Design On Key Institutions Of High Speed Grafting Robot For Solanaceous

Vegetable grafting can effectively prevent soil borne disease, and grafted seedling improved resistance and output significantly. Traditional artificial grafting has low productivity, and it's hard to ensure the quality, with the demand of grafted seedling and shortage of labor, leading to labor costs rising, the traditional artificial grafting has been unable to adapt to the modern and factory production, grafting productivity per person urgent to improve. Since 1986, Japan researched and developed the first vegetable grafting machine, then South Korea, China, Taiwan, and some European countries also carried out some grafting machine, after 20 years of development, there have been various of grafting machine. For existing grafting machine, due to the complicated structure, the price is too high to seedling enterprises tend to artificial grafting, or the number of feeding seedlings is too much resulting in productivity per person only equivalent to expert level of enterprise, so both domestic and foreign grafting robots have the problem of low cost performance ratio.In order to improve cost performance ratio of grafting robot, this paper selected 2JT-1600 assembly line solanaceous and fruit grafting robot researched and developed by South China Agricultural University with rapid grafting performance, then split one station of 2jt-1600 completed feeding and cutting seedling into two station working simultaneously, reduce the time of a cycle operation of grafting robot, and based on feeding station feeding seedling device composed of seedling seat and transmit manipulator is added, realize stock and scion feeding seedlings both on single, grafting per capita productivity reaches 1000 plants/h, choose a suitable fixture for solanaceous grafting, perfect the institution of grafting clip feeder. In order to satisfy requirements of grafting joint, this paper designed a connecting auxiliary mechanism.This article main research content is as follows:1. In order to improve the efficiency of grafting, through the analysis of grafting process, points out that the design of grafting mechanical should adopt assembly line operation which stock cutting, scion cutting, grafting joint steps working simultaneously, based on 2JT-1600 to carry out improvement program, in view of existing problems, propose solutions: 1. Split one station of 2JT-1600 completed feeding and cutting seedling into two station working simultaneously; 2. Put forward using one-body grafting clip as fixed object, and research feeding grafting clip institution.2. This paper study on efficient seedling feeder institution, seedling feeder adopts the scheme that seedlings conveyor carrying the seedlings to the position, then transmit manipulator passed seedling to the grafting machine. Determined the whole structure of transmit manipulator by analysis working condition and operating target. In order to has better performance of the clamp for transmit manipulator, it developed a close type seedling holder which has the partial capacity to 5 mm. To prevent stock fall off when transported, selects high elastic rubber joint at the notches on the seedling seat, holding the stock through extrusion stock stem by the rubber, giving friction to overcome stock falling off, Orthogonal test was conducted on curvature of stock, depth of upper slot of seedling seat and thickness of rubber of supper slot: L9(33) orthogonal array was adopted for doing experiment. Test result showed: when depth of upper slot of seedling seat reaches 8mm and its rubber is 3mm thick, holding function of seedling seat is excellent and it can adapt to more than 95% stock. Under grafting productivity of 2000 seedlings/h, comprehensive success rate of feeding seedling reaches 96%.3.In order to realize automatic feeding clip, this paper analyses different schemes of clip rail, choose the square rail which grafting clip line contact with clip rail; Grafting clip opening device was designed, detailed design the structure of hanging piece, using ANSYS software to analyze the simulation results to obtain the optimized scheme, according to the scheme to optimize parts. Test was conducted on two plane spacing of hanging piece edges to inner surface of clip rail, distance between below pencil cylinder to hanging piece and clearance of clip rail. Test result showed: when two plane spacing of hanging piece edges to inner surface of clip rail is 8mm, distance between below pencil cylinder to hanging piece is 20 mm, and clearance of rail is 6mm, success rate of feeding grafting clip reaches 100%.4.This paper added an auxiliary docking institutions in butt joint station, two-piece design was adopted for assisting seedling holder that divided into upper and lower piece. Test was conducted on spacing between upper and lower pieces of assisting seedling holder, clearance between stock and scion jointing and the stock and scion diameter ordinary match, to inspect supporting performance of the auxiliary docking institutions. Experimental results showed: when spacing between upper and lower pieces of assisting seedling holder is 30 mm, clearance between stock and scion jointing is 0~3mm, the stock and scion diameter is the same size, those are optimal levels under selection factors, ensures grafting success rate reached 92.8%.5.This paper analyses sequence diagram of key institutions of high-speed grafting robot for solanaceous connect with each other when key institutions operation simultaneously, figure out the difficulties of programming, and according to the control system requirements, determine the input and output devices, select the model of PLC, distributed I/O contacts, setting up the mode of servo drive to solve the problems when PLC control multiple servo motor that the total output frequency reach to maximum, and edit real-time program to stop and start hardware system to cooperate with hardware debugging, by modular programming, make whole process clear, easy to modify.