成簇沙果采摘末端执行器的设计及实验研究  

Design and experimental study of end-effector for picking clustered crabapple

作　　者：李三平[1] 王琦宇 吴立国 袁龙强 齐佳美 孙腾佳 LI Sanping;WANG Qiyu;WU Liguo;YUAN Longqiang;QI Jiamei;SUN Tengjia(School of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China;Harbin Forestry Machinery Research Institute,National Forestry and Grassland Administration,Harbin 150086,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040 [2]国家林业和草原局哈尔滨林业机械研究所,黑龙江哈尔滨150086

出　　处：《工程设计学报》2025年第1期51-61,共11页Chinese Journal of Engineering Design

基　　金：中央级公益性科研院所基本科研业务费专项资金资助项目(CAFYBB2020MB010);中央高校基本科研业务费专项资金资助项目(2572014BB06)。

摘　　要：针对在成簇沙果机械采摘过程中采摘成功率低、果实易损伤及采摘方式不合理等问题,设计了一种刚柔耦合的成簇沙果采摘末端执行器。用硅胶制作软体手指以包裹沙果,采用对切的方式对果梗进行剪切。通过单因素试验确定了剪切气压、刀片厚度、驱动气压对采摘成功率的影响及其取值范围,在此基础上进行三因素三水平的响应面分析,研究各因素对采摘成功率的交互影响。以四果、五果采摘成功率为响应值建立二次项回归模型,以采摘成功率为评价指标对各因素进行优化,结果表明:对采摘成功率的影响从大到小依次为剪切气压、刀片厚度、驱动气压;当剪切气压为0.260MPa、刀片厚度为0.4mm、驱动气压为0.09MPa时,末端执行器具有最高的采摘成功率,三果、四果、五果采摘成功率可分别达到100%、100%、91.29%。对参数优化结果进行实验验证,结果表明,该采摘末端执行器能完成采摘任务,且三果、四果、五果采摘成功率可分别达到100%、100%、91%,满足了采摘预期要求。采用该末端执行器可以减少沙果采摘劳动力,这为其他成簇水果的采摘提供了新的思路。In order to solve the problems of low success rate,easy damage to fruits and unreasonable picking methods in the process of mechanical picking of clustered crabapple,a rigid-flexible coupling end-effector for picking clustered crabapple was designed.The soft fingers made of silica gel were used to wrap the crabapple,and the crabapple stalks were cut using the method of cutting.The effects of shear air pressure,blade thickness and driving air pressure on the picking success rate and their value range were determined through single factor test.On this basis,the response surface analysis of three factors and three levels was conducted to study the interactive effects of each factor on the picking success rate.The quadratic regression model was established with the success rate of picking four-and five-fruits as the response value,and the picking success rate was used as the evaluation index to optimize each factor.The results showed that the influence on the picking success rate was shear air pressure,blade thickness and driving air pressure in order from large to small.When the shear air pressure was 0.260 MPa,the blade thickness was 0.4 mm,and the driving air gas pressure was 0.09 MPa,the end-effector had the highest picking success rate,and the success rate of picking three-,four-and five-fruits could reach 100%,100%and 91.29%,respectively.The results of parameter optimization were verified by experiment,and showed that the picking end-effector could complete the picking task,and the success rate of picking three-,four-and five-fruits could reach 100%,100%and 91%,respectively,meeting the expected picking requirement.The use of the end-effector can reduce the labor force of picking crabapple and provide a new idea for the picking of other clustered fruit.

关 键 词：成簇沙果采摘 末端执行器 响应面优化 采摘成功率 

分 类 号：TH69[机械工程—机械制造及自动化]