Design and experiment of pneumatic non-destructive picking mechanism for coated kiwi fruit

doi:10.13733/j.jcam.issn.2095-5553.2024.06.005

Abstract

Abstract:

In order to solve the problem that the skin of kiwifruit is easily scratched during picking, a new type of enveloping airbag gripper based on pneumatic control of airbag expansion and contraction to achieve fruit storage and encapsulation was designed. By increasing the area of contact between the fruit and the gripper, reducing the compression on the fruit, the harvesting success rate was improved without damage to the fruit. The mechanical structure of the airbag gripper was designed by capturing and shearing the fruit from the bottom upwards. Through finite element simulation to analyze the force situation between the airbag and the fruit during picking, it was proved that the force point of the designed gripper was mainly on the upper and lower surfaces of the airbag gripper with a high fit. After the field picking test, the picking success rate and damage rate of the airbag gripper under different air pressure were tested. The best picking effect was achieved when the air pressure of the gripper was 40 kPa, with a success rate of 95%, and the damage rate curve was most similar to hand picking.

Key words: kiwi fruit, picking mechanism, end effectors mechanism, pneumatics equipment

摘要：

为解决猕猴桃采摘过程中易刮伤果实表皮的问题，设计一种新型的包覆式气囊夹爪，基于气动控制气囊的膨胀与收缩，实现果实的收纳与包覆，并通过增加果实与夹爪的受力面积，减少夹爪对果实的挤压，在保证果实不受损伤的前提下提高采摘成功率。以底部向上捕捉、剪切收获果实的采摘方式，设计气囊夹爪的机械结构；通过有限元模拟，对采摘过程中气囊与果实的受力情况进行分析，证明设计的夹爪受力点主要在气囊夹爪上下表面，贴合性高。经过实地采摘试验，测试不同气压下气囊夹爪的采摘成功率以及损伤率，确定夹爪气压为40 kPa时，采摘效果最好，成功率达95%，损伤率曲线与手工采摘最为相似。

关键词: 猕猴桃, 采摘机构, 末端执行机构, 气动装置

CLC Number:

S225.93

Wang Ruiyuan, Wang Jiahong, Yan Yu, Zhu Guohong, Ye Hongbao. Design and experiment of pneumatic non-destructive picking mechanism for coated kiwi fruit[J]. Journal of Chinese Agricultural Mechanization, 2024, 45(6): 26-31.

王睿远, 王佳虹, 晏毓, 朱国宏, 叶宏宝. 包覆式猕猴桃气动无损采摘机构设计与试验[J]. 中国农机化学报, 2024, 45(6): 26-31.

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