Design and experiment of key components of a insertion vegetable grafting machine with six plants synchronous

For the current vegetable mechanized grafting operation efficiency is low constraints on the development of the industry. Based on the heterogeneous operation requirements of rootstock and scion, a six plant synchronous insertion vegetable grafting machine was innovatively designed, which integrates flexible clamping, dynamic cutting, and precise docking functions. The rectangular hand claw is embedded with EVA flexible material (maximum clamping pressure of the clamping mechanism: rootstock 266.35 Pa and scion 158.92 Pa), to overcome the fragile seedling damage control problems; Optimization of rootstock dynamics modeling with the V-shaped gathering block opening angle of 90° to achieve adaptive positioning of heterogeneous stems; The dual cutting system of positive-cutting and rotary-cutting matches the different cutting requirements of rootstock and scion. The optimal combination of parameters after optimization was the punching needle diameter of 1.8 mm, the punching speed of 40 mm s^-1 and the docking speed of 60 mm s^-1. The grafting success rate was 98.26% and the grafting efficiency was 985 plants/h. This study provides a reference for synchronous grafting of multiple vegetables, which has certain engineering value for alleviating agricultural labor shortages and achieving factory production of vegetable seedlings.