Research On End Effector Of Feeding And Replanting Seedlings For Grafting Robot

At present, the grafting process of vegetable seedlings has automated by using the graftingmachine.But, picking and replanting seedlings artificially, the grafting efficiency was reduced,and also increased the intensity of labor, for it is hard to assure the quality of the grafting.For themelon vegetables, the technology of growing root cutting grafted seedlings has manyadvantages,such as the root system has no taproot, many fibrous root and shall be more strongvitality, the survival rate of grafted seedlings and consistency can be increased. Based on theabove issues, aiming to the technology of growing root cutting grafted seedlings, the keymechanisms of feeding and replanting seedlings for grafting robot have been researched. First, akey automatic picking seedling mechanism of the vegetable grafting machine has been designed,the location, root cutting and gripping for the plug seedlings can be realized by it; Second, a keyautomatic replanting seedling mechanism of the vegetable grafting machine has been designed, itcould be used to replant the root cutting seedlings, and the experimental research be taken of thatmechanism. The main profile of the issue are as follows:1) A key automatic picking seedling mechanism of the vegetable grafting machine hasbeen designed, the location, root cutting and gripping for the plug seedlings can be realized by it.What’s more, the picking and root cutting mechanism can realize the second cutting seedlings, itinsure that all the height of the seedling are the same. The double rocker mechanism was used tolocate seedlings, so kinematics modeling analysis was taken to optimize the size of the structure,Optimal parameters were concluded: LAB′=7mm, LBC′=12mm, XC=-5.5mm, YC=31.5mm. By the3d modeling and motion simulation, concluded that gathering seedlings lever at the end of thetrajectory, verified the organization comply with the design requirements.2) In order to obtain the best period of grafting melon seedling, the agronomic parameterswere studied,"NABIZHEN" gourd seedlings and "JIALE" watermelon seedlings were chosen asexperimental object, through artificial seedling diameter measurement. Replanting suppressfoundation experiment of the root cutting seedlings was carried out, Working parameters for thereplanting executor was sued, the substrate hole diameter8mm and the perforating depth 25mm.what’s more, repression was the best when the end face of suppression piece.3) A key automatic replanting seedling mechanism of the vegetable grafting machine hasbeen designed, it could be used to replant the root cutting seedlings. The focus of the design ofthe device was repression mechanism, mainly repression matrix to allow the substrate to fullygather at the bottom of the grafted seedlings, so the grafted seedlings will achieve planted firmlyinserted. The optimized design of suppression mechanism was researched, optimization resultsof structural parameters: LAE′=70.2mm,LBC′=73mm, LCD′=27mm, LDE′=12.2mm, YA′=67.8mm,YD=80mm.4) The related test was carried out for the replanting actuator. Korea grafting machine wasused to graft the gourd seedlings and watermelon seedlings, build the replanted experimentalplatform to plant the root cutting seedlings to the plug hole, analysis the working performance,the success rate of replanting is92%and success rate of grafted healing is94.6%.The device isdesigned in a reliable way.