高档名优绿茶仿生采摘指气动控制系统研制

为解决高档名优绿茶采摘劳动力紧缺和现有采茶机对新梢采摘缺乏选择性的问题,提出用于采茶机器人的、模仿人工“提手采”方式的仿生采摘指机构,通过固定、提拉等动作将新梢的茎拉断,并基于该机构设计采摘指气动控制系统.系统采用STM32芯片为控制核心,通过光耦继电器控制电磁换向阀两个出气口有序开启,从而控制气缸往复运动,实现采摘指...

Development of the pneumatic control system for the bionic plucking fingers for high-quality green tea

In order to solve the problems of labor shortages for plucking high-quality green tea and lacking selectivity for plucking the flushes by existing tea plucking machines,a bionic plucking mechanism for tea plucking robots which imitated the manual plucking method was proposed in this paper,and a pneumatic control system was designed based on this mechanism.The system used STM32 microcontroller as the control core,and it was controlled the electromagnetic valves to make the cylinders reciprocate to realize the plucking of the flushes.Through calculation and analysis,the pneumatic control circuit was designed and the components of the pneumatic system were selected.The hardware circuit and software of the control system were designed,and a prototype was made.The results showed that the plucking fingers could separate the flushes from the stalks effectively,and the success rate of plucking a bud with a leaf was up to 90%,which verified the feasibility and practicability of the pneumatic control system for the bionic plucking fingers.