茶叶嫩梢采摘末端执行器的设计研究

doi:10.13305/j.cnki.jts.2021.05.006

Abstract

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: tea shoot picking, picking manipulator, picking end effector, kinematics simulation

CLC Number:

S571.1

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.

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.

Design of End Effector for Picking Tea Shoots

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Metrics

Comments

Recommended 0

[1]	TANG Haikun, ZHANG Lanjun, ZHANG Panpan, LIU Benying. Research Progress on Chemical Constituents and Biological Activities of Alkaloids in Tea [J]. Journal of Tea Science, 2025, 45(5): 727-741.
[2]	LI Guinan, YANG Ni, LUO Wei, ZHANG Jiaqi, HU Zhihang, XIONG Aisheng, HAO Jiannan, ZHUANG Jing. Identification of CsDET2 and Its Response Analysis to Photoperiod and Abiotic Stress in Camellia sinensis [J]. Journal of Tea Science, 2025, 45(5): 742-756.
[3]	FAN Yangen, XIAO Yue, MENG Fanyue, LIU Wenjie, ZHANG Ying, SUN Ping, ZHANG Lixia, REN Lijun. Cloning and Functional Analysis of the Anthocyanin Synthase Gene CsANS1 in the Purple Bud Tea Variety ‘Zijuan' [J]. Journal of Tea Science, 2025, 45(5): 757-769.
[4]	TU Yiyi, ZHANG You, XU Ting, CHEN Junjie, WANG Yuchun, LÜ Wuyun. Loop-mediated Isothermal Amplification-based Detection of Colletotrichum camelliae [J]. Journal of Tea Science, 2025, 45(5): 770-782.
[5]	JIANG Li, LI Duojiao, HU Xinrong, SHEN Yingzi, ZHENG Zhaisheng, WENG Xiaoxing, LIU Shujing, BIAN Xiaodong, YUAN Ming'an, CHEN Xuan. Effects of Different Cultivation Patterns on Physiological and Biochemcial Characteristics of New Shoots in Seed-Leaf Dual-Purpose Tea Plants [J]. Journal of Tea Science, 2025, 45(5): 783-794.
[6]	WANG Kairong, ZHANG Longjie, LIANG Yuerong, LI Xiaoxiang, ZHENG Xinqiang. Identification and Classification of Tea Leaf Color and Establishment of A Tea Leaf Color System [J]. Journal of Tea Science, 2025, 45(5): 795-807.
[7]	LI Jing, HU Xinlong, TANG Huishan, GUO Jinling, HU Guangcan, FENG Depin, QIU Fangfang, WANG Mingle. Integrated Sensory Evaluation and Metabolomics Analysis of the Quality Characteristics of Yihong Black Tea with Different Levels of Tenderness [J]. Journal of Tea Science, 2025, 45(5): 808-820.
[8]	GUO Yu, XIAO Liuyu, DU Qiuyi, TIAN Ye, HAN Yu. Study on Comprehensive Optimization of the Extraction Process and Emulsion Loading System of Water-extracted Polysaccharides from Qingzhuan Tea and Alkali-extracted Polysaccharides from Tea Residue [J]. Journal of Tea Science, 2025, 45(5): 821-840.
[9]	SU Lin, HUANG Zihao, SUN Dan, CHEN Jinhua, ZHENG Yajie, LU Ying. Study on the Hypoglycemic Effects of Major Compounds in White Tea Based on Network Pharmacology and Zebrafish Model [J]. Journal of Tea Science, 2025, 45(5): 841-851.
[10]	WANG Yonghui, WANG Duofeng, LI Xuemin, SHI Tianbin, WU Lidong, LIU Zaiguo, ZHANG Guangzhong, ZHAO Fengyun. Study on the Physicochemical Components and in Vitro Antioxidant Differences of Green Tea from Longnan, Gansu and Jinhua, Zhejiang [J]. Journal of Tea Science, 2025, 45(5): 852-864.
[11]	CHEN Junrui, HU Junming, SHI Yuanzhi, WEI Xianghua, SONG Chuankui, ZHANG Junhui, ZHENG Fuhai, SUO Guangli. The Effects of Biochar-based Fertilizer on the Physical Stability of Organic Carbon in Soil Aggregates of Tea Gardens [J]. Journal of Tea Science, 2025, 45(5): 865-878.
[12]	LI Bing, ZHU Yong, XIA Chenglong, LI Feilong, CAI Zhenyang, WU Hao. Lightweight Online Sorting Method of Milled Tea Based on Improved YOLOv5s [J]. Journal of Tea Science, 2025, 45(5): 879-897.
[13]	MENG Chao, LIANG Tao, ZHANG Xia, WANG Wanhong, DONG Huanglin, LI Ming. Research on Tea Light Complementary Mode Based on Tea Planting and Photovoltaic Power Generation [J]. Journal of Tea Science, 2025, 45(5): 898-908.
[14]	ZHOU Yide, CHEN Jialin, WU Junmei, ZHAO Hongbo, SUN Binmei, LIU Shaoqun, ZHENG Peng. Nitrogen Metabolism Genes in Tea Plant: Research Progress on the Environmental Stress Adaptation Mechanism and Breeding Application [J]. Journal of Tea Science, 2025, 45(4): 545-558.
[15]	SUN Mengzhen, HU Zhihang, YANG Kaixin, ZHANG Jiaqi, ZHANG Nan, XIONG Aisheng, LIU Hui, ZHUANG Jing. Identification of Circadian Clock CsLUX Gene and Its Effects on Photosynthetic Characteristics in Tea Plants [J]. Journal of Tea Science, 2025, 45(4): 559-570.