基于提采动作的便携式名优茶鲜叶采摘机  

Portable famous tea fresh leaves picking machine based on lifting-picking action

作　　者：王洪成 白子豪 徐海浩 徐凯 黄阿龙 王泽恩 万菲 张俐楠 吴立群[1] WANG Hongcheng;BAI Zihao;XU Haihao;XU Kai;HUANG Along;WANG Ze en;WAN Fei;ZHANG Linan;WU Liqun(School of Mechanical Engineering,Hangzhou Dianzi University,Hangzhou 310018,China)

机构地区：[1]杭州电子科技大学机械工程学院,浙江杭州310018

出　　处：《浙江农业学报》2024年第5期1161-1172,共12页Acta Agriculturae Zhejiangensis

基　　金：浙江省“三农九方”科技协作计划“揭榜挂帅”项目(2023SNJF046);浙江省“领雁”研发攻关计划(2022C02055,2022C02046);浙江省属高校基本科研业务费专项资金(GK219909299001-412);浙江省基础公益研究计划(LY21A020009)。

摘　　要：为缓解以龙井为代表的名优茶鲜叶采摘完全依赖人工的现状,提出一种基于鲜叶-老叶物理特性差异的鲜叶采摘方法,通过纯机械的弹性结构和柔性采摘单元实现鲜叶的自动化采摘。首先对鲜叶-老叶在生长高度、表观形态和茶叶茎断裂强度等物理特性差异进行研究,作为采摘机结构和拉拔力参数设计的主要依据;在此基础上,受茶农手工采摘鲜叶时的“提采”动作启发,提出基于鲜叶上下表面摩擦力差异的鲜叶采摘机构,并对其进行采摘过程的动力学仿真分析;依据仿真结果,分别采用硅胶和特氟龙膜作为与鲜叶上下表面接触的柔性材料,结合动底板弹性结构、提供可调的拉拔力以避免采摘过程中鲜叶受损。茶园试验结果表明,当采摘力设置为3.0 N时采摘效果较好,鲜叶茎断裂位置取决于鲜叶茎断裂强度最小的位置,与人手工采摘时的断裂位置一致,鲜叶采净率约40%,老叶误采率约7%,茶叶损伤率约5%,采摘效率约1.44 kg·h^(-1)(相当于3个熟练采茶工)。该研究结果可为鲜叶的全自动机器采摘提供技术积累。To alleviate the current situation where the harvesting of famous teas represented by Longjing heavily relies on manual labor,this paper proposes a fresh leaf harvesting method based on the physical characteristics differences between fresh leaves and old leaves.The method employed purely mechanical elastic structures and flexible harvesting units to achieve the automation of fresh leaf harvesting.First,the study investigated the physical characteristics differences between fresh leaves and old leaves,such as growth height,apparent morphology,and the breaking strength of tea stems,serving as the primary basis for the design of the harvester s structure and the pulling force parameters.Based on this,inspired by the picking action of tea farmers when manually harvesting fresh leaves,a fresh leaf harvesting mechanism based on the frictional force difference between the upper and lower surfaces of fresh leaves was proposed.The mechanism underwent a dynamics simulation analysis of the harvesting process.According to the simulation results,silica gel and Teflon film were used as the flexible materials in contact with the upper and lower surfaces of fresh leaves,combined with a dynamic bottom plate elastic structure,to provide adjustable pulling force to avoid damage to the fresh leaves during harvesting.Tea garden trial results showed that when the picking force was set to 3.0 N,the harvesting effect was better.The breaking position of the fresh leaf stem depends on the position where the breaking strength of the fresh leaf stem was the minimum,consistent with the breaking position during manual harvesting.The clean picking rate of fresh leaves was about 40%,the mispicking rate of old leaves was about 7%,the tea leaf damage rate was about 5%,and the picking efficiency was about 1.44 kg·h^(-1)(equivalent to three skilled tea pickers).The results of this study can provide technical accumulation for the fully automatic mechanical harvesting of fresh tea leaves.

关 键 词：名优茶 采茶机 鲜叶 老叶 摩擦力 

分 类 号：S225[农业科学—农业机械化工程]