Design and optimization on rootstock cutting mechanism of grafting robot for cucurbit
Keywords:
grafting robot, rootstock cavity, cutting angle, matched grafting, parameter optimization, cucurbitAbstract
Cutting mechanisms in existing grafting machines are unable to completely cut through the rootstock growth point and can easily damage seedlings. During the mechanical operation of splice grafting, the cutting angle of the rootstock is an essential factor for ensuring the quality and survival rate of grafting seedlings and a stable process for grafting robots. Therefore, in this study, commonly used grafting rootstocks, e.g., cucurbita moschata, and calabash gourd were used as research objects for studying and analyzing the cutting angle of a splice grafting method. The morphological and structural parameters of the rootstock and scion were measured, and a structural model of the internal cavity of the rootstock was constructed using an image analysis method. The critical cutting angles for the cucurbita moschata and calabash gourd seedlings were obtained. According to the analysis, the grafting cutting angles for cucumber seedlings matching with cucurbita moschata seedlings were 20° and 25°, respectively, and the fitting rate of the cutting surface of the rootstock and scion was 99.04%. A cutting mechanism for the rootstock growth point and geometric model of the cutting operation were established, and the structural parameters of the mechanism and cutting angle adjustment were optimized. A cutting performance test showed that the success rate of the pressing the cotyledons of cucurbita moschata seedlings was 96.67%, and the success rate of cutting was 98%. The cutting accuracy was 96.8%, and the cutting surface fitting rate of the rootstock and scion was 98.61%. The latter differed by 0.43% from the theoretical rate but met the requirements for the splice grafting method. Thus, this study can provide a reference for the design of a cutting mechanism for a grafting robot. Keywords: grafting robot, rootstock cavity, cutting angle, matched grafting, parameter optimization, cucurbit DOI: 10.25165/j.ijabe.20201305.5803 Citation: Jiang K, Zhang Q, Chen L P, Guo W Z, Zheng W G. Design and optimization on rootstock cutting mechanism of grafting robot for cucurbit. Int J Agric & Biol Eng, 2020; 13(5): 117–124.References
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[21] Zhang J, Zhao H, Jia J, Zhang C H, Yu C L, Yu Q C. Vision driven prototype system of automatic grafting machine. Journal of Zhejiang Agricultural Sciences, 2018; 59(10): 1763–1766. (in Chinese)
[22] Wang Z L, Cheng X J, You W S. Design of automatic seedling control system for vegetable grafting machine based on machine vision. Journal of Anhui Agricultural Sciences, 2019; 47(7): 218–220. (in Chinese)
[23] He L Y, Cai L Y, Wu C Y. Vision-based parameters extraction of seedlings for grafting robot. Transactions of the CSAE, 2013; 29(24): 190–195. (in Chinese)
[24] Cui Y J, Wang X X, Xu L Q, Chen T, Li S H, Fu L S. Automatic detection for external features of grafting seedlings based on machine vision. Transactions of the CSAM, 2014; 45(4): 89–95. (in Chinese)
[25] Pardo-Alonso J L, Carreño-Ortega Á, Martínez-Gaitán C C, Callejón-Ferre Á J. Combined influence of cutting angle and diameter differences between seedlings on the grafting success of tomato using the splicing technique. Agronomy, 2019; 9(1): 5. doi: 10.3390/agronomy9010005.
[26] Tian S B, Song C C, Dong S, Wang R L. Parameter optimization and experiment for cutting device of muskmelon grafting machine. Transactions of the CSAE, 2016; 32(22): 86–92. (in Chinese)
[27] Jiang K, Zheng W G, Zhang Q, Guo R, Feng Q C. Design and experiment of grafting robot cutting device. Journal of Agricultural Mechanization Research, 2012; 34(2): 76–79, 83.
[2] Zhu C Y, Yue D J. Production status and technology trend of vegetable seedling industry in China. Agricultural Engineering Technology, 2019; 39(13): 34–38. (in Chinese)
[3] Liu M C, Ji Y H, Wu Z H, He W M. Current situation and development trend of vegetable seedling industry in China. China Vegetables, 2018; 11: 1–7. (in Chinese)
[4] Huang Y, Kong Q S, Chen F, Bie Z L. The history, current status and future prospects of vegetable grafting in China. Acta Horticulturae, 2015; 1086: 31–39.
[5] Yang Y M, Wang G B. Research on the aging of rural population in China. Shanxi Agricultural Economy, 2018; 2: 1–3. (in Chinese)
[6] Jiang K, Zheng W G, Zhang Q, Guo R, Feng Q C. Development and experiment of vegetable grafting robot. Transactions of the CSAE, 2012; 28(4): 8–14. (in Chinese)
[7] Chen X, Gong Y, Zhang X, Liu D J, Wang, G. Development status of machinery and equipment for watermelon and melon production. China Cucurbits and Vegetables, 2019; 32(8): 65–68. (in Chinese)
[8] Kobayashi K, Sasaya S. Study on automation of seedlings feeding for grafting robot for cucurbitaceous vegetables (Part 2). Agricultural Machinery and Food Engineers, 2007; 69(5): 70–77.
[9] Chiu Y C, Chen S, Chang Y C. Development of a circular grafting robotic system for watermelon seedlings. Appl. Eng. Agric, 2011; 10: 95–102.
[10] Kim H M, Hwang S J. Comparison of pepper grafting efficiency by grafting robot. Protected Horticulture and Plant Factory, 2015; 24(2): 57–62.
[11] Kang D H, Lee S Y, Kim J K, Park M J, Son J K, Yun S W. Development of an automatic grafting robot for fruit vegetables using image recognition. Protected Horticulture and Plant Factory, 2019; 28(4): 322–327.
[12] Ohkoshi T, Kobayashi K. Development of automatic seedling feeding device for cucurbits grafting robot (Part 1)-Evaluation of automatic stock feeder. Journal of the Japanese Society of Agricultural Machinery and Food Engineers, 2013; 75(2): 100–107.
[13] Zhang P, Zhang L N, Liu D, Wu H X, Jiao B. Research status of agricultural robot technology. Agricultural Engineering, 2019; 9(10): 1–12.
[14] Li D D, Shi Y, Li H B, Han W, Duan Y L, Wu W B. Review on the progress of agricultural robot research. China Agricultural Informatics, 2018; 30(6): 1–17. (in Chinese)
[15] Xie Z J, Gu S, Chu Q, Li B, Fan K J, Yang Y L, et al. Development of a high-productivity grafting robot for Solanaceae. Int J Agric & Biol Eng, 2020; 13(1): 82–90.
[16] Zhu C X, Jiang W, Liu W, Wang W, Du J W, Hao L F, et al. Research progress in cucumber grafting seedling raising technology. Journal of Northern Agriculture, 2019; 47(2): 115–118. (in Chinese)
[17] Jiang K. Study on mechanism and experimental device of splice mechanical grafting of cucurbit. PhD dissertation. Harbin: Northeast Agricultural University, 2019; 132p. (in Chinese)
[18] Mu Y H, Gu S, Ma Z Y. Experimental analysis on biomechanical properties of cucurbits. Transactions of the CSAE, 2012; 28(4): 15–20. (in Chinese)
[19] Hassell R L, Memmott F, Liere D G. Grafting Methods for Watermelon Production. Hortscience, 2008; 43(6): 1677–1679.
[20] Zhang L, He H, Wu C Y. Vision method for measuring grafted seedling properties of vegetable grafted robot. Transactions of the CSAE, 2015; 31(9): 32–38. (in Chinese)
[21] Zhang J, Zhao H, Jia J, Zhang C H, Yu C L, Yu Q C. Vision driven prototype system of automatic grafting machine. Journal of Zhejiang Agricultural Sciences, 2018; 59(10): 1763–1766. (in Chinese)
[22] Wang Z L, Cheng X J, You W S. Design of automatic seedling control system for vegetable grafting machine based on machine vision. Journal of Anhui Agricultural Sciences, 2019; 47(7): 218–220. (in Chinese)
[23] He L Y, Cai L Y, Wu C Y. Vision-based parameters extraction of seedlings for grafting robot. Transactions of the CSAE, 2013; 29(24): 190–195. (in Chinese)
[24] Cui Y J, Wang X X, Xu L Q, Chen T, Li S H, Fu L S. Automatic detection for external features of grafting seedlings based on machine vision. Transactions of the CSAM, 2014; 45(4): 89–95. (in Chinese)
[25] Pardo-Alonso J L, Carreño-Ortega Á, Martínez-Gaitán C C, Callejón-Ferre Á J. Combined influence of cutting angle and diameter differences between seedlings on the grafting success of tomato using the splicing technique. Agronomy, 2019; 9(1): 5. doi: 10.3390/agronomy9010005.
[26] Tian S B, Song C C, Dong S, Wang R L. Parameter optimization and experiment for cutting device of muskmelon grafting machine. Transactions of the CSAE, 2016; 32(22): 86–92. (in Chinese)
[27] Jiang K, Zheng W G, Zhang Q, Guo R, Feng Q C. Design and experiment of grafting robot cutting device. Journal of Agricultural Mechanization Research, 2012; 34(2): 76–79, 83.
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Published
2020-10-13
How to Cite
Jiang, K., Zhang, Q., Chen, L., Guo, W., & Zheng, W. (2020). Design and optimization on rootstock cutting mechanism of grafting robot for cucurbit. International Journal of Agricultural and Biological Engineering, 13(5), 117–124. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/5803
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Power and Machinery Systems
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