剪切式番茄整枝操作手爪设计与试验

Design and Experiment of Cutting Type Tomato Pruning Operation Actuator

现有番茄整枝打叶耗时费力,受人工主观影响较大,难以实现标准化作业。为实现对目标侧枝基部的自适应定位和无损摘除作业,提出了一种番茄整枝操作手爪的设计方案。通过对温室栽培番茄进行实地测量,获取多个品种番茄侧枝的形态特征参数;通过分析柔性手指对目标侧枝夹持作用下正向应力产生的应变,完成了对整枝操作手爪关键执行部件结构形式和实际参数的确立,提出了面向不同直径番茄侧枝与柔性手指关键参数的最优搭配方案;为保证目标侧枝与植株主茎的顺利分离,通过对侧枝摘除过程中剪切力的分析,确定选用的切刀类型;最后,通过对3种果型番茄植株目标侧枝进行摘除试验,验证整枝操作手爪功能的可行性和实用性。所设计手爪可以作为设施番茄栽培环境下自动化整枝机器人末端的关键执行部件。

In order to achieve adaptive positioning and non-destructive removal of the base of the target side branch,this paper proposes a design scheme for the operation claw of the whole tomato branch.Through field measurement of greenhouse-grown tomatoes,the morphological characteristics of side branches of multiple varieties of tomatoes were obtained.By analyzing the strain of the flexible finger on the positive stress under the action of the target side branch clamping,the structural form and actual parameters of the key execution parts of the whole branch operation claw are established,and the optimal matching scheme for the key parameters of tomato side branches with different diameters and the key parameters of flexible finger is proposed.In order to ensure the smooth separation of the target side branches from the main stem of the plant,the type of cut knife selected was determined by analyzing the shear force during the removal of the side branches.Finally,the removal test of the target side branches of three fruit-type tomato plants was carried out to verify the feasibility and practicality of the claw function of the whole branch operation.This study can also be used as a key actuator for the end of automated pruning robots in the tomato cultivation environment of the facility.