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
严童杰 1冯青春 2郭鑫 2杨宁1
作者信息
- 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;国家农业智能装备工程技术研究中心,北京 100097;农业智能装备技术北京市重点实验室,北京 100097
- 折叠
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°.
Abstract
A bus-expandable drive-controlled spin-twist picking end-effector had been designed to support the develop-ment of a multi-arm parallel picking robot for intelligent harvesting operations in orchards.Based on the statistical analy-sis of the physical morphology of standard apple trees and the manual picking method,a picking machine operation meth-od 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 communica-tion-based picking actuator was designed for the parallel picking of multiple actuators,enabling the bus extension of mul-tiple 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 dis-tance 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/CANopenKey words
picking robot/integrated drive control/spin-twist picking/CANopen引用本文复制引用
出版年
2025
国家科技期刊平台
NSTL
万方数据