Key Device Design And Experimental Study On Automation Grafting Process

At present,the grafting machine of market still rely on artificially picking,carrying and replanting seedlings.This kind of grafting method has low grafting efficiency,and high labor intensity,grafting seedlings is easily to be damaged and the quality is difficult to guarantee.In this paper,according to shortcomings of the existing grafting methods and grafting machine,under the basis of the technology of growing root cutting grafted seedlings,this paper presents a key of automatic seedling,grafting,carrying,replanting function of the program,and the key devices are designed and analyzed.At the end of this paper,the grafting experiment platform is designed and manufactured,and the related experimental research on automatic handling device and drilling back planting device is carried out.The main profile of the issue are as follows:?1?A kind of 45° cutting grafting station is presented,and a grafting automatic device is designed which suits for both rootstock and scion root.What's more,it can root,cut and gripe for the seedlings.Besides,the kinematics modeling analysis of the rocker slider seedling mechanism is carried out,and the optimal parameters are calculated : l₁=40mm,l₂=92mm,?=25mm.Finally,the feasibility of the device is verified by velocity analysis chart,modeling and motion simulation.?2?The automatic carrying seedling device and the grafting seedling automatic punching and replanting device are designed to realize the functions of automatic rotating carrying,matrix drilling,automatic transplanting and suppression of grafted seedlings,which greatly improves the automation degree of grafting process.The mathematical modeling and dynamic analysis of the double-drive multi-link mechanism in the key mechanism are also carried out,and the optimal parameters are calculated : L_CD=60mm?L_EM=65mm?L_CO=50mm?D_X=15mm?A_y=14mm.At the same time,the feasibility of the design is verified by modeling and motion simulation?Finally,combined with the above key institutions,a set of grafting scheme with full automatic seeding,grafting,transporting and replanting function is put forward.?3?In this paper,the design and prototype manufacture of grafting replanting test table are carried out.According to functional requirements,the PLC of FX-1N60-MT model is used as a controller,using Gx-developer to achieve the preparation of the program.At last,according to the requirements of grafting,the mechanical device and control system are integrated,and the grafting test platform is constructed.?4?Experiments of grafting seedling area statistics and automatic carrying seedlings were conducted in laboratory,the results showed the success rate of carrying seedlings was up to 94% and the average time of carrying was 2.5s while the clamping device locating at the lower end of the clip.In this paper,three levels and three factors orthogonal experiments were designed to deal with the following conditions: the drilling hole diameter,the depth of punch and the suppression scheme of the grafted seedlings.when the hole diameter was 10 mm and the depth of drilling was 15 mm,and the pressing block was a cylinder with lower surface,the effect of experiments were the best.Under this condition,the comprehensive success rate of grafted seedlings was up to 92%.and the average time of replanting was 2.5s.The experimental results show that the automatic carrying device and the replanting device of the grafted seedlings can be well matched with the grafting machine,and they can improve the automation degree of the grafting process.