剪切式油茶花采摘末端执行器设计与实验  

Design and Experiment of Cutting end Effector for Camellia Picking

作　　者：吕辉 李立君[1] 赵青[1] 吴泽超 郭鑫 Lv Hui;Li Lijun;Zhao Qing;Wu Zechao;Guo Xin(School of Mechanical and Electrical Engineering,Central South University of Forestry and Technology,Changsha 410004,C hina)

机构地区：[1]中南林业科技大学机电工程学院,长沙410004

出　　处：《农机化研究》2024年第4期134-139,144,共7页Journal of Agricultural Mechanization Research

基　　金：湖南省重点研发计划项目(2021NK2023);湖南省农业农村厅项目(2020-45)。

摘　　要：针对油茶花采摘难度大、效率低、劳动强度高等问题,通过采样试验分析了油茶花的生物学特性与力学特性,得到油茶花花茎剪切力为14.24N。设计了一种油茶花采摘末端执行器,其结构简单,动作灵活,质量轻便,是能够实现剪切式采摘的机械手爪。通过力学计算得知:在电推杆驱动下,末端执行器能够输出大小为62.5N的剪切力,并顺利将油茶花茎剪断采摘。通过Inventor软件建模和ANSYS有限元分析,确定油茶花采摘执行器的采摘刀爪为小变形,满足采摘要求。试验得到了油茶花采集选用采摘机械手爪的采摘可行性,为采用机械手采摘油茶花花朵的试验方案提供了理论支持,为采摘机器人的设计与试验提供了重要的数据参考。Aiming at the difficulty of collecting camellia oleifera,low efficiency and high labor intensity,the biological and mechanical properties of camellia oleifera were analyzed through sampling experiments,and the shear force of camellia oleifera stem was 14.24N.A camellia picking end effector is designed,which is simple in structure,flexible in action and light in quality,and is a mechanical gripper that can realize shearing picking.Through mechanical calculation,it is known that under the drive of the electric push rod,the shear force of 62.5N can be output,and the camellia stem can be cut and picked smoothly.Through Inventor software modeling and ANSYS finite element analysis,it is determined that the picking claws of the camellia picking actuator are small deformations,which meet the picking requirements.The experiment obtained the picking feasibility of using picking mechanical claw to collect camellia oleifera.It provides theoretical support for the experimental plan of picking camellia flowers by manipulator,and provides important data reference for the research and experiment of picking robot.

关 键 词：油茶花 末端执行器 剪切力 ANSYS 

分 类 号：S225.93[农业科学—农业机械化工程] S220.3[农业科学—农业工程]