高档名优绿茶柔性采摘指研制  

Reaearch and fabrication of high-quality famous green tea flexible plucking finger

作　　者：汪谦谦 张伟 金小俊[1] 韩余 陈勇[1] WANG Qianqian;ZHANG Wei;JIN Xiaojun;HAN Yu;CHEN Yong(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;Nanjing Research Institute for Agricultural Mechanization,Ministry of Agriculture,Nanjing 210014,China)

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037 [2]农业农村部南京农业机械化研究所,江苏南京210014

出　　处：《传感器与微系统》2025年第2期87-89,94,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(32072498);江苏省农业科技自主创新资金资助项目(CX(21)3184)。

摘　　要：目前现有的采茶末端执行器多为剪切式,不适用于高档名优绿茶的采摘,为解决这一问题,提出一种模仿人工“提手采”动作的柔性采摘指机构。对采摘指结构参数进行有限元分析,使上、下夹爪在夹持中产生可感知的弹性形变。基于该机构,设计采摘指电动控制系统。采用嵌入式处理器,通过步进电机控制两对夹爪的开合和提拉动作,并设计测力电路,实时检测夹持力,以提拉方式实现对嫩芽的采摘。分析得到夹爪所受的最大应力为0.16 MPa,夹爪的最大形变为0.00038 mm。依此结果制作样机,并进行采摘试验。试验结果表明:柔性采摘指能有效实现一芽一叶的采摘,成功率达到92.5%,验证了该采摘指的可行性,具有应用价值。At present,the existing tea plucking end-effector is mostly shear type,which is not suitable for the plucking of high-quality famous green tea.In order to solve this problem,a flexible plucking finger mechanism that imitates the manual plucking action is proposed.The finite element analysis is conducted on structural parameters of the plucking finger to make the upper and lower clamping jaws produce perceptible elastic deformation in the clamping.Based on this mechanism,the electric control system of plucking finger is designed.The embedded processor is used to control the opening and closing and pulling action of two pairs of clamping jaws by stepping motor.The force measuring circuit is designed to detect the clamping force in real-time,and the plucking of shoots is realized by pulling.The maximum stress of the clamping jaw is 0.16 MPa,and the maximum deformation of the jaw is 0.00038 mm.According to this result,the prototype is made and the plucking test is carried out.The test results show that the flexible plucking finger can effectively realize the plucking of one bud and one leaf,and the success rate reaches 92.5%,which verifies the feasibility of the plucking finger and has application value.

关 键 词：名优绿茶 柔性采摘指 力学感知 嵌入式控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]