摘要
目前,国内外对于农业采摘机器人研究的关键仍是效率问题,猕猴桃果实的采摘模式决定了采摘机器人末端执行器的结构形式和工作原理,同时也决定了作业效率。现阶段的果蔬采摘机器人,大都是单个果实包络抓取,然后旋转折断或者切断实现采摘。猕猴桃单个果实抓取旋转采摘时间是22s,其实抓取果实到释放可以简化为一步采摘,对于猕猴桃的采摘作业可以抛弃用手指去夹持猕猴桃的动作。为此,提出了一种上行机构和下行机构相向运动的采摘模式,并采用正交试验以采摘力为评价指标研究了该采摘模式。结果表明:试验因素显著性居前两位的是上行机构作用位置和下行机构行进速度,采摘成功率为96.3%,单果采摘时间约为5.3s。该采摘模式的研究为今后末端执行器的设计提供了基础和依据。
At present,the key to the research of agricultural picking robots at home and abroad is still the efficiency problem,the picking pattern of kiwi fruit determines the structure and working principle of picking robot end-effector,simultaneously,determines the operating efficiency. Found that the current stage of fruit and vegetable picking robots,mostly grasping a single fruit,then spin or cut off to achieve picking,the rotation picking time of grasping a single kiwifruit is 22 s,in fact,grasping the fruit to the releasing can be simplified for one step picking,the action of grasping kiwifruit with fingers can be discarded for kiwi picking operations. This paper presents a picking model for the relative movement of the upward and down mechanisms. The picking pattren was studied by orthogonal test with the picking force as the evaluation index. The results revealed that the two positive factors are the position of the upward mechanism and the speed of the down mechanism,the success rate of this picking pattern was 96. 3%,and the picking time of single kiwifruit was about 5. 3s. The study of the picking model provides the basis for the design of the end-effector.
出处
《农机化研究》
北大核心
2018年第5期215-219,224,共6页
Journal of Agricultural Mechanization Research
基金
陕西省科技统筹创新工程计划项目(2015KTCQ02-12)
