Conventional Industrial Robotics Applied to the Process of Tomato Grafting Using the Splicing Technique

Pardo-Alonso, José-Luis; Carreño-Ortega, Ángel; Martínez-Gaitán, Carolina-Clara; Golasi, Iacopo; Galán, Marta Gómez

doi:10.3390/agronomy9120880

Cited by 7 publications

(9 citation statements)

References 21 publications

(38 reference statements)

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“…The success rate for manual graft production, for workers with a certain degree of skill and experience, is around 150-240 grafts/h (with success rates between 81% and 91%) [47,52,53]. In contrast, if we carry out the automated grafting described in the present trial, applying the most successful resulting strategy, consisting of an assembly order comprising a profile union surface of stems (S), and over these to couple the graft clip (SC), which presents 99% success results in the assembly phase to which the other processes that complete the grafting task must be subtracted.…”

Section: Resultsmentioning

confidence: 99%

“…However, it can be applied to fully automated systems and even semi-automated systems (based on manual handling by the operator supported by external clip fitting devices). These experimental results were directly extrapolated successfully for application to the complete automated splice grafting process using conventional industrial robotics [47].…”

Section: Resultsmentioning

confidence: 99%

“…This paper attempts to provide basic documented information on the splicing technique, analyzing the success rates and influence of different joining strategies used in the splicing graft technique. A robotic system is used that coordinates the work of two anthropomorphic robots; these manipulate and manage the displacement and positioning of the seedlings with external auxiliary passive electromechanical devices that condition, prepare, and perform the graft [47]. The placement order between the clip and the seedlings is analyzed, as well as the cutting angle orientation with respect to the side opening of the grafting clip, as the basis for its implementation in automated grafting equipment, or suitability for the hand-executed splice grafting technique using support equipment, or other fully automated equipment.…”

Section: Appl Sci 2020 10 X For Peer Review 3 Of 15mentioning

confidence: 99%

“…The grafting equipment on which the various splicing strategies were tested cuts each of the flexible plastic clips from a continuous reel, and then positions the grafting clip, thus ensuring the union between the rootstock and the scion (Figure 3). The process consists of two basic operations: (1) Preparation of the grafting clip by making a custom cut and (2) clamping the clip for optimal opening and placing it on the seedling to be grafted [47].…”

Section: Device Descriptionmentioning

confidence: 99%

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Behavior of Different Grafting Strategies Using Automated Technology for Splice Grafting Technique

et al. 2020

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Even though the splicing graft technique is relatively recent, it has become the most commonly used grafting method for solanaceae, and in particular, for tomato. Today, almost everyone has standardized the use of plastic or silicone grafting clips, equipped with manipulating wings and a frontal opening, to ensure proper bonding and allow for wound healing. Numerous factors influence the success or failure of the grafting process, factors such as the seedling varieties combined, climatic conditions, pre-graft and post-graft care, cutting point, cutting angle, pressure of the clips, blade edge, or substrate water content, among others. In this work, several alternatives in the graft assembly and coupling protocol were evaluated. Having studied the different working alternatives for grafting using a robotic system, two modes of joining order were analyzed. It has been shown that there are 20% more recorded successes if one first joins the graft seedlings and then places the grafting clip to guarantee their union. In addition, we studied the different orientation alternatives for the cutting line and the seedling union with respect to the clip opening—there were approximately 10% more successes obtained in grafts where the splice-union cutting line between the two plants faced the clip opening.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Appl Sci 2020 10 X For Peer Review 3 Of 15mentioning

confidence: 99%

Section: Device Descriptionmentioning

confidence: 99%

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Behavior of Different Grafting Strategies Using Automated Technology for Splice Grafting Technique

et al. 2020

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“…Grafting is an important part of the production process of industrial seedlings, and the corresponding labor accounts for 20%-30% of the entire process of seedling cultivation [1] . Therefore, seedling enterprises invest a significant amount of money to hire professional grafting workers every year.…”

Section: Introduction mentioning

confidence: 99%

Design and optimization on rootstock cutting mechanism of grafting robot for cucurbit

Jiang¹,

Zhang²,

Chen³

et al. 2020

International Journal of Agricultural and Biological Engineering

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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.

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Melon Robotic Grafting: A Study on the Precision Cutting Mechanism and Experimental Validation

Chen,

Liang,

Zhang

et al. 2023

Agriculture

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The grafting machine cutting step is the core step of the grafting process. The existing grafting machine cutting mechanism adopts fixed angle cutting and manually adjusts the cutting angle based on experience, and the cutting angle is not definite for rootstock cutting in different growth periods. In this paper, we proposed a method to guide the precise cutting mechanism according to internal and external parameters of melon rootstock at a specific period. First, we constructed a cutting model based on internal and external characteristics of rootstock cutting in the growth period of “two leaves and one core” and clarified the safe cutting area. Second, we designed a rotary precision cutting mechanism for rootstock cutting with automatic angle adjustment and constructed the displacement equation of the cutting trajectory of the cutter according to the cutting model. Last, we examined the cutting effect of the precision cutting mechanism and determined the precise cutting angle of the rootstock cutting mechanism in the growth period. Finally, the cutting effect of the precision cutting mechanism was examined, and the precision cutting angle of the rootstock during the growth period was determined. A comparison test between the precision cutting mechanism and the traditional cutting mechanism was carried out, and visual images of the incision were captured and analyzed. The results show that under the five horizontal cutting angles in the safe cutting area of rootstock, the length of the cut surface is inversely proportional to the cutting angle, and the flatness of the cut surface is directly proportional to the cutting angle. Comprehensive evaluation of the length of the cut surface, the cutting success rate, and the quality of cutting revealed that the average cutting angle of the precision cutting mechanism in the safe cutting area (26°) is better than that of the traditional cutting mechanism. It meets the technical requirements of the cutting technology for mechanically grafted rootstocks. The results provide a reference for studying new rootstock precision cutting mechanisms and cutting angle adaptive control models.

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Conventional Industrial Robotics Applied to the Process of Tomato Grafting Using the Splicing Technique

Cited by 7 publications

References 21 publications

Behavior of Different Grafting Strategies Using Automated Technology for Splice Grafting Technique

Behavior of Different Grafting Strategies Using Automated Technology for Splice Grafting Technique

Design and optimization on rootstock cutting mechanism of grafting robot for cucurbit

Melon Robotic Grafting: A Study on the Precision Cutting Mechanism and Experimental Validation

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