关键词: 蔬菜, 自动嫁接机, PLC, 控制系统

Abstract: In order to improve the efficiency of vegetable grafting and reduce labor intensity and cost, the key actions and steps in the process of manual vegetable seedling grafting were sorted out in this paper, and the interaction mechanism between the seedlings and the machine was analyzed. Based on these results, we adopted twoway cutting and docking technology to design a horizontal, portable semiautomatic vegetable grafting machine. According to the practical requirements of the grafting machine, the pneumatic system was used to realize the automatic clamping, cutting, and docking actions of vegetable seedlings. Based on the input signal of sensors and the characteristics of the actuator, an Omron PLC was used as controller. The control program was written according to the operation flow of the machine. Finally, the performance of the machine was tested by experiments, the results showed that the average grafting efficiency of the grafting machine was 348 plants/h, the average grafting success rate reached 93.3%， and no grafted seedlings had been damaged during the tests. The machine structure design was reasonable, the performance was stable and reliable, and it could provide technical support for the grafted seedlings production in small and mediumsized seedling bases and farmers. It could also provide a reference for the development and application of agricultural mechanization auxiliary devices.

Key words:  vegetables, automatic grafting machine, PLC, control system