Design and Experiment of Automatic Grafting Device for Grafting Machine Based on Vision Driven

In order to solve the problems of cucurbitaceae plants and plant grafting manual grafting degree of mechanization and low operation efficiency, this paper designs a vision based automatic upper and lower seedling device of grafting machine, to provide technical support for further design of automatic grafting machine. The device is mainly composed of the manipulator and control system, the end clip mechanism, as well as the visual drive device. Experiments were conducted with plug seedlings as grafting objects, The maximum opening of the device is 4.805mm, fully meeting the stock average width of 2.36mm and scion width of 2.02mm requirements. After 50 groups of seedlings test, the success rate of the device can reach more than 97%.