剪切夹持一体式烟叶采摘机械手的设计与分析  

Design and Analysis of a Shearing and Gripping Integrated Tobacco Picking Manipulator

作　　者：杨腾 杨永发[1] 金浩 于永顺 陈颖 YANG Teng;YANG Yongfa;JING Hao;YU Yongshun;CHEN Ying(School of Machinery and Transportation,Southwest Forestry University,Kunming 650224,China)

机构地区：[1]西南林业大学机械与交通学院,云南昆明650224

出　　处：《现代农业装备》2025年第1期36-41,共6页Modern Agricultural Equipment

基　　金：云南省科技厅重大科技专项计划(202402AE090027-03-03);云南省烟草公司曲靖市公司科技计划项目(2023YNQJKJ04)。

摘　　要：由于烟叶成熟期不同,需分批次进行选择性采摘,即成熟一片采一片,这一过程所需人力、物力消耗过大。为解决上述问题,设计了一种剪切夹持一体化的末端执行器,并基于叶片根部特性加入了一种柔性夹持体,对2个夹爪剪切和夹持稳定性做受力分析,在SolidWorks Simulation中对刀片等关键部位结合有限元分析理论做应力分析,对两爪的夹持做力封闭性分析,最后将SolidWorks模型导入ADAMS中对其进行仿真模拟。受力和仿真模拟数据分析得出所施加的剪切力能有效切断叶茎且不会对其造成不必要损伤,且末端执行器设计符合力封闭原理,确保了夹持过程的稳定性与可靠性;刀片在操作过程中所承受的应变力符合作业需求标准,具有足够的耐用性和稳定性。同时,尽管仿真环境中无法完全复现实际材料的所有物理特性,导致数据在某些细节上可能存在轻微波动,但总体趋势与预期相符,充分验证了采摘机械手仿真模拟的有效性和实际应用中的可行性。Due to the different maturity period of the tobacco leaves,it is necessary to carry out stage picking in batches,this process requires excessive consumption of manpower and material resources,based on this problem this paper designed a shear clamping integrated end-effector,and based on the characteristics of the root of the blade,joining a kind of flexible clamping body,and then the two clamping claws to make a force analysis of the stability of the claw shear and clamping;by SolidWorks Simulation,the key parts of the blade were analyzed by combining the finite element analysis theory to make a stress analysis;and the force closure analysis was made for the clamping of the two jaws.Finally,the SolidWorks model was imported into Adams for simulation.The analysis of the force and simulation data showed that the applied shear force was accurately controlled in a suitable range that can effectively cut off the leaf stems without causing unnecessary damage,and the design of the end-effector strictly follows the principle of force closure,which ensureed the stability and reliability of the clamping process;the strain force endured by the blades in the process of operation was is in line with the standard of operational requirements,and it had sufficient durability and stability.At the same time,although the simulation environment can not completely reproduce all the physical characteristics of the actual material,resulting in data in some details may had slight fluctuations,but the overall trend was consistent with the expected,fully verified the effectiveness of the simulation of the picking manipulator simulation and the feasibility of the practical application.

关 键 词：烟叶采摘 柔性夹持体 力封闭性 ADAMS 

分 类 号：S225.99[农业科学—农业机械化工程]