Study On The Key Mechanism Of Oblique Inserting Vegetable Grafting Robot

Oblique inserting vegetable grafting method is an ideal grafting method with high survival rate for melon-vegetables. It is easy to operate and does not need clamps. Mechanical grafting can improve productivity and decrease operating difficulties, which can promote the grafting technique effectively. On the basis of vegetable grafting industry, calabash and watermelon were grafted by oblique inserting. The geometric parameters and mechanical properties of grafted seedlings were tested. According to the operational process and requirements, this paper researches the parameters of oblique inserting grafting, and the result was applied to the grafting robot design. The main results are as follows:1. The compression force of root stock and scion are0.586N and1.222N, the compressive strengths of root stock and scion are16.278kPa and33.944kPa when compression volume is20%. The average shear force of root stock and scion are3.095N and1.616N, the biggest shear force of root stock and scion is5.423N and3.062N according to the test samples. The average resistance of punching of root stock is0.756N and the biggest is1.124N according to the test samples.2. When using1.80mm as diameter of the punch pin and45°as the pinpoint angle, the success rate of punching can reach a high level and the resistance of punching is smaller. When using45°as the grafting angle, the success rate of punching can reach a high level. When using20°as the scion cutting angle, the average length of cutting surface can reach7.23mm, the success rate of grafting can reach a high level.3. An oblique inserting grafting robot was designed. It mainly includes root stock clamping and seeding supply mechanism, growing point cutting mechanism, perforating mechanism, scion clamping and seeding supply mechanism and scion cutting mechanism. It can achieve rootstock seedlings, clamping, pressing, remove the growth point, punching and scion seedling, clamping, cutting and the joint operation of rootstock and scion.4. The control system of oblique inserting grafting robot was designed, including the control flow, hardware and software design.