旋转式两工位名优茶采摘收集一体末端执行器设计与试验  

Design and Experiment of Rotating Two Workstations Integrated Effector for Famous Tea Picking and Collection

作　　者：陈建能[1,2] 陈倩雯 刘林敏 贾江鸣 贺磊盈 赵新雨[1] 姚坤 CHEN Jianneng;CHEN Qianwen;LIU Linmin;JIA Jiangming;HE Leiying;ZHAO Xinyu;YAO Kun(Faculty of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China;Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province,Hangzhou 310018,China;Bureau of Agriculture and Rural Affairs of Songyang County,Songyang 323400,China)

机构地区：[1]浙江理工大学机械与自动控制学院,杭州310018 [2]浙江省种植装备技术重点实验室,杭州310018 [3]松阳县农业农村局,松阳323400

出　　处：《农业机械学报》2024年第10期136-144,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(U23A20175、52305289);浙江省领雁计划项目(2022C02052);财政部和农业农村部:国家现代农业产业技术体系项目(CARS-19)。

摘　　要：针对现有的名优茶采摘末端执行器存在结构复杂、单工位工作效率低或切口氧化发红的问题,设计了一种结构简单、工作效率高、采摘质量佳的采摘收集一体旋转式两工位末端执行器。执行器两端软体采摘手指通过正反转循环处于采摘和收集工位,实现采摘与收集功能。通过对末端执行器采收动作进行分析和预试验,得到影响末端执行器采收成功率的因素:舵机臂转角、安装板角速度和硅胶厚度。采用Box-Behnken研究各因素对茶叶采收成功率的影响,以采收成功率为响应值建立二次回归模型,得到影响显著性的主次排序为:安装板角速度、舵机臂转角、硅胶厚度。利用Design-Expert软件,以采收成功率为目标,对各因素进行优化得到最佳参数:安装板角速度为265.329(°)/s、舵机臂转角为40°、硅胶厚度为4.986 mm。对优化后的参数取整并进行试验,试验值与预测值相对误差小于5%。本文研究的旋转式两工位名优茶采摘收集一体末端执行器能够实现茶叶高质高效采摘和收集。Aiming at the problems of complex structure,low efficiency of single workstation work,or oxidation and redness of cut edges in the existing picking effector of famous tea,a simple structure,high work efficiency,and good picking quality rotary two workstations effector for harvesting and collection was designed.The two effectors of the soft picking fingers were in the picking and collecting station through a forward and reverse cycle,achieving the picking and collecting functions.By analyzing and pre-testing the effector harvesting action,the factors that affected the success rate of effector harvesting were obtained as follows:servo arm angle,installation plate speed,and silicone thickness.Using Box-Behnken to study the influence of various factors on the success rate of tea harvesting,a quadratic regression model was established with the success rate as the response value.The main and secondary order of significance was obtained as follows:installation plate speed,servo arm angle,and silicone thickness.Using Design-Expert software,with the goal of harvesting success rate,various factors were optimized to obtain the best parameters:installation plate angular velocityω=265.329(°)/s,servo arm angleΔθ=40°,silicone thickness d=4.986 mm.The optimized parameters were rounded and experiments were conducted,with a relative error of less than 5%between the experimental and predicted values.The integrated effector of the rotary two workstations famous tea picking and collection system can achieve high-quality and efficient picking and collection.

关 键 词：名优茶 采摘机器人 末端执行器 两工位 旋转式 

分 类 号：S225.1[农业科学—农业机械化工程]