剪切夹持一体化水果采摘末端执行器的设计与分析

Design and Analysis of an Integrated Fruit Picking End-Effector for Shearing and Clamping

【目的】推进水果采摘机械化,同时减少机械采摘中水果的损耗。【方法】本研究设计了一种剪切夹持一体化的通用采摘末端执行器,该执行器采用直流减速电机推拉螺杆套接的法兰盘来改变连杆与导轨滑块间的角度,从而带动移动刀台的往复运动,实现剪切夹持与松开的动作;刀片下端配备硅胶材质的柔性夹持体,可以在剪切力增大时夹紧果梗,便于剪断;同时使用SolidWorks软件对该执行器进行了动力学分析。【结果】电机转矩与刀尖剪切力在连杆与导轨夹角最大处的比例系数为3.697,结合选定的电机型号,该末端执行器的剪切力大于小型水果的果梗剪切强度,满足一般水果的采摘要求。【结论】该末端执行器通过改变微动开关的位置及刀片夹持体的相对位置可适用于不同类型的水果剪切果梗采摘,具有轻便、操作简单、适用性强等优点。

[Objective]To promote mechanization of fruit picking and reduce fruit loss during mechanical picking.[Method]This study designed a universal harvesting end-effector with integrated shear clamping.The actuator uses a flange plate connected to a DC deceleration motor to change the angle between the connecting rod and the guide rail slider,thereby driving the reciprocating motion of the moving tool table and achieving the action of shear clamping and releasing.The lower end of the blade is equipped with a flexible clamping body made of silicone material,which can clamp the fruit stem when the shear force increases,making it easy to cut.At the same time,SolidWorks software was used to perform dynamic analysis on the actuator.[Result]The ratio coefficient between the motor torque and the cutting force at the maximum angle between the connecting rod and the guide rail is 3.697.Combined with the selected motor model,the shear force of this end-effector is greater than the shear strength of the stem of small fruits,meeting the harvesting requirements of general fruits.[Conclusion]The end-effector can be suitable for harvesting different types of fruit cutting stems by changing the position of the micro switch and the relative position of the blade clamping body.It has the advantages of being lightweight,easy to operate and strong applicability.