摘要
为进一步提升我国农业采摘的作业效率及实现采摘装备的深度智能化,针对通用型采摘机器人的电控系统展开研究。以采摘机器人的作业原理及核心部件组成为设计基础,搭建电控系统输入参数与机构组件执行之间的数学模型,进行电控系统的软件功能优化与硬件配置实现。同时,展开基于电控系统设计优化的采摘机器人整机作业试验,结果表明:采摘机器人的系统动作响应迅速,系统响应率与采摘成功率分别可达98.53%及96.40%,结构协调度良好,实现了综合采摘效率相对提升5.69%的设计目标,且各采摘机构及装置运行稳定,具有较强的实践与推广价值。
In order to further improve the efficiency of agricultural picking and realize the deep intelligence of picking equipment in China,the design and research on the electric control system of a general-purpose picking robot were carried out.Based on the operating principle and core components of the picking robot,the mathematical model between the input parameters of the electronic control system and the execution of the mechanism components was built,the software function optimization and hardware configuration of the electronic control system were realized,and the whole machine operation test of the picking robot based on the design optimization of the electronic control system was carried.The results showed that the system action response of the picking robot was rapid through the design of the electronic control system,and the system response rate and picking success rate could reach 98.53%and 96.40%respectively.The structure coordination degree was very good,realizing the design effect that the comprehensive picking efficiency was relatively increased by 5.69%and each picking mechanism and device operated stably,which would be a new breakthrough in reducing manual operation time and the wide application of picking equipment,and have strong practical and promotional value.
作者
谌爱珍
姜富宽
Chen Aizhen;Jiang Fukuan(Zhumadian Technician College,Zhumadian 463000,China)
出处
《农机化研究》
北大核心
2024年第9期138-142,共5页
Journal of Agricultural Mechanization Research
基金
河南省职业教育教学改革研究项目(ZJB14179)。
关键词
采摘机器人
电控系统
功能优化
系统响应率
采摘效率
picking robot
electric control system
function optimization
system response rate
picking efficiency
