驱控一体的旋拧式果实采摘执行器设计与试验  

Design and Experimentation of a Spin-twist Fruit Picking Actuator with Integrated Drive Control

作　　者：严童杰 冯青春 郭鑫 杨宁[1] Yan Tongjie;Feng Qingchun;Guo Xin;Yang Ning(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212000,China;Intelligent Equipment Technology Research Center,Beijing Academy of Agricultural and Forestry Sciences,Beijing 100097,China;National Research Center of Intelligent Equipment for Agriculture,Beijing 100097,China;Beijing Key Laboratory of Agricultural Intelligent Equipment Technology,Beijing 100097,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212000 [2]北京市农林科学院智能装备技术研究中心,北京100097 [3]国家农业智能装备工程技术研究中心,北京100097 [4]农业智能装备技术北京市重点实验室,北京100097

出　　处：《农机化研究》2025年第3期48-55,共8页Journal of Agricultural Mechanization Research

基　　金：北京市科技计划课题(Z201100008020009);北京市科技新星计划项目(20220484023)。

摘　　要：针对果园智能化采收作业需要,设计了支持总线扩展的驱控一体旋拧采摘末端执行器,旨在为多臂并行采摘机器人研发提供支撑。在对标准苹果树果实物理形态统计分析基础上,结合人工采摘方法,提出了“吸附-夹持-旋拧”的采摘机械操作方法,并设计了基于双舵机驱动的紧凑型采摘执行机构,对其吸盘、夹持和旋拧电机的关键参数进行了优化设计。面向多执行并行采摘需要,设计了基于CANopen通讯的采摘操作驱动器,实现了多执行器的总线扩展。通过现场试验对执行器作业性能进行了测试,结果表明:果实大小在60~100 mm之间,采摘成功率可达到90%,吸盘最优停留时间为1.00 s,吸盘最优接近距离为1.0 mm,最优旋拧角度为360°。A bus-expandable drive-controlled spin-twist picking end-effector had been designed to support the development of a multi-arm parallel picking robot for intelligent harvesting operations in orchards.Based on the statistical analysis of the physical morphology of standard apple trees and the manual picking method,a picking machine operation method of“adsorption-clamping-twisting”was proposed.A compact picking actuator based on a double servo drive was designed and the key parameters of the suction,clamping and screwing motors were optimised.A CANopen communication-based picking actuator was designed for the parallel picking of multiple actuators,enabling the bus extension of multiple actuators.The performance of the hand jaws was tested in field trials,with a picking success rate of 90%for fruit sizes between 60 mm and 100 mm,and an optimum dwell time of 1.00 s for the suction cups,an optimum approach distance of 1.00 mm for the suction cups and an optimum screwing angle of 360°.

关 键 词：采摘机器人 驱控一体 旋拧采摘 CANOPEN 

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