摘要
针对番茄采摘末端执行器自动化需求,设计了一种基于气-电协同控制的末端执行器系统。该装置采用模块化架构构建气动控制系统,集成空气压缩机、电磁阀、真空吸附装置及柔性薄膜压力传感器,通过STM32微控制器实现闭环控制。系统融合Wi-Fi/蓝牙双模通信协议,在采摘阶段通过真空吸盘与气动夹爪协同作用,配合压力传感器实时监测接触力,当压力值进入预设阈值范围时触发稳压锁定机制,可以有效降低采摘过程中的果实损伤率。硬件电路采用四路光耦隔离继电器实现电磁阀精准控制,定制的多功能工控板有集成信号调理模块和双阈值检测系统,试验通过三色LED状态指示模拟采摘过程中随着输入气压压力的变化,系统的预警反馈状态。为后续实现系统控制比例压力阀达到自适应调节系统压力的功能奠定基础。
For the automation needs of tomato picking end-effector,an end-effector system based on pneumatic-electrical cooperative control is designed.The device adopts a modular architecture to build a pneumatic control system,integrating an air compressor,a solenoid valve,a vacuum adsorption device,and a flexible thin-film pressure sensor,and realizes closed-loop control through an STM32 microcontroller.The system integrates Wi-Fi/Bluetooth dual-mode communication protocols,which can effectively reduce the fruit damage rate during the picking process through the synergistic action of the vacuum suction cup and the pneumatic gripper in the picking stage,together with the real-time monitoring of the contact force by the pressure sensor,and the trigger of the stabilized locking mechanism when the pressure value enters the preset threshold range.The hardware circuit adopts four-channel optocoupler isolated relays to achieve precise control of the solenoid valve.The customized multi-functional industrial control board integrates a signal conditioning module and a dual-threshold detection system.The test simulates the changes in the system’s early warning feedback and adaptive regulation function status during the picking process with the variation of input air pressure through three-color LED status indicators.This lays the foundation for the subsequent realization of the system’s control of the proportional pressure valve to achieve adaptive regulation of the system pressure.
作者
胡晓平
赵晨
李亚芹
付彦伟
李彩花
HU Xiaoping;ZHAO Chen;LI Yaqin;FU Yanwei;LI Caihua(School of Mechanical Engineering,Jiamusi University,Jiamusi 154007,China)
出处
《农机使用与维修》
2025年第8期33-36,共4页
Agricultural Machinery Using & Maintenance
基金
黑龙江省教育厅基本科研业务费基础研究项目(2023-KYYWF-0569)。
