作者：王键，陈霖，唐英文，陈治帆，韩丹丹，谭云峰，胡森（四川农业大学，四川 雅安 625014）
摘 要：【目的】当前我国花椒采摘仍以手工为主，采摘效率低、难度大、成本高，急需开发新式花椒采摘机械，以提高花椒品质和产量。【方法】课题组介绍了花椒机械化采摘的必要性以及现有花椒采摘机械的优缺点，提出一种刚性骨架与柔性蒙皮相结合的花椒采摘软体机械手，并分析了该软体机械手各部分结构与工作原理，最后对该软体机械手进行仿真分析，得出机械手工作时的应力分布和运动情况。【结果】机械手工作时最大应力为0.027 51 MPa，远小于结构钢屈服强度335 MPa，因此采摘机构能够正常作业，证明该软体机械手设计方案具有可行性。【结论】该软体机械手模拟人手掐摘花椒过程，气囊充气驱动关节转动，安装在机械臂的末端，结合视觉识别技术可实现花椒智能采摘，有利于提高花椒采摘效率，促进花椒产业发展。
Abstract: [Objective] Currently, the picking of Zanthoxylum bungeanum is still mainly done by hand, with low efficiency, high difficulty, and high cost. It is urgent to develop new picking machinery for Zanthoxylum bungeanum to improve its quality and yield. [Method] The research group introduced the necessity of mechanized picking of Zanthoxylum bungeanum and the advantages and disadvantages of existing Zanthoxylum bungeanum picking machinery. We proposed a Zanthoxylum bungeanum picking soft manipulator that combines a rigid skeleton and flexible skin, and analyzed the structure and working principle of each part of the soft manipulator. Finally, simulation analysis was conducted on the soft manipulator to obtain the stress distribution and motion situation of the manipulator during operation. [Result] The maximum stress of the manipulator during operation is 0.027 51 MPa, which is much lower than the yield strength of the structural steel of 335 MPa. Therefore, the harvesting mechanism can operate normally, proving the feasibility of the design scheme of the soft manipulator. [Conclusion] The soft manipulator simulates the process of picking Zanthoxylum bungeanum by hand, the airbag is inflated to drive the joint rotation, installed at the end of the robot arm, combined with visual recognition technology can achieve intelligent picking of Zanthoxylum bungeanum, which is conducive to improving the efficiency of Zanthoxylum bungeanum picking and promoting the development of Zanthoxylum bungeanum industry.
Keywords: Zanthoxylum bungeanum; picking; current situation analysis; manipulator