茄科蔬菜多株同步自动嫁接机设计与试验

Design and Test of Key Components of Vegetable Grafting Robot for Plug Seedlings

以茄科蔬菜穴盘苗为作业对象,开展了多株蔬菜同步自动嫁接技术及关键机构研究。提出了基于劈接法的茄科蔬菜六株同步自动嫁接机的整机结构方案,该机可连续实现穴盘苗自动进给、砧穗木的切削与插接、嫁接夹的定向排序与持送上夹等功能。重点设计了嫁接机的砧木平切机构、砧木劈切机构、穗木推切机构、砧木与穗木插接机构、振动排序供夹装置及持送上夹机构等关键机构,确定了各机构的主要结构参数。以辣椒苗为嫁接对象,开展了六株同步嫁接机切削质量正交试验,试验结果表明,提高对苗株的夹持精度和切削速度及较小的茎秆纤维硬度有利于提高切削质量。当切削速度为1.5 m/s时,嫁接期辣椒苗样机性能验证试验结果表明,砧穗木切削合格率98.6%、嫁接合格率97.1%、嫁接成活率96.2%、嫁接效率720株/h,达到了设计要求。

In order to improve the efficiency of vegetable grafting in large-scale planting,taking solanaceous vegetable plug seedlings as the object of operation,automatic grafting techniques and key mechanisms of vegetable grafting robot were studied.Based on the splitting method,the overall structure scheme of a grafting robot for synchronous grafting of six solanaceous vegetable seedlings was proposed.It can continuously realize the functions of automatic feeding of plug seedlings,cutting and plugging of rootstocks and scions,directional sequencing of grafting clips,and holding and clamping.The key mechanisms of the grafting machine,such as the horizontal cutting mechanism of rootstock,the splitting mechanism of rootstock,the pushing cutting mechanism of scion,the plugging mechanism of rootstock and scion,the vibration sorting and clamping device and the holding and clamping mechanism were designed,and the key structural parameters of each mechanism were determined.Taking pepper seedlings as the grafting object,orthogonal experiments on cutting quality of grafting robot was carried out.The results showed that improving the clamping accuracy and cutting speed of the seedlings,and reducing the fiber hardness of the stems were beneficial to improving the cutting quality.The cutting speed was set at 1.5 m/s,and a prototype performance verification test was conducted on the grafted pepper seedlings.The results showed that the cutting qualification rate of the rootstock and scion was 98.6%,the grafting qualification rate was 97.1%,the grafting survival rate was 96.2%,and the grafting efficiency was 720 plants/h,which met the design requirements.This study provides support for the development of efficient multi-seedlings synchronous grafting robots.