

The automatic grafting machine instead of manual grafting is of great significance to intensive, scale, modernization of vegetables production. However, the development of automatic grafting machine still stays in the semiautomatic stage in which workers take seedling to the grafting machine. This not only reduces the efficiency, increases labour force but also reduces the grafting quality.The design of device for taking seedling to the grafting were given on the basis of comparison between domestic and abroad research, meanwhile it could meet the demands of vegetable grafting agronomic. Then four main actions were proposed under the functional requirements, In addition the author finished experimental research on this platform device. Main work of this paper can be summarized as follows:(?) Given the agronomic requirements of direct insert and cut-pasted automatic grafting selected5X10plug as grafting container. Measured seedling height, diameters, weight mechanical properties of500rootstock and scion seedlings. Above study provide support for design of the end-effector.(?) The mechanical end-effector mainly focused on uprighting, cutting, gripping and guiding actions. The grafting seedling leaf-oriented design is the key technology.The mechanism mechanics and kinematics analysis of grafted seedlings on guiding was finished by MATLAB, and relationships between the height, diameter and rotational speed were calculated.(?) On the basis of a mechanical type, two end-effectors were designed to take seedlings by pneumatic and vibrating type.Then the pneumatic and vibrating experiments platform were builded, the pneumatic experiment showed different blowing angles can lead to different feeding success rate, and the vibrating experiment showed grafting seedling leaves turning probability increased as the vibration frequency increased in the frequency range.(?) Designed experimental platform includes two degrees of freedom manipulator, Plug Seedlings conveyor and location Platform; Mitsubishi FX2N-48MT was selected to control prototype machine, and control system program was written with GX-Developer. The debug showed that this machine had a reliable performance.(?) The paper has finished experimental testing for this automatic taking seedling machine including rootstock cutting experiment, take seedlings experiment and the whole experiment.The first and second experiment mainly Examine the reliability and accuracy of the mechanical, pneumatic and vibrating end actuator. The third experiment showed the mechanical machine’feeding rate can reach7.1plants per minute, feeding success rate is above86%, all this can fully meet the demands of design requirements.