【作者】 刘继展； 李萍萍； 李智国； 倪齐；

【Author】 Liu Jizhan1, Li Pingping1, Li Zhiguo1, Ni Qi2 (1.Key Laboratory of Modern Agricultural Equipment and Technology, Ministry of Education & Jiangsu Province, Jiangsu University, Zhenjiang 212013, China; 2. School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China)

【机构】 江苏大学农业工程研究院/现代农业装备与技术省部共建教育部重点实验室； 江苏大学机械工程学院；

【摘要】 为实现番茄采摘机器人作业时目标果实从果束中脱离,设计开发了新型真空吸盘装置。该装置由真空系统和执行机构组成,分别以微型静音空压机作为气源,以集成式真空发生器为真空发生设备,由真空压力传感器和供气/吸气/吹气电磁阀实现了真空的反馈控制,并由单向阀实现了真空安全和节气的目的。执行机构为由微型直流电机驱动的齿轮/齿条机构,基于PMAC运动控制卡和EPOS位置控制器实现了机构的伺服控制。试验表明,供气压力4-6个大气压时,吸盘吸持果实状态下真空度可达-88kPa以上,敞口状态下真空压力则相差-28~-33kPa,而真空压力传感器具有良好的线性度,误差仅为[-1.4,+1.2]kPa,完全满足控制系统自动判断果实、吸盘间吸持或脱离的需要。更多还原

【Abstract】 A vacuum suction device was designed to separate aimed tomato fruit from cluster in robotic harvesting. It is composed of a vacuum system and a working mechanism. The vacuum system is based on an integrated vacuum ejector which takes a mini mute air pump as the air supply. Feedback control was constructed with a vacuum pressure ejector which takes a mini mute air pump as the air supply. Feedback control was constructed with a vacuum pressure sensor and an air supply solenoid valve, a suction solenoid valve, a blow-off solenoid valve. The rack and pinion actuating mechanism is driven by micro DC motor, which is servo controlled based on PMAC controller and EPOS controller. Test results indicate that vacuum pressure when sucking a fruit may reach -88kPa, which will rise to about -60kPa when the fruit detaches from the suction pad, and error of the high linearity vacuum pressure is only [-1.4, +1.2]kPa, so the need of control system to judge suction/detach condition accurately can be satisfied.更多还原