摘要
菠萝作为多年生植物,成熟后周围长有不规则分布的菠萝幼芽,不能利用大型机械采收。由于菠萝外皮粗糙、植株锋利、高度不均等生物特性,人工采摘过程中存在易扎手、果实重、频繁弯腰疲劳等问题。为了减小人工劳动量同时保护菠萝幼苗,文中设计了一种新型可穿戴的菠萝采摘装置,分别对采摘模块、外骨骼模块和控制模块进行设计;对菠萝采摘过程进行受力分析,选择转矩为3.4 N·m的掰断电机和转矩为6 N·m的牵拉电机;采用3D打印技术实现采摘爪、变刚度关节及部分零配件加工,经过装配、穿戴和调试后,与人工徒手采摘进行对比,该装置运行效果良好,总体采摘时间接近。
Pineapples,as a perennial plant,have irregularly-distributed shoots around after maturity,and cannot be harvested by large machinery.Pineapples have such biological characteristics as rough skin,sharp plant,uneven heigh,there are problems such as easiness to tie hands,heavy fruits,fatigue induced by frequent bending in the process of manual picking.In this article,in order to reduce human labor and protect pineapple seedlings,a new wearable pineapple-picking device is designed;the picking module,the exoskeleton module and the control module are designed respectively.The force analysis is conducted on the pineapple-picking process;the torsion breaking motor with a torque of 3.4 N·m and the pulling motor with a torque of 6 N·m are selected;the 3D printing technology is used process picking claws,joints with variable stiffness and some spare parts.After assembly,wearing and debugging,compared with manual picking,this device operates smoothly,with its overall picking time approximate to that of traditional picking devices.
作者
郭婷
周峥
金悦
桂亮
王永泉
GUO Ting;ZHOU Zheng;JIN Yue;GUI Liang;WANG Yongquan(School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049)
出处
《机械设计》
北大核心
2025年第5期16-21,共6页
Journal of Machine Design
基金
西安交通大学2023上半年本科教学改革研究青年项目(2302Q-01)
2022年西安交通大学本科教学改革研究项目(2209Y)
2021年西安交通大学本科教学改革研究项目(202131Y)
西安交通大学2021年本科生教学改革研究专项重点项目(202102Z)。
关键词
菠萝采摘
采摘爪
可穿戴
变刚度关节
pineapple-picking
picking claw
wearable
joint with variable stiffness
作者简介
郭婷(1989-),女,高级工程师,硕士,研究方向:机械设计原理及设计。E-mail:guoting924@xjtu.edu.cn。
