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番茄采摘機(jī)器人真空吸盤裝置設(shè)計與試驗(yàn)
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Test of the Vacuum Suction Device for Tomato Harvesting Robot
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    摘要:

    為實(shí)現(xiàn)番茄采摘機(jī)器人作業(yè)時將目標(biāo)果實(shí)從果束中分離，設(shè)計了以微型靜音空氣壓縮機(jī)和集成式真空發(fā)生器為主體的真空吸盤裝置,，并依據(jù)供氣壓力-負(fù)壓關(guān)系,、吸盤拉脫力和真空吸著響應(yīng)時間測定結(jié)果，確定了其控制策略。試驗(yàn)表明,，真空吸盤裝置平均單次作業(yè)的時間和空氣消耗量分別為1.5s和0.6L,，拉動果實(shí)實(shí)現(xiàn)35mm水平位移的成功率達(dá)92%，空氣壓縮機(jī)功率可以滿足采摘效率360個/h的需要

    Abstract:

    ,。A vacuum suction device was developed to separate aimed tomato fruit from cluster in robotic harvesting,，which took a mini air pump and a vacuum ejector as vacuum generation. Control strategy to this device was designed based on relationship between air supply pressure and vacuum pressure, pull-off force of the suction cup, and suction responding time. Experiments indicated that average time of one task and air consumption of this device were 1.5s and 0.6L, respectively. Success rate pulling fruit to reach horizontal 35mm far distance was 92%. Power of the mini air pump could satisfy the need of fulfilling 360 fruits harvesting per hour.

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劉繼展,李萍萍,倪齊,李智國.番茄采摘機(jī)器人真空吸盤裝置設(shè)計與試驗(yàn)[J].農(nóng)業(yè)機(jī)械學(xué)報,2010,41(10):170-173. Test of the Vacuum Suction Device for Tomato Harvesting Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(10):170-173.

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