The Key Technologies Of Vegetable Grafting Robot

On the basis of vegetable grafting industry, calabash and watermelon were grafted by apical bud oblique cutting. The geometric parameters and mechanical properties of grafted seedlings were tested. Image processing technology was used to achieve the accurate location of the connection point and the angles of cotyledons. An oblique cutting grafting robot was designed. The main results are as follows:1) The compressive strengths of calabash and watermelon are 81.6KPa and 105.5kPa when compression volume is 20%. The shear strengths of calabash and watermelon are 7.1KPa and 0.032KPa along the long axis while 7.4KPa and 0.034KPa along the minor axis. The critical buckling loads of a column for the watermelon (Pcr) are respectively 0.297N,0.161N and 0.099N.2)The ultra-weak bioluminescence(UWL)amount of calabash hurted by circular needle is more than the amount of calabash hunted by flat needle while the UWL amount of calabash hurted along the 60°direction is more than ones along the 45°or 30°direction. The result shows that UWL is a feasible method to detect the mechanical damage of vegetables.3) Erode process was used to remove the euphylla and get the angles between the horizontal and cotyledons, then determine the adjust angle and the success rate of the division for the cotyledons and euphylla is 97.9%. The judgment method is feasible.4) The coordinate system was transformed. The judgement result for the accurate location of the connection point was gotten by curve simulation. The global error is acceptable and the treatment time is controlled in 200-500ms, which is in accordance with automatic grafting. The algorithm has certain robustness and is used to recognition the crawl point.5) An oblique cutting grafting robot was designed. It includes clamping mechanisms, root cutting mechanisms, a growing point cutting mechanism, a perforating mechanism and a docking mechanism.6) A clamping mechanism was designed to keep the vegetable seedlings vertical, and an auxiliary mechanism was designed to guide the Scion inserting into the rootstock.