摘要
针对条形名优绿茶依赖人工采摘、无专用采摘器的问题,该研究设计了适用于名优茶采摘的捏切组合式采摘器。首先分析人工采摘嫩梢的运动过程及茶叶嫩梢物理特性,设计了基于盘形凸轮的捏切、送、甩、抛循环式采摘机构和柔性捏切一体采摘爪。通过算法控制采摘臂旋转速度,采摘器实现了低振动、准确采摘。样机试验表明:采摘器单次作业最大时间小于0.6 s,实际采摘成功率稳定在100%,说明捏切组合式采摘器符合茶园嫩梢采摘连续、快速的需求。喂入深度和采摘高度越大采摘成功率越高,根据茶叶生长环境和农艺要求确定较优采摘高度和喂入深度均为10mm、采摘角度为0°。试验结果表明采摘器采摘的茶叶嫩梢与人工采摘品质相同。该研究可为茶叶嫩梢低损、快速采摘提供参考。
The production of famous tea cannot fully meet the huge market demand in China in recent years. The mechanized picking can also cause much more damage to the famous tea(bud, one bud, and one leaf) at present. Therefore, it is high cost and labor-intensive, because the famous tea relies mainly on manual picking so far. As such, the prices of famous tea remain very high to hinder the development of the tea market. For famous green tea, the harvest can rely only on manual picking, due to no special tea picking equipment during this time. It is also a high demand to deal with the issue as soon as possible for the development of the premium tea market. In this study, a combined pinch and cut picker was developed applicable to the famous tea picking using bionics, starting from the process of manual picking of tea leaves. The combination mechanism of pinching and cutting in the picker was also designed to analyze the process of pinching, bending, and lifting off the tea leaves by manual fingers. The amount and type of force were accurately adjusted during pinching, lifting, and picking in real time,according to the position of the stalk. A mechanical test was also conducted to determine the mechanical properties of tea shoot tips, particularly for the parameters of shoot picking. The growth parameters of tea leaves were measured to meet the agronomic requirements during mechanical picking. The action of manual picking was then simulated to design a pinch-cutting,sending, flinging, and throwing circular picking mechanism. The symmetrical shearing claw replaced the human index finger and thumb, while the rotating picking arm was used to simulate the human wrist rotation. The disc cam was used to simulate the opening and closing of manual fingers at different times. At the same time, the cam accurately and quickly controlled the work of the picking mechanism. As such, an accurate picking with the low vibration was achieved in the picking mechanism,flexible pinch-cutting integrated picking jaws and speed cooperate with each other. The prototype parameters were also obtained via theoretical calculation and virtual design. The prototype test showed that the maximum duration of a single operation of the picker was less than 0.6 s, and the success rate of picking tea stems within 3 mm in diameter was 100%.Correspondingly, the combined pinch picker fully met the need for the continuous and rapid harvesting of the tender tips of tea plantations. More importantly, the better picking quality was realized, as the feeding depth and picking height increased.Therefore, the optimal picking height, depth, and angle were determined to be 10 mm, 10 mm, and 0°, according to the tea growing environment and agronomic requirements. A comparison was made on the cross-section of the break between the manually picked shoots and the picker-picked shoots. It was found that the quality of the tea stalk cross-section was consistent with that in the manual picking. The damage to the shoot tips by the flexible clamping picking jaws was also consistent with that by the manual picking. These findings can provide a strong reference for the low loss and rapid shoots picking of tea leaves.
作者
罗坤
吴正敏
曹成茂
秦宽
张雪晨
钟华
Luo Kun;Wu Zhengmin;Cao Chengmao;Qin Kuan;Zhang Xuechen;Zhong Hua(School of Engineering,Anhui Agricultural University,Hefei 230036,China;State Key Laboratory of Tea Plant Biology and Utilization,Hefei 230036,China;School of Tea and Food Science&Technology,Anhui Agricultural University,Hefei 230036,China)
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2022年第13期1-9,共9页
Transactions of the Chinese Society of Agricultural Engineering
基金
国家重点研发计划项目(2021YFD1601102)
国家自然科学基金(52105239)。
关键词
设计
茶叶机械
试验
名优茶采摘
组合式
采摘器
design
tea machinery
experiment
famous tea picking
combination type
picker
作者简介
罗坤,博士研究生。研究方向为作物机械化装备。Email:1324129735@qq.com;通信作者:曹成茂,教授,博士生导师。研究方向为特色经济作物装备。Email:caochengmao@sina.com。
