蔬菜自动嫁接技术研究:Ⅱ.嫁接装置的结构设计与试验

Studies on Techniques of Automatic Grafting of Vegetables:Ⅱ. Structural Design and Tests of Grafting Robot

设计出蔬菜自动嫁接样机，它由控制、动力、执行3个部分组成，能完成砧木和穗木的自动输送、穗木的自动切削、砧木生长点的自动切除和插孔，以及砧木和穗木的自动接合等工作。首次设计出砧木生长点的自动切除和插孔机构。对机构的运动作了理论分析，指出了获得理想切削速度的条件。试验结果表明，嫁接作机符合设计要求。分析了产生嫁接偏差的原因，并提出了改进措施。

A vegetable automatic grafting prototype is designed. It consists of control,power and execution parts. All of the following operations such as: automatic trans-portation of root stocks and scions,automatic cutting of scions removing and hole-mad-ing of growth points of root stocks and automatic connection of root stocks and scions can be carried out by that prototype. The automatic robot hand used for removing the growth points of root stocks and hold-inserting are firstly designed. The theoretical analysis of this mechanism is described and an ideal cutting speed is determined. The grafting test results show that the grafting prototype is compatible with the design re-quirements. The cause to make deviation in grafting is investigated, and the methods to solve this problem are put forward.