油茶花苞采集机械手的设计与试验  

Design and Test of Manipulator for Camellia Oleifera Flower Buds Collecting

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

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》2025年第1期46-53,共8页Journal of Agricultural Mechanization Research

基　　金：“十四五”国家重点研发计划项目(2022YFD2202103);湖南省重点研发计划项目(2021NK2023)。

摘　　要：丘陵地区油茶林地众多,油茶花苞采集暂无机械化设备,故设计了一款六自由度的油茶花苞采集机械手。通过油茶花苞生物学特性分析,使用旋扭式末端执行器可以实现油茶花苞的高效采集,采净率为90%。通过机械手工作空间分析,确定了机械手的尺寸,并将末端执行器搭载到机械手上进行了油茶林田间试验。试验结果表明:搭载了旋扭式末端执行器六自由度机械手,可以到达采摘区间的边界位置,末端在x、y、z方向的最大偏差分别为3.4、3.3、3.4 cm,为油茶花苞智能化采集提供了依据。In hilly regions,there is a large number of camellia oleifera forests,and currently,there is no mechanized equipment available for collecting camellia oleifera flower buds.This study designed a six-degree-of-freedom manipulator for collecting camellia oleifera flower buds.By analyzing the biological characteristics of camellia oleifera flower buds,the rotary-twist end effector could achieve efficient collection with a clean rate of 90%.The size of the manipulator was determined by the manipulator workspace analysis;and the end effector was loaded onto the manipulator for field test.The results showed that the six-degree-of-freedom manipulator equipped with the rotary-twist end effector could reach the boundary position within the collecting range.The maximum devications in the x,y and z directions was 3.4 cm,3.3 cm and 3.4 cm,respectively.It provided a basis for the intelligent collection of camellia oleifera flower buds.

关 键 词：采集机械手 生物学特性 末端执行器 油茶花苞 

分 类 号：S225.93[农业科学—农业机械化工程] TP241[农业科学—农业工程]