agriculture
Article
Design and Experiment of Full-Tray Grafting Device for
Grafted Melon Seedling Production
Xiaohu Fu 1,2,3 , Jiahao Shi 1 , Yuan Huang 2,3,4 , Enzhao Zhu 1 , Zhilong Bie 4 and Weiguo Lin 1,2,3, *
Citation: Fu, X.; Shi, J.; Huang, Y.;
Zhu, E.; Bie, Z.; Lin, W. Design and
Experiment of Full-Tray Grafting
Device for Grafted Melon Seedling
Production. Agriculture 2022, 12, 861.
https://doi.org/10.3390/
agriculture12060861
Academic Editor: Luís Manuel Navas
Gracia
Received: 8 May 2022
Accepted: 10 June 2022
Published: 14 June 2022
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Copyright: © 2022 by the authors.
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distributed under the terms and
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Attribution (CC BY) license (https://
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4.0/).
Agriculture 2022, 12, 861. https://doi.org/10.3390/agriculture12060861
1 College of Engineering, Huazhong Agricultural University, Wuhan 430070, China;
fuxiaohu@webmail.hzau.edu.cn (X.F.); sjh1824253140@163.com (J.S.); 17608891901@163.com (E.Z.)
2 Shenzhen Institute of Nutrition and Health, Huazhong Agricultural University, Shenzhen 518120, China;
huangyuan@mail.hzau.edu.cn
3 Shenzhen Branch, Guangdong Laboratory for Lingnan Modern Agriculture, Genome Analysis Laboratory of
the Ministry of Agriculture, Agricultural Genomics Institute at Shenzhen, Chinese Academy of Agricultural
Sciences, Shenzhen 518120, China
4 Key Laboratory of Horticultural Plant Biology, Ministry of Education, College of Horticulture and Forestry
Sciences, Huazhong Agricultural University, Wuhan 430070, China; biezl@mail.hzau.edu.cn
* Correspondence: linweiguo@mail.hzau.edu.cn; Tel.: +86-27-8728-2120
Abstract: At present, the existing vegetable grafting machines are cutting and grafting operations for
a single plant or row. They need to manually or automatically grab the seedlings, and their grafting
efficiency is not significantly higher than that of manual grafting techniques. In this paper, grafted
melon seedlings were the subject of the research. Based on the splice-grafting method, we designed a
clamping and positioning device for full-tray seedlings and a mechanical device to realize full-tray
grafting by locating the vegetable seedlings and completing the full-tray grafting process without
damaging the seedlings. The results show that the cutting success rate for pumpkin rootstock and
for melon scion reached 100% and 92%, respectively. The lengths of the long axis of the section of
the rootstock and the scion were 6.2–7.7 mm, and the cutting angle was maintained at 30 degrees,
thereby able to meet the requirements of the grafting method. The average grafting efficiency for the
rootstock and scion were 2134 plants/h, and the average grafting success rate was 67%.
Keywords: vegetable grafting machine; splice grafting; simultaneous cutting; fully automatic
1. Introduction
The continued planting of vegetables grown in greenhouses will eventually lead to
the deterioration of the soil environment, resulting in reduced yields and poor quality
vegetables. Grafted rootstocks can effectively overcome some of the obstacles of continuous
cropping, enhance the stress resistance of plants, and play a role in promoting production
and increasing yield [1–4]. With the continuous expansion of the planting area for the
protected cultivation of vegetables, grafted seedlings have become a widely used technol-
ogy for protected cultivation in vegetable production [5,6]. Traditional manual grafting is
labor-intensive and low in production efficiency. The use of mechanical grafting can greatly
improve grafting speed, improve the survival rate of grafted seedlings, and facilitate the
intensive and standardized management of grafted seedlings [7–9].
Research on vegetable grafting machines has been mainly concentrated in developed
countries. Such research on grafting machines was conducted earlier and serial grafting
equipment with different functions was developed as a result [10–12]. Japan started research
on vegetable grafting machines in the 1980s and commercial production has since been
realized [13–15]. The Korean company Helper Robotech developed a real-time acquisition
system for seedling section information which can acquire section images for each seedling
in real time, determine the degree of deviation of the seedling stems, and can perform
precise calculations such that the rootstock and scion can be accurately fitted [16]. The
https://www.mdpi.com/journal/agriculture
Agriculture 2022, 11, x FOR PEER REVIEW 2 of 12

Agriculture 2022, 12, 861 each seedling in real time, determine the degree of deviation of the seedling stems, 2and of 12
can perform precise calculations such that the rootstock and scion can be accurately fitted
[16]. The ISO Graft 1000 grafting machine, produced by Machinebouw in the Netherlands,
also
ISOusesGraftimage1000 processing technology
grafting machine, to obtain
produced incision data for
by Machinebouw grafted
in the seedlings also
Netherlands, in
order to achieve precise docking, which greatly improves grafting
uses image processing technology to obtain incision data for grafted seedlings in order efficiency and ensures
the
to grafting successdocking,
achieve precise rate [17,18].whichThegreatly
grafting machines
improves developed
grafting abroad
efficiency andhave a high
ensures the
degree
grafting of success
automation, relatively
rate [17,18]. The complex structuresdeveloped
grafting machines and control systems,
abroad have and
a high include
degree
features for machine
of automation, relativelyvision and structures
complex image processing
and control technology
systems, and [19,20];
includethe features
resulting for
manufacturing
machine visioncosts are high
and image and thustechnology
processing not suited for widespread
[19,20]; usagemanufacturing
the resulting in China. costs
are Mechanical
high and thus grafting technology
not suited research started
for widespread usage inrelatively
China. late in China, and research
on vegetable grafting machines is mainly concentrated
Mechanical grafting technology research started relatively in universities
late in China, andandresearch
research
institutes.
on vegetable Aftergrafting
more than 20 years
machines is of development,
mainly concentrated China inhas achieved and
universities certain resultsinsti-
research in
the development
tutes. After more ofthan
vegetable
20 years grafting machines and
of development, China has has
developed
achieved different
certain types
resultsofin
grafting machines [21–24].
the development Most of
of vegetable vegetable
grafting graftingand
machines machines are baseddifferent
has developed on single-plant,
types of
semi-automatic
grafting machines grafting, andMost
[21–24]. theirofgrafting
vegetable efficiency
grafting is machines
not high. To aretake
basedfuller advantage
on single-plant,
ofsemi-automatic
mechanized grafting, grafting,this andpaper
their uses
grafting
a fullefficiency
tray of is not high.forTothe
seedlings take fullerof
subject advan-
the
tage of mechanized
research to discard the grafting, this paper
traditional designuses ideaaof full tray of seedlings
single-plant grafting forand
the to
subject
adoptofthe the
research
method of to discard theseedling
synchronous traditional design
loading on idea of single-plant
the full tray, therebygrafting
achieving andthetoclamping,
adopt the
method of synchronous
positioning, and cutting of seedling
the fullloading on the fulland
tray of seedlings tray, thereby achieving
proposing an full-tray theapproach
clamping,
topositioning,
the mechanical and cutting
graftingof the full trayUsing
process. of seedlings
melon and proposing
vegetable an full-tray
seedlings for approach
a graftingto
the mechanical
technique based grafting process. Usingmethod,
on the splice-grafting melon vegetable
a full-trayseedlings
grafting for a grafting
device technique
was designed,
based on the splice-grafting method, a full-tray grafting
and grafting experiments on pumpkin rootstocks and melon scions were carried out. device was designed, and grafting
experiments on pumpkin rootstocks and melon scions were carried out.
2. Materials and Methods
2. Materials and Methods
2.1. Selection of Grafting Method
2.1. Selection of Grafting Method
If melons are used for grafting, the growth point of the seedlings must be accurately
If melons are used for grafting, the growth point of the seedlings must be accurately re-
removed for traditional grafting, and therefore, the technical difficulty significantly
moved for traditional grafting, and therefore, the technical difficulty significantly increases
increases when mechanical grafting techniques are adopted. The method of splice grafting
when mechanical grafting techniques are adopted. The method of splice grafting is shown
isinshown
Figurein1.Figure
During 1. grafting,
During grafting, two cotyledons
two cotyledons of the rootstock
of the rootstock are removed,
are removed, along with alongthe
with
upper thepart
upper parthypocotyl,
of the of the hypocotyl,
and then andthethen
scion the
andscion
the and
lower thehalf
lower halfrootstock
of the of the rootstock
are fixed
are
withfixed with aclamp
a grafting grafting clampatonew
to obtain obtain a new
grafted grafted
seedling. Theseedling. The cutting
cutting height of spliceheight of
grafting
splice grafting is fixed, the operation steps are simple and clear,
is fixed, the operation steps are simple and clear, and the grafting survival rate is high, and the grafting survival
rate
whichis high, whichfor
is suitable is suitable
full-trayfor full-tray grafting.
grafting.

Stagesofofsplice
Figure1.1.Stages
Figure splicegrafting.
grafting.

2.2. Design of Plug-Seedling Clamping and Positioning Device

2.2. Design of Plug-Seedling Clamping and Positioning Device
Based on the research of the grafting mechanism and existing grafting clamps and graft-
ing Based on thea research
equipment, of theclamping
plug-seedling grafting mechanism and device
and positioning existingwas
grafting clamps
designed. and 2
Figure
grafting equipment, a plug-seedling clamping and positioning device was designed.
shows the rootstock clamping and positioning device, including a frame-shaped position-
Figure 2 shows
ing matrix, an the rootstock
upper clamping and
clamping-sliding positioning
plate and a lower device, including a frame-shaped
clamping-sliding plate. The two
positioning matrix,plates
clamping-sliding an upper clamping-sliding
are installed plate
in the frame andpositioning
of the a lower clamping-sliding plate.
matrix at intervals and
move in opposite directions to each other in their respective clamping slots to complete
seedling clamping and positioning. The device integrates the functions of seedling gath-
ering, clamping, positioning, and fixing the relative positions of rootstock and scion. The
Agriculture 2022, 11, x FOR PEER REVIEW 3 of 12

The two clamping-sliding plates are installed in the frame of the positioning matrix at
intervals
The and move in opposite
two clamping-sliding platesdirections to each
are installed other
in the in their
frame respective
of the clamping
positioning matrix slots
at
Agriculture 2022, 12, 861 to complete seedling clamping and positioning. The device integrates the
intervals and move in opposite directions to each other in their respective clamping3slots functions of of
12
seedling
to completegathering,
seedlingclamping,
clampingpositioning, and fixing
and positioning. the relative
The device positions
integrates of rootstock
the functions of
and scion.
seedling The scion
gathering, clamping
clamping, and positioning
positioning, device
and fixing is similar
the relative in principle
positions to the
of rootstock
rootstock
and clamping and positioning device. However, because the clamping and cutting
scionscion.
clampingTheandscion clampingdevice
positioning and is positioning device istosimilar
similar in principle in principle
the rootstock clamping to and
the
positions clamping
rootstock of the rootstock
and and the scion
positioning areHowever,
device. different, because
there is the
a slight difference
clamping and in the
cutting
positioning device. However, because the clamping and cutting positions of the rootstock
design of of
positions thethe
frame-shaped base.
theisInscion
the grafting process, full-tray grafting is realized by
and the scion arerootstock
different,and
there aredifference
a slight different, inthere is a slight
the design difference
of the in the
frame-shaped
operating the
design the frame-shaped
clamping and positioning devices for the rootstocks and scions.
base. Inofthe grafting process,base. In the
full-tray grafting
grafting is process,
realized byfull-tray grafting
operating is realizedand
the clamping by
operating the clamping and positioning devices
positioning devices for the rootstocks and scions. for the rootstocks and scions.

Figure 2. Rootstock clamping and positioning device.

Figure 2.
Figure Rootstock clamping
2. Rootstock clamping and
and positioning
positioning device.
device.
Three to four days after sowing, the seedlings grow to a certain height. Before the
Three to
Three
cotyledons arefour
to days
days after
expanded,
four thesowing,
after rootstock
sowing, the seedlings
theand grow
grow to
scion clamping
seedlings to aand
a certain height.
positioning
certain Before
Before the
height.devices are
the
cotyledons
installed above
cotyledons are expanded, the
their respective
are expanded, rootstock and
plug trays.
the rootstock scion
As shown
and scion clamping and
in Figure
clamping positioning devices
3a, the twodevices
and positioning are
clamping-
are
installed
installed above
sliding plates their
theirrespective
abovepartially overlapplug
respective to trays.
form
plug aAs
trays. shown
large
As in Figure
diamond-shaped
shown 3a, the
in Figure two
space,
3a, theclamping-sliding
and
twothe grafted
clamping-
plates partially
seedlings grow overlap
from to
the form
middlea large
of diamond-shaped
this diamond-shaped space, and
space.
sliding plates partially overlap to form a large diamond-shaped space, and the grafted the grafted
During the seedlings
grafting
grow from the
operation, the middle of this diamond-shaped space. During the grafting
and operation, the
seedlings growtwo clamping-sliding
from the middle of plates move towards
this diamond-shaped each other,
space. During the
thediamond-
grafting
two clamping-sliding
shaped space plates move towards each other, and the diamond-shaped space is
operation, the istwo continuously reduced
clamping-sliding to complete
plates move towardsthe clamping
each other,and and
positioning of the
the diamond-
continuously
rootstock reduced
and is scion to complete
seedlings. reducedthe clamping
The positioning and positioning
details of the rootstock and scion
shaped space continuously to complete theofclamping
a rootstockandseedling
positioningare shown
of the
seedlings.
in Figure TheShown
3b. positioningin details4 of
Figure area rootstock
the relativeseedling are shown
positions of the in Figure 3b.
rootstock andShown
scion
rootstock and scion seedlings. The positioning details of a rootstock seedling are shown
in Figure 4 and
clamping are the relative positions
positioning devices ofonthetheir
rootstock and scion
respective clamping
plugs after and positioning
completing the
in Figure 3b. Shown in Figure 4 are the relative positions of the rootstock and scion
devices on
positioningandtheir respective
of a positioning plugs after
full tray of seedlings. completing
There the positioning
is arespective
certain gapplugs of
between a full tray of
thecompletingseedlings.
scion clamping
clamping devices on their after the
There is a certain device
and positioning gap between the scion clamping and positioning device and the plug tray,
positioning of a full trayand the plug
of seedlings. tray,
Thereand is the cutting
a certain mechanism
gap between the passes
scionthrough the
clamping
and the to
middle cutting
complete mechanism
the and passes through the middle to complete the cutting.
cutting.
and positioning device the plug tray, and the cutting mechanism passes through the
middle to complete the cutting.

(a) (b)
(a) (b) (a) Clamping and positioning
Figure 3. Rootstock seedlings with clamping and positioning device.
Figure 3. Rootstock seedlings with clamping and positioning device. (a) Clamping and positioning
for full tray
Figure of rootstocks. (b) Details of rootstock seeding positioning.
for full 3. Rootstock
tray seedlings
of rootstocks. with clamping
(b) Details and seeding
of rootstock positioning device. (a) Clamping and positioning
positioning.
for full tray of rootstocks. (b) Details of rootstock seeding positioning.
The docking process of rootstock and scion is shown in Figure 5. The entire tray of
rootstock is transferred directly below the scion positioning device, the scion positioning
device drops slowly, and the two positioning devices buckle together. Figure 6 shows
the grafted seedling tray after grafting. Figure 7 shows the details of the docking of the
rootstock and the scion. Due to the action of the seedling-gathering pillar protruding on
the clamping-sliding plate, light and micro extrusion occur when the rootstock and scion
are close so that the cuttings of rootstock and scion can be pasted and fixed in the relative
 Agriculture 2022, 12, 861 4 of 12

Agriculture 2022, 11, x FOR PEER REVIEW 4 of 12

position in order to realize the docking of the rootstock and scion. After grafted seedlings
heal, the positioning device can be taken out.

Figure 4. Clamping and positioning of rootstock and scion seedlings: 1. Scion seedling plug tray; 2.
Figure 4. Clamping and positioning of rootstock and scion seedlings: 1. Scion seedling plug tray; 2.
Scion clamping and positioning device; 3. Scion cutting blade; 4. Tool holder; 5. Rootstock seedling
Scion clamping and positioning device; 3. Scion cutting blade; 4. Tool holder; 5. Rootstock seedling
plug tray; 6. Rootstock clamping and positioning device; 7. Rootstock cutting blade.
plug tray; 6. Rootstock clamping and positioning device; 7. Rootstock cutting blade.

The docking process of rootstock and scion is shown in Figure 5. The entire tray of
The docking process of rootstock and scion is shown in Figure 5. The entire tray of
rootstock is transferred directly below the scion positioning device, the scion positioning
rootstock is transferred directly below the scion positioning device, the scion positioning
device drops slowly, and the two positioning devices buckle together. Figure 6 shows the
device drops slowly, and the two positioning devices buckle together. Figure 6 shows the
grafted seedling tray after grafting. Figure 7 shows the details of the docking of the
grafted seedling tray after grafting. Figure 7 shows the details of the docking of the
rootstock and the scion. Due to the action of the seedling-gathering pillar protruding on
rootstock and the scion. Due to the action of the seedling-gathering pillar protruding on
the clamping-sliding plate, light and micro extrusion occur when the rootstock and scion
the clamping-sliding plate, light and micro extrusion occur when the rootstock and scion
are close so that the cuttings of rootstock and scion can be pasted and fixed in the relative
are close so that the cuttings of rootstock and scion can be pasted and fixed in the relative
position
Figure4.in
Figure order to and
4.Clamping
Clamping realize
and the docking
positioning
positioningof of of the and
rootstock
rootstockrootstock
scion
and and scion.
seedlings:
scion After
1. Scion
seedlings: grafted
seedling
1.After
Scion seedlings
plug
seedling tray;tray;
plug 2.
position in order to realize the docking of the rootstock and scion. grafted seedlings
heal,
Scion
2. the
Scionpositioning
clamping andand
clamping device
positioningcandevice;
positioningbe taken
device; 3. out.
3. Scion cutting
Scion blade;
cutting 4. 4.
blade; Tool holder;
Tool 5.5.Rootstock
holder; Rootstockseedling
seedling
heal, the positioning device can be taken out.
plug
plugtray;
tray;6.6.Rootstock
Rootstockclamping
clampingand
andpositioning
positioningdevice;
device;7.7.Rootstock
Rootstockcutting
cuttingblade.
blade.

The docking process of rootstock and scion is shown in Figure 5. The entire tray of
rootstock is transferred directly below the scion positioning device, the scion positioning
device drops slowly, and the two positioning devices buckle together. Figure 6 shows the
grafted seedling tray after grafting. Figure 7 shows the details of the docking of the
rootstock and the scion. Due to the action of the seedling-gathering pillar protruding on
the clamping-sliding plate, light and micro extrusion occur when the rootstock and scion
are close so that the cuttings of rootstock and scion can be pasted and fixed in the relative
position in order to realize the docking of the rootstock and scion. After grafted seedlings
heal, the positioning device can be taken out.
Figure 5. The rootstock and scion plug trays shifted to the left, with the scions fixed.
Therootstock
Figure5.5.The
Figure rootstockand
andscion
scionplug
plugtrays
traysshifted
shiftedto
tothe
theleft,
left,with
withthe
thescions
scionsfixed.
fixed.

Figure 5. The rootstock and scion plug trays shifted to the left, with the scions fixed.
Agriculture 2022, 11, x FOR PEER REVIEW 5 of 12

Figure
Figure 6. Grafted
6. Grafted plug
plug seedlings.
seedlings.
Figure 6. Grafted plug seedlings.

Figure
Figure7.7.Details
Detailsofofrootstock
rootstockand
andscion
sciongrafting.
grafting.
Figure 6. Grafted plug seedlings.
2.3. Workflow of the Full-Tray Grafting Machine
In order to realize full-tray grafting, it is necessary to complete clamping, positioning,
cutting, transfer, docking, and other operations for rootstock and scion. In Figure 8, the
full-tray grafting operation process is shown, and in Figure 9, the three-dimensional
Agriculture 2022, 12, 861 5 of 12
Figure 7. Details of rootstock and scion grafting.
Figure 7. Details of rootstock and scion grafting.

2.3. Workflow of the Full-Tray Grafting Machine

2.3. Workflow of the Full-Tray
Full-Tray Grafting
Grafting Machine
Machine
In order to realize full-tray grafting, it is necessary to complete clamping, positioning,
In order to realize full-tray grafting, it is necessary
necessary to complete
complete clamping,
clamping, positioning,
positioning,
cutting, transfer, docking, and other operations for rootstock and scion. In Figure 8, the
docking, and other operations
cutting, transfer, docking, operations for rootstock and scion.scion. In Figure 8, the
full-tray grafting operation process is shown, and in Figure 9, the three-dimensional
full-tray grafting
full-tray graftingoperation
operationprocess
process is shown,
is shown, andand in Figure
in Figure 9, the 9, the three-dimensional
three-dimensional model
model of the full-tray grafting machine is shown. This research designed the grafting
model
of of the full-tray
the full-tray graftinggrafting
machinemachine
is shown.is This
shown. This designed
research research designed themachine,
the grafting grafting
machine, which is composed of plug tray-positioning device, cutting device, clamping
which
machine,is composed of plug tray-positioning
which is composed device, cutting
of plug tray-positioning device,
device, clamping
cutting andclamping
device, transfer
and transfer device for the upper half of rootstock, scion clamping and lifting device, etc.
device for thedevice
and transfer upperforhalf ofupper
the rootstock,
half scion clamping
of rootstock, andclamping
scion lifting device, etc. device, etc.
and lifting
Rootstock and scion plug seedings
Start Rootstock and scion plug seedings
Start with clamping and positioning
with clamping and positioning
device
device
Tray Clamp the
Actuator Tray Locate the trays and Clamp the Scion
Actuator converyor Locate the trays and rootstock Scion
reset converyor rootstock seedings rootstock positioning
reset start rootstock seedings cotyledons positioning
start cotyledons

Accurately fit Transfer

Push out Accurately fit Transfer Synchronous
End Push out rootstocks and rootstock Synchronous
End seeding tray rootstocks and rootstock cutting
seeding tray scions seeding tray cutting
scions seeding tray

Throw away
Throw away
rootstock
rootstock
cotyledons
cotyledons
Figure 8. Process of full-tray grafting.
Figure 8. Process of full-tray grafting.

Figure 9. Three dimensional model of whole plate grafting machine: 1. Rack; 2. Clamping-lifting
device; 3. Seedling-lowering device; 4. Synchronous-cutting device; 5. Clamping and transferring
device for the upper half of the rootstock seedlings; 6. Plug tray-positioning device; 7. Upper seedling
platform; 8. Scion-seedling plug tray; 9. Rootstock-seedling plug tray.

The procedural steps for the full-tray grafting machine are as follows:
(1) Place the scion seedling tray and rootstock seedling tray, each equipped with clamping
and positioning devices, on the respective trays;
(2) The plug tray-positioning device positions the rootstock and the scion plug tray and
simultaneously realizes the clamping and positioning of the rootstock seedlings;
(3) Lift the scion clamping and positioning device to the predetermined position to clamp
and position the scion seedlings. At the same time, the clamping and transferring
 The procedural steps for the full-tray grafting machine are as follows:
(1) Place the scion seedling tray and rootstock seedling tray, each equipped with
clamping and positioning devices, on the respective trays;
(2) The plug tray-positioning device positions the rootstock and the scion plug tray and
simultaneously realizes the clamping and positioning of the rootstock seedlings;
Agriculture 2022, 12, 861 6 of 12
(3) Lift the scion clamping and positioning device to the predetermined position to
clamp and position the scion seedlings. At the same time, the clamping and
transferring device for the upper half of the rootstock seedlings clamps the upper half
device
for the for the upper
rootstock half of the rootstock seedlings clamps the upper half for the
seedlings;
rootstock seedlings;
(4) The cutting device cuts the scion seedlings and rootstock seedlings synchronously,
(4) The
and cutting device
then the cuts the
clamping andscion seedlings
transferring and rootstock
device seedlings
for the upper synchronously,
half of the rootstock
and then the clamping and transferring
moves away, and the cutting device is reset; device for the upper half of the rootstock
(5) moves away, and the
The cut-rootstock cutting
plug deviceto
tray moves is the
reset;
position of the original scion-seedling plug
(5) The cut-rootstock plug tray moves to the position of the original scion-seedling plug
tray, and the scion positioning device is connected with the rootstock positioning
tray, and the scion positioning device is connected with the rootstock positioning
device matrix to make the incision of the scion fit with the incision of the rootstock
device matrix to make the incision of the scion fit with the incision of the rootstock so
so as to complete the splice grafting and obtain the grafted seedling plug tray;
as to complete the splice grafting and obtain the grafted seedling plug tray;
(6) The clamping mechanism of the plug tray-positioning device is loosened to push out
(6) The clamping mechanism of the plug tray-positioning device is loosened to push out
the grafted-seedling plug tray and the cut-scion seedling plug tray.
the grafted-seedling plug tray and the cut-scion seedling plug tray.
2.4.Design
2.4. DesignofofCutting
CuttingDevice
Device
2.4.1.Research
2.4.1. ResearchononCutting
CuttingMechanism
Mechanism
Thecutting
The cuttingmethods
methodsusedusedbybythe
theexisting
existingvegetable
vegetablegrafting
graftingmachines
machinesarearemainly
mainly
dividedinto
divided intoflat
flatcutting
cuttingmethods
methodsandandoblique
obliquecutting
cuttingmethods.
methods.According
Accordingtotothe
thetechnical
technical
requirementsofofthe
requirements thefull-tray
full-traygrafting
graftingmachine
machineininthis
thisstudy,
study,the
thecutting
cuttingdevice
deviceisisdesigned
designed
totoadopt
adoptthe
theoblique
obliquecutting
cuttingmethod,
method,and andthetheoptimal
optimalcutting
cuttingangle
anglewas
wasdetermined
determined
throughexperiments.
through experiments.
Figure1010
Figure shows
shows the the positional
positional relationship
relationship betweenbetween the blade
the cutting cutting
andblade and the
the rootstock
stem whenstem
rootstock the rootstock
when the is cut. Theis theoretical
rootstock analysis of
cut. The theoretical the cutting
analysis of theprocess
cutting can be
process
preliminarily determined
can be preliminarily by the following
determined formulas:
by the following formulas:

Figure 10.Schematic
Figure10. Schematicdiagram
diagramofofrootstock
rootstockcutting.
cutting.
Rootstock incision length
Rootstock incision length D
T = (1)
sin α
Minimum cutting blade length

E
K = (2)
sin α
Horizontal distance between the upper and lower ends of the cutting blade

E = D+Z (3)

In the formula, D—diameter of rootstock seedling long axis, mm;

Z—the horizontal distance between the upper end of the cutting blade and the root-
stock seedling, mm; α—the angle between the cutting blade and the vertical, (◦ ).
By analyzing the positional relationship between the cutting blade and the stem of
the seedling during the cutting operation, melon and white-seed pumpkin were used for
Agriculture 2022, 12, 861 7 of 12

testing, and the cutting blade inclination angles were adjusted to 20◦ , 25◦ , 30◦ , 35◦ , and 40◦
to carry out the cutting tests. In each group of experiments, 25 rootstocks and scions were
cut, and the measurement results were averaged. The test results are shown in Table 1.

Table 1. Incision lengths of rootstocks and scions with different cutting angles.

Cutting Angle Average Stem Diameter (mm) Incision Length(mm)

(◦ ) Rootstock Scion Rootstock Scion
20 9.86 8.02
25 8.72 6.56
30 3.60 ± 0.18 2.86 ± 0.16 7.24 5.96
35 6.14 5.06
40 5.56 4.34

According to the requirements of splice grafting, the incision length is 5–8 mm, and the
incision lengths for the rootstock and scion are similar, which can ensure the survival rate
of grafted seedlings. As can be seen from the data in Table 1, as the cutting angle increases,
the incision lengths for the rootstock and the scion become smaller. When the cutting
angle is 40◦ , the incision length is about 5 mm, which causes the contact area between the
rootstock and the scion to be smaller than optimal in order to maximize survival rate of
the grafted seedlings. When the cutting angle is 20◦ , the incision length of the rootstock is
9.86 mm, and the incision length of the scion is 8.02 mm, and these lengths do not meet the
requirements. Considering that, when a full tray of seedlings is cut, the blades make the
cuts from a suitable position in the middle of the seedling stem and the cutting space is
limited, the cutting angle was finally determined to be 30◦ ; this not only ensures effective
cutting and survival rates but indicates the rational design of the cutting device. The size
of the horizontal space, Z, required for the upper part of the insert to be fixed is 7 mm, and
the minimum length, K, of the cutting blade can be determined by Equations (2) and (3) to
be 21.2 mm. To ensure the reliability of cutting, the designed cutting insert is 25 mm.

2.4.2. The Structure and Principle of the Cutting Device

As shown in Figure 11, the device is a multi-tool cutting device that includes a biaxial
cylinder, a slider, a linear guide rail, a tool holder, and multiple sets of cutting blades
installed on the tool holder. The biaxial cylinder is used as a power source and drives the
tool holder with multiple blades to cut off the seedlings. Five cutting blades are attached to
each side of the tool holder. The cutting blades are angled at 60◦ from the horizontal axis.
According to the different cutting positions of the rootstock and the scion, there is a certain
height difference between the two sides of the tool holder. As shown in Figure 11, the
cutting blades for the scion and of the rootstock are installed in their respective positions.
On the reserved scion side, the cutting blade is installed on the upper side. On the reserved
rootstock side, the cutting blade is installed on the lower side. When cutting, the forward
movement of the tool holder does not further touch the scion or the rootstock in order to
ensure the integrity of the scion and the rootstock.
The whole cutting process for the scion and rootstock is shown in Figure 12. When
cutting, the blade is close to the top of the rootstock clamping and positioning device and
near the bottom of the scion clamping and positioning device. Therefore, when the full tray
of rootstocks and scions are grafted, the seedling support slightly squeezes the stem at the
incision of the rootstock and the scion so that the cuts align and dock well to ensure a high
success rate for the grafts.
 the cutting blades for the scion and of the rootstock are installed in their respective
positions. On the reserved scion side, the cutting blade is installed on the upper side. On
the reserved rootstock side, the cutting blade is installed on the lower side. When cutting,
Agriculture 2022, 12, 861 8 of 12
the forward movement of the tool holder does not further touch the scion or the rootstock
in order to ensure the integrity of the scion and the rootstock.

Figure 11. Full-tray, synchronous cutting device. 1. Biaxial cylinder; 2. Connecting block; 3. Slider;
4. Linear guide rail; 5. Scion cutting blade; 6. Tool holder; 7. Rootstock cutting blade.

The whole cutting process for the scion and rootstock is shown in Figure 12. When
cutting, the blade is close to the top of the rootstock clamping and positioning device and
near the bottom of the scion clamping and positioning device. Therefore, when the full
tray of rootstocks and scions are grafted, the seedling support slightly squeezes the stem
at the incision of the rootstock and the scion so that the cuts align and dock well to ensure
11. Full-tray,
Figure 11. Full-tray, synchronous cutting device. 1. Biaxial cylinder; 2. Connecting block; 3. Slider;
aFigure
high success ratesynchronous
for the grafts. device. 1. Biaxial cylinder; 2. Connecting block; 3. Slider;
4. Linear
4. Linear guide
guide rail; 5. Scion cutting
cutting blade;
blade; 6.
6. Tool
Tool holder;
holder;7.7.Rootstock
Rootstockcutting
cuttingblade.
blade.

The whole cutting process for the scion and rootstock is shown in Figure 12. When
cutting, the blade is close to the top of the rootstock clamping and positioning device and
near the bottom of the scion clamping and positioning device. Therefore, when the full
tray of rootstocks and scions are grafted, the seedling support slightly squeezes the stem
at the incision of the rootstock and the scion so that the cuts align and dock well to ensure
a high success rate for the grafts.

Figure
Figure 12. Schematic diagramofofcutting
Schematic diagram cutting process
process for for rootstock
rootstock and and
scion.scion. 1. Cutting
1. Cutting device; 2.
device;
Rootstock-seedling
2. Rootstock-seedlingplug
plug tray;
tray; 3.3.Rootstock
Rootstock clamping
clamping andand positioning
positioning device;
device; 4. Scion-seedling
4. Scion-seedling plug plug
tray;
tray; 5.
5. Scion clampingand
Scion clamping andpositioning
positioning device.
device.

3. Results
3. Results
3.1. Grafting Test
3.1. Grafting Test
Figure
Agriculture 2022, 11, x FOR PEER REVIEW The12.melon seedling
Schematic diagramvariety “K8-60”
of cutting andfor
process therootstock
pumpkin rootstock
and scion. 1. variety
Cutting “Qingyou
device; 2. 9 of 1
The melon
Rootstock-seedling seedling
plug tray; variety
3. Rootstock“K8-60”
clamping and
and the pumpkin
positioning rootstock
device; 4. variety
Scion-seedling
rootstock No. 1” were selected for the grafting tests. The grafting prototype is shown “Qingyou
plugin
tray; 5. Scion
rootstock
Figure clamping
13, No.
and the testand
1” were positioning
selected
process device.
for
is shown the
in grafting
Figure 14.tests. The grafting prototype is shown in
Figure 13, and the test process is shown in Figure 14.
3. Results
3.1. Grafting Test
The melon seedling variety “K8-60” and the pumpkin rootstock variety “Qingyou
rootstock No. 1” were selected for the grafting tests. The grafting prototype is shown in
Figure 13, and the test process is shown in Figure 14.

Figure13.13.Whole-plate
Figure Whole-plate grafting
grafting test prototype.
test prototype.
Agriculture 2022, 12, 861 9 of 12

Figure 13. Whole-plate grafting test prototype.

(a) (b) (c)

(d) (e) (f)

(g) (h)
Figure 14. Grafting process of the full-tray grafting prototype. (a) Tray positioning; (b) Clamping
Figure 14. Grafting process of the full-tray grafting prototype. (a) Tray positioning; (b) Clamping
the upper part of the rootstock; (c) Scion-positioning device lift; (d) Scion positioning; (e) Cutting;
the upper part of the rootstock; (c) Scion-positioning device lift; (d) Scion positioning; (e) Cutting;
(f) Rootstock transfer; (g) Rootstock and scion docking; (h) Docking completed.
(f) Rootstock transfer; (g) Rootstock and scion docking; (h) Docking completed.
3.2. Cutting
3.2. Cutting Effect
Effect of
of Rootstock
Rootstock and
and Scion
Scion atat Different
Different Cutting
Cutting Speeds
Speeds
According to
According to the
the cutting
cutting operation
operation requirements
requirements of of the
the splice-grafting
splice-grafting method,
method, in
in
order to
order to ensure
ensure the
the cutting
cutting effect
effect of
of the
the rootstock
rootstock and
and scion,
scion, various
various cutting
cutting speeds
speeds were
were
evaluated to assess the cutting success rates (Table 2). The cutting speed
evaluated to assess the cutting success rates (Table 2). The cutting speed is changed by is changed by
adjusting cylinder input pressure. In each group, 25 rootstocks and 25 scions
adjusting cylinder input pressure. In each group, 25 rootstocks and 25 scions were cut. were cut.

Table 2. Influence of cutting speed on cutting success rate.

Input Air Pressure Cutting Speed Cutting Success Rate

(kPa) (m/s) Rrootstock Sscion
100 0.17 76% 72%
200 0.23 92% 80%
300 0.27 100% 92%

The cutting success rate of the melon scion was, on average, always lower than that
of the pumpkin rootstock (Table 2). The main reason was that the stalk of the pumpkin
rootstock is thicker than that of the melon. During clamping and positioning, the melon
has a small clamping force due to the thin stems of some seedlings and it can easily become
bent and deformed under the action of the external force during cutting.
According to the test results, at 100 kPa, the success rates were 76 and 72%, respectively,
for the rootstock and for the scion, which reflects the flatness of the cutting surface, which
results in poor and incomplete cutting. Because the stems of the melons are slender and
weak and have poor rigidity, if the cutting speed is too low, the seedlings are easily bent
Agriculture 2022, 12, 861 10 of 12

after colliding with the cutter, which affects the cutting. When the input air pressure
P > 200 kPa, the cutting success rate for the rootstock significantly improved, and when the
input pressure reached 300 kPa, the cutting success rates for the rootstock and the scion
reached 100% and 92%, respectively.

3.3. Quality Analysis of Seedling Incisions

After the cutting test, the pumpkin rootstock and melon scion that were cut under the
condition of input air pressure of 300 kPa were selected for measurement. We measured
five seedlings in each group and took the average value. The measurement results are
shown in Table 3. The lengths of the long axis of the rootstock and the scion are 6.2–7.8 mm,
and the cutting angle is kept at about 30 degrees so that the cutting quality of this test can
meet the grafting requirements.

Table 3. Cutting test data.

Hypocotyl Incision Hypocotyl Incision

Rootstock Scion
Diameter (mm) Length (mm) Diamete (mm) Length (mm)
1 3.80 7.78 1 2.72 6.20
2 3.22 7.24 2 2.92 6.24
3 2.96 6.76 3 3.20 6.92
4 3.66 7.36 4 2.96 6.44
5 3.38 7.18 5 2.98 6.78

3.4. Success Rate and Efficiency of Full-Tray Grafting

Through the cutting test for the rootstock and scion seedlings, the optimal cutting
speed was determined. On this basis, several groups of grafting tests were carried out.
Each group of experiments consisted of one tray of rootstock seedlings (25 plants) and one
tray of scion seedlings (25 plants). The test results are shown in Table 4.

Table 4. Grafting test results.

Number of Successful Cutting/25 Plants Number of Successful Grafting Grafting

Group
Rootstock Scion Grafts/25 Plants Success Rate Efficiency/(Plants/h)

1 25 23 17 68% 2186
2 25 22 16 64% 2057
3 23 23 17 68% 2186
4 24 24 19 76% 2442
5 25 22 14 56% 1800

From the data in Table 4, it can be seen that the rootstock cutting success rate can
reach 100%, and the scion seedling cutting success rate can reach more than 88%, which
is not much different from the test results of the previous groups. The cycle for the entire
mechanical grafting process is 28 s. The average grafting speed is about 2134 plants/h,
while the average grafting success rate is about 67%.
It can be seen from the experimental results that the grafting device designed in this
study has a stable working performance and can achieve the functions related to grafting
operation, but the grafting success rate is low. Our observations were that most of the
seedlings that failed to graft successfully were thin stemmed with curved growth. For
the management of seedlings, the full-tray grafting device is advantageous for its grafting
speed and graft success rate, with the conditions that the consistency of the vertical and
homogeneous growth of the seedling are guaranteed.

4. Conclusions
By exploring a new grafting machine design, we designed an full-tray grafting device
using the splice-grafting method. Our machine concept revolves around handling the
Agriculture 2022, 12, 861 11 of 12

entire tray, including: (1) tray positioning, (2) clamping the seedlings to hold them in
place, (3) cutting, and (4) subsequently docking the scion to the rootstock to complete the
joining of the two cut surfaces. Compared with traditional single-plant cutting, grafting
efficiency is significantly improved, and the replanting process of the traditional grafting
is reduced, which has certain integration features. The full-tray cutting device conforms
to the development trend of grafting equipment for the future, which makes the full-tray
grafting of plug seedlings a good development prospect.

5. Patents
1. Weiguo Lin, Yuan Huang, Zhilong Bie, Xiaohu Fu, Enzhao Zhu, Jiaohao Shi. A
side-by-side multi-knife whole plate cutting device for vegetable grafted seedlings,
Application Number: 202110674323.9, China National Intellectual Property Adminis-
tration.
2. Weiguo Lin, Qiaohua Wang, Yuan Huang, Zhilong Bie, Xiaohu Fu, Enzhao Zhu,
Jiaohao Shi. A synchronous centering and closing device for the whole plate grafting
of plug seedlings, Application Number: 202110713593.6, China National Intellectual
Property Administration.
3. Weiguo Lin, Yuan Huang, Zhilong Bie, Xiaohu Fu, Enzhao Zhu, Jiaohao Shi. A whole
plate grafting machine based on the method of splice grafting, Application Number:
202110852492.7, China National Intellectual Property Administration.

Author Contributions: Conceptualization, W.L., Y.H. and Z.B.; methodology, W.L. and X.F.; formal
analysis, X.F., E.Z. and J.S.; investigation, X.F. and J.S.; drawings, X.F. and E.Z.; writing—original
draft preparation, W.L. and X.F.; writing—review and editing, Y.H.; supervision, W.L.; project
administration, W.L. and Y.H.; funding acquisition, W.L. and Y.H. All authors have read and agreed
to the published version of the manuscript.
Funding: This research was funded by the National Natural Science Foundation of China (31972434),
the National Key Research and Development Program of China (2019YFD1001900), the China Agri-
culture Research System of MOF and MORA (CARS-25), the Hubei Provincial Natural Science
Foundation of China (2019CFA017), the Huazhong Agricultural University/Agricultural Genomics
Institute of Shenzhen Chinese Academy of Agricultural Sciences Cooperation Fund (SZYJY2022006),
and the Fundamental Research Funds for the Central Universities (Grant No. 2662022YLYJ010).
Institutional Review Board Statement: Not applicable.
Informed Consent Statement: Not applicable.
Data Availability Statement: The data presented in this study are available on request from the
corresponding author.
Acknowledgments: This work was supported by Weiguo Lin and Yuan Huang.
Conflicts of Interest: The authors declare no conflict of interest. The funders had no role in the design
of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; or
in the decision to publish the results.

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