柑橘梳剪采收末端执行装置设计  

Design of Citrus Combing-shearing Harvesting End Actuators

作　　者：曾文[1] 李康镇 刘天湖[1] 夏红梅[1] ZENG Wen;LI Kang-zhen;LIU Tian-hu;XIA Hong-mei(College of Engineering,South China Agricultural University,Guangzhou Guangdong 510642,China)

机构地区：[1]华南农业大学工程学院

出　　处：《林业机械与木工设备》2019年第9期9-13,共5页Forestry Machinery & Woodworking Equipment

基　　金：广东省科技计划项目(2017A020208052)

摘　　要：针对目前我国柑橘人工采摘作业效率低、成本高、劳动力需求大的问题,设计了一种柑橘梳剪采收末端执行装置,阐述了该装置的结构及工作原理。对果柄剪切的曲柄摇杆机构进行优化设计,优化后机构最小传动角的最大值γmin=48. 99°。设计了剪切机构的控制电路,可实现剪切机构的准确启动与停止,并避免堵转。本设计结构简单,与机械臂连接可以构成一个完整的柑橘采收机械,实现柑橘的机械化半自动采收,大幅度提高采收效率,降低了采收成本。In view of the problems of low operation efficiency,high cost and great demand for labors with the current manual citrus picking operations in China,a citrus combing-shearing harvesting end actuator was designed,with its structure and working principle stated,crank rocker mechanism for fruit stem cutting going through optimized design.The maximum value of the minimum transmission angle of the optimized mechanism is γ min =48.99°.The control circuit of the shearing mechanism was design,which can realize the accurate start and stop of the shearing mechanism and avoid stall.The design features a simple structure and ability to form a complete citrus harvesting machine when connected with a robotic arm,thereby realizing mechanized and semi-automatic citrus harvesting,greatly improving the harvesting rate and lowering harvesting costs.

关 键 词：柑橘 采收 梳剪装置 曲柄摇杆机构 控制电路 

分 类 号：S233[农业科学—农业机械化工程]