Design of End Effector for Picking Tea Shoots

XU Lijia; LIU Qi; DAI Jianwu; CHEN Xiaohu

doi:10.13305/j.cnki.jts.2021.05.006

PDF(1542 KB)

Journal of Tea Science ›› 2021, Vol. 41 ›› Issue (5) : 705-716. DOI: 10.13305/j.cnki.jts.2021.05.006

Research Paper

Design of End Effector for Picking Tea Shoots

XU Lijia¹, LIU Qi^1,2, DAI Jianwu¹, CHEN Xiaohu¹

Author information +

History +

Abstract

In order to solve the selective picking of tea shoots, based on the physical characteristics of tea shoots, an end effector of picking tea shoots with clip was designed in this study. The GUI module of MATLAB software and SolidWorks software were used to optimize the structural parameters of the picking end effector,and the optimal combination structural parameters were obtained. The kinematics simulation analysis was feasible and met the requirements of clamping force. The model of picking end effector was tested in tea garden, and the results show that the missed picking rate of one bud and one leaf was 2.8%, and the picking integrity rate was 91%. While the missed picking rate of one bud and two leaves was <3%, and the picking integrity rate was about 94% in March. The experimental results verified that the structural design and parameters of the picking end effector are feasible, which provided a theoretical basis for the selective picking of tea shoots, and a technical support for the subsequent research and development of tea shoot picking machine.

Key words

kinematics simulation / picking end effector / picking manipulator / tea shoot picking

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

XU Lijia, LIU Qi, DAI Jianwu, CHEN Xiaohu. Design of End Effector for Picking Tea Shoots[J]. Journal of Tea Science. 2021, 41(5): 705-716 https://doi.org/10.13305/j.cnki.jts.2021.05.006

References

[1] 王文明, 肖宏儒, 宋志禹, 等. 茶叶生产全程机械化技术研究现状与展望[J]. 中国农机化学报, 2020, 41(5): 226-236.
Wang W M, Xiao H R, Song Z Y, et al.Research status and prospects of tea production mechanization technology[J]. Journal of Chinese Agricultural Mechanization, 2020, 41(5): 226-236.
[2] 宋扬扬, 李为宁, 李兵, 等. 履带式智能采茶机的设计与试验[J]. 农机化研究, 2020, 42(8): 123-127.
Song Y Y, Li W N, Li B, et al.Design and test of crawler type intelligent tea picker[J]. Journal of Agricultural Mechanization Research, 2020, 42(8): 123-127.
[3] 欧阳爱国, 邵福, 舒盛荣, 等. 一种单轨悬挂式采茶机结构设计及通风管流场仿真分析[J]. 江苏农业科学, 2019, 47(20): 236-240.
Ouyang A G, Shao F, Shu S R, et al.Structural design of a monorail suspended tea picker and simulation analysis of flow field in its ventilation tube[J]. Jiangsu Agricultural Sciences, 2019, 47(20): 236-240.
[4] 范元瑞, 马智斌, 杨化林. 名优茶采摘机器人工作空间分析[J]. 机械与电子, 2019, 37(8): 73-75, 80.
Fan Y R, Ma Z B, Yang H L.Analysis of working space of famous tea picking robot[J]. Machinery and Electronics, 2019, 37(8): 73-75, 80.
[5] 蔡丽萍, 赵丽清, 龚丽农, 等. 优质崂山茶嫩芽识别方法的研究[J]. 青岛农业大学学报(自然科学版), 2018, 35(1): 76-81.
Cai L P, Zhao L Q, Gong L N, et al.Study on identification method of high quality laoshan tea buds[J]. Journal of Qingdao Agricultural University (Natural Science), 2018, 35(1): 76-81.
[6] 王立谦, 汪小志, 林卫国. 农业激光自动采摘定位机器人控制系统设计: 基于PID控制[J].农机化研究, 2015, 37(9): 211-216.
Wang L Q, Wang X Z, Lin W G.Design of agricultural laser automatic picking positioning robot control system based on PID control[J]. Journal of Agricultural Mechanization Research, 2015, 37(9): 211-216.
[7] 刘灿. 一种自动采摘结构模型有限元研究[J]. 农机化研究, 2020, 42(5): 51-55, 93.
Liu C.Finite element analysis of an automatic picking structure model[J]. Journal of Agricultural Mechanization Research, 2020, 42(5): 51-55, 93.
[8] Dong C W, Zhu H K, Zhao J W, et al.Sensory quality evaluation for appearance of needle-shaped green tea based on computer vision and nonlinear tools[J]. Journal of Zhejiang University-Science B (Biomedicine & Biotechnology), 2017, 18(6): 544-548.
[9] 林燕萍, 金心怡, 郝志龙, 等. 茶树嫩梢力学特性与粗纤维试验[J]. 茶叶科学, 2013, 33(4): 364-369.
Lin Y P, Jin X Y, Hao Z L, et al.Experiment on mechanical properties and crude fiber of tea leaf[J]. Journal of Tea Science, 2013, 33(4): 364-369.
[10] 许多. 智能采茶机机械结构及控制系统设计[D]. 雅安: 四川农业大学, 2018.
Xu D.Design of intelligent tea picking machine’s mechanical structure and control system [D]. Ya'an: Sichuan Agricultural University, 2018.
[11] 孙晓锋. 名优茶智能化采摘中新梢识别及其中心点确定的方法研究[D]. 南京: 南京林业大学, 2014.
Sun X F.Researches on high-quality tea flushes identification and centering method for intelligent plucking [D]. Nanjing: Nanjing Forestry University, 2014.
[12] 潘周光. 茶叶梗茎剪切特性与嫩度关系的试验研究[J]. 茶叶科学, 2008, 28(6): 425-428.
Pan Z G.Study on the relation of the tenderness and shearing properties of tea shoot[J]. Journal of Tea Science, 2008, 28(6): 425-428.
[13] 姬江涛, 杨林辉, 金鑫, 等. 行星轮系滑道式钵苗栽植机构设计与参数优化[J]. 农业工程学报, 2018, 34(18): 83-92.
Ji J T, Yang L H, Jin X, et al.Design and parameter optimization of planetary gear-train slip type pot seedling planting mechanism[J]. Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(18): 83-92.
[14] 陆鑫, 李恒, 徐丽明, 等. 双臂式茶叶采摘机器人的改进设计[J]. 农机化研究, 2015, 37(2): 101-106.
Lu X, Li H, Xu L M, et al.Mode analysis and optimization of variable pitch screw shaft for high-speed rice transplanter[J]. Journal of Agricultural Mechanization Research, 2015, 37(2): 101-106.
[15] 李兵, 李为宁, 柏宣丙, 等. 基于EDEM的茶叶揉捻机参数优化及试验研究[J]. 茶叶科学, 2020, 40(3): 375-385.
Li B, Li W N, Bai X B, et al.Parameter optimization and experimental study of tea twisting machine based on EDEM[J]. Journal of Tea Science, 2020, 40(3): 375-385.
[16] 秦广明, 赵映, 肖宏儒, 等. 4CZ-12智能采茶机器人设计及田间试验[J]. 中国农机化学报, 2014, 35(1): 152-156,169.
Qin G M, Zhao Y, Xiao H R, et al.4CZ-12 intelligent tea harvest robot design and field experiment[J]. Journal of Chinese Agricultural Mechanization, 2014, 35(1): 152-156, 169.
[17] 邓佳, 王鹏, 周彦君, 等. 四川采茶机械化应用现状与展望[J]. 四川农业与农机, 2019(6): 20-21.
Deng J, Wang P, Zhou Y J, et al.Application status and prospect of tea picking mechanization in sichuan[J]. Sichuan Agriculture and Agricultural Machinery, 2019(6): 20-21.