摘要
本研究基于香蕉种植和生长特性,对人工采摘作业过程进行仿真,提出了一种模拟人工抱合动作的香蕉果串夹持装置设计方案。设计了夹持定位装置调整柔性夹持爪的位置以实现对香蕉果串的定位;基于力馈的电动推杆限电流控制方法以实现夹持爪对香蕉果串的柔性夹持和夹持力自适应调整。通过本研究,可以实现香蕉自动化采收环节的果串自动化柔性夹持,并可进一步与智能采摘装备协同作业,提高香蕉产业的自动化水平。
Based on banana planting and growth characteristics, the artificial picking process was simulated,and a scheme of banana bunch harvesting flexible clamping device was designed. A clamping positioningdevice is designed to accurate positioning the position of the banana bunch.The control method of limitingcurrent for electric putter based on force feed was used to realize the flexible clamping and the adaptiveadjustment of clamping force.Through this reasearch, automatic flexible clamping of banana bunch can berealized, and the collaboration with Intelligent fruits picking equipment can be realized, and then improve theautomation level of the banana industry.
作者
杨松夏
朱立学
张日红
田旭峰
Yang Songxia;Zhu Lixue;Zhang Rihong;Tian Xufeng(College of Mechanical and Electrical Engineering,Zhongkai University of Agriculture and Engineering,Guangzhou 510225,China)
出处
《现代农业装备》
2018年第5期51-55,共5页
Modern Agricultural Equipment
基金
广东省农业技术研发项目(2018LM2167)
关键词
香蕉果串
采收
柔性夹持
banana bunch；harvest；flexible clamping
作者简介
杨松夏（1987-）,男,山东淄博人,博士,讲师,主要从事农业机械化工程、农产品冷链技术与装备研究.;通讯作者：朱立学（1970-）,浙江三门人,博士,教授,主要从事农业机械化工程、农产品加工技术与装备研究.E-mail：14660662@qq.com
