摘要
通过分析中国香蕉种植现状和长势情况,基于香蕉采摘与运输的碰撞与机械损伤问题,结合我国香蕉采摘与运输的实际情况,运用SolidWorks三维设计软件研制一种适用于香蕉辅助采摘运输的柔性夹持装置,搭建相应的试验装置。同时采用PLC控制技术对柔性夹持装置和四自由度调整装置进行控制系统设计,柔性夹持控制子系统以扭矩作为检测反馈参数实现闭环控制。研究结果表明,该装置实现香蕉果串的柔性夹持与低损采收,可进一步与智能化香蕉切割装置进行协同作业。
By analyzing the current situation of the banana planting and growing situation,based on the collision and mechanical dam⁃age of banana picking and transportation,combined with the actual situation of banana picking and transportation in China,a flexible clamping device suitable for banana assisted picking and transportation and test device was developed by using Solid⁃Works three-dimensional design software.At the same time,the control system design of the flexible clamping device and the four-degree-of-freedom adjustment device was carried out by using PLC control technology.The flexible clamping con⁃trol subsystem realized the closed-loop control with torque as the detection feedback parameter.The results show that the de⁃vice can realize the flexible gripping and low-loss picking of banana fruit clusters,and can further cooperate with the intelli⁃gent banana cutting device.
作者
高一华
田旭峰
张日红
杨松夏
朱立学
GAO Yi-hua;TIAN Xu-feng;ZHANG Ri-hong;YANG Xia-song;ZHU Li-xue(College of Mechanical and Electrical Engineering,Zhongkai University of Agriculture and Engineering,Guangzhou 510225)
出处
《现代计算机》
2020年第12期31-36,共6页
Modern Computer
基金
广东大学生科技创新培育专项(No.pdjh2019b0242)。
关键词
香蕉
柔性抱持
采收
Banana
Flexible Clamping
Picking
作者简介
高一华(1996-),女,广东广州人,在读硕士研究生,研究方向为机器视觉;田旭峰(1997-),男,广东揭阳人,硕士研究生,助教,研究方向为农业机械化与信息化;张日红(1980-),内蒙古乌兰察布人,博士,副教授,研究方向为机电系统设计与控制;杨松夏(1987-),男,山东省淄博人,博士,讲师,研究方向为农业工程;通信作者:朱立学(1970-),浙江三门人,博士,教授,从事领域为农业机械化工程、农产品加工技术与装备研究,E-mail:14660662@qq.com。
