基于提采动作的便携式名优茶鲜叶采摘机

doi:10.3969/j.issn.1004-1524.20230614

浙江农业学报 ›› 2024, Vol. 36 ›› Issue (5): 1161-1172.DOI: 10.3969/j.issn.1004-1524.20230614

基于提采动作的便携式名优茶鲜叶采摘机

王洪成(), 白子豪, 徐海浩, 徐凯, 黄阿龙, 王泽恩, 万菲, 张俐楠, 吴立群

杭州电子科技大学机械工程学院,浙江杭州 310018

收稿日期:2023-05-11 出版日期:2024-05-25 发布日期:2024-05-29
作者简介:王洪成(1985—),男,江苏淮安人,博士,副教授,主要从事移动机器人和智能农机方面的研究。E-mail:wanghc@hdu.edu.cn
基金资助:
浙江省“三农九方”科技协作计划“揭榜挂帅”项目(2023SNJF046);浙江省“领雁”研发攻关计划(2022C02055);浙江省“领雁”研发攻关计划(2022C02046);浙江省属高校基本科研业务费专项资金(GK219909299001-412);浙江省基础公益研究计划(LY21A020009)

Portable famous tea fresh leaves picking machine based on lifting-picking action

WANG Hongcheng(), BAI Zihao, XU Haihao, XU Kai, HUANG Along, WANG Ze’en, WAN Fei, ZHANG Linan, WU Liqun

School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China

Received:2023-05-11 Online:2024-05-25 Published:2024-05-29

摘要/Abstract

摘要：

为缓解以龙井为代表的名优茶鲜叶采摘完全依赖人工的现状,提出一种基于鲜叶-老叶物理特性差异的鲜叶采摘方法,通过纯机械的弹性结构和柔性采摘单元实现鲜叶的自动化采摘。首先对鲜叶-老叶在生长高度、表观形态和茶叶茎断裂强度等物理特性差异进行研究,作为采摘机结构和拉拔力参数设计的主要依据;在此基础上,受茶农手工采摘鲜叶时的“提采”动作启发,提出基于鲜叶上下表面摩擦力差异的鲜叶采摘机构,并对其进行采摘过程的动力学仿真分析;依据仿真结果,分别采用硅胶和特氟龙膜作为与鲜叶上下表面接触的柔性材料,结合动底板弹性结构、提供可调的拉拔力以避免采摘过程中鲜叶受损。茶园试验结果表明,当采摘力设置为3.0 N时采摘效果较好,鲜叶茎断裂位置取决于鲜叶茎断裂强度最小的位置,与人手工采摘时的断裂位置一致,鲜叶采净率约40%,老叶误采率约7%,茶叶损伤率约5%,采摘效率约1.44 kg·h^-1(相当于3个熟练采茶工)。该研究结果可为鲜叶的全自动机器采摘提供技术积累。

关键词: 名优茶, 采茶机, 鲜叶, 老叶, 摩擦力

Abstract:

To alleviate the current situation where the harvesting of famous teas represented by Longjing heavily relies on manual labor, this paper proposes a fresh leaf harvesting method based on the physical characteristics differences between fresh leaves and old leaves. The method employed purely mechanical elastic structures and flexible harvesting units to achieve the automation of fresh leaf harvesting. First, the study investigated the physical characteristics differences between fresh leaves and old leaves, such as growth height, apparent morphology, and the breaking strength of tea stems, serving as the primary basis for the design of the harvester’s structure and the pulling force parameters. Based on this, inspired by the picking action of tea farmers when manually harvesting fresh leaves, a fresh leaf harvesting mechanism based on the frictional force difference between the upper and lower surfaces of fresh leaves was proposed. The mechanism underwent a dynamics simulation analysis of the harvesting process. According to the simulation results, silica gel and Teflon film were used as the flexible materials in contact with the upper and lower surfaces of fresh leaves, combined with a dynamic bottom plate elastic structure, to provide adjustable pulling force to avoid damage to the fresh leaves during harvesting. Tea garden trial results showed that when the picking force was set to 3.0 N, the harvesting effect was better. The breaking position of the fresh leaf stem depends on the position where the breaking strength of the fresh leaf stem was the minimum, consistent with the breaking position during manual harvesting. The clean picking rate of fresh leaves was about 40%, the mispicking rate of old leaves was about 7%, the tea leaf damage rate was about 5%, and the picking efficiency was about 1.44 kg·h^-1 (equivalent to three skilled tea pickers). The results of this study can provide technical accumulation for the fully automatic mechanical harvesting of fresh tea leaves.

Key words: famous tea, tea-picking machine, fresh leaf, old leaf, friction

中图分类号:

S225.99

王洪成, 白子豪, 徐海浩, 徐凯, 黄阿龙, 王泽恩, 万菲, 张俐楠, 吴立群. 基于提采动作的便携式名优茶鲜叶采摘机[J]. 浙江农业学报, 2024, 36(5): 1161-1172.

WANG Hongcheng, BAI Zihao, XU Haihao, XU Kai, HUANG Along, WANG Ze’en, WAN Fei, ZHANG Linan, WU Liqun. Portable famous tea fresh leaves picking machine based on lifting-picking action[J]. Acta Agriculturae Zhejiangensis, 2024, 36(5): 1161-1172.

图/表 16

图1 一芽两叶鲜叶

Fig.1 One tender bud with two leaves

图2 鲜叶与老叶的高度差

Fig.2 Height difference for fresh leaves and old leaves

图3 茶叶表观形态特征尺示意图 p,横向特征尺寸;q,纵向特征尺寸。

Fig.3 Schematic diagram of characteristic dimension for morphology of tea leaf p, Lateral feature size; q, Longitudinal feature size.

图4 嫩芽、嫩叶、老叶表观形态差异

Fig.4 Apparent morphology of tender buds, tender leaves and old leaves of tea

图5 茶叶茎断裂强度测量方法

Fig.5 Method for measuring stem breaking strength of tea leaf

图6 茶叶茎断裂时最小拉拔力测量结果

Fig.6 Minimum drawing force testing result for leaf stem breaking

图7 鲜叶手工采摘姿态

Fig.7 Fresh tea leaf picking posture by hand

图8 基于茶叶上下表面摩擦力差异的鲜叶采摘模块 (a),采摘模块结构示意图;(b),拉拔力调节机构。1,定底板;1a,导向杆;2,动底板;2a,特氟龙膜;2b,直线轴承;3,弹簧;4,滚动体;4a,硅胶套;5,调节螺杆;6,方片螺母;7,茶叶;R,动底板曲率半径。

Fig.8 Fresh leaves picking mechanism based on frictional force difference between upper and lower surfaces (a), Schematic diagram of harvesting module structure; (b), Pulling force adjustment mechanism. 1, Fixed plate; 1a, Guide rod; 2, Moving plate; 2a, Teflon film; 2b, Linear bearing; 3, Spring; 4, Rolling element; 4a, Silicone sleeve; 5, Adjusting screw; 6, Square nut; 7, Tea leaf; R, Curvature radius of moving plate.

图9 采摘模块动力学仿真模型 (a),采摘初始状态;(b),采摘完成状态。

Fig.9 Dynamics simulation model of the picking part (a), State of picking start; (b), State of picking complete.

图10 鲜叶茎断裂时所受拉拔力仿真结果

Fig.10 Simulation result of pulling force applied on fresh leave steam

图11 滚动体硬质型芯结构图

Fig.11 Model core of rolling element

图12 采摘单元的加工工艺流程图 (a),A、B硅胶混合;(b),打印上下模型和型芯;(c),浇注;(d),压型;(e),脱模。

Fig.12 Manufacture process for tea bud picking unit (a), Mixing silica gel A and B; (b), Printing upper, lower and core molds; (c), Pouring; (d), Profiling; (e), Demolding.

图13 采茶机总体结构 (a),示意图;(b),样机图。1,机架;2,动底板;3,滚动体;4,拉拔力调节机构;5,直流电机(包含手柄);6,电源柜与控制器;7,鲜叶收集袋;8,老叶隔离齿。

Fig.13 Overall structure diagram of tea bud-picking machine (a), Schematic diagram; (b), Prototype photo。1, Frame; 2, Moving plate; 3, Rolling element; 4, Pulling force adjustment mechanism; 5, DC motor (including a handle); 6, Power cabinet and controller; 7, Fresh tea leaf collection bag; 8, Old tea leaf isolation teeth.

图14 西湖龙井茶园采摘试验区域

Fig.14 Test area in West Lake Longjing tea garden

图15 拉拔力对采摘效果的影响

Fig.15 The influence of picking force on picking effects

图16 采摘试验结果 (a),采摘前区域;(b),采摘后区域;(c),形态完整的鲜叶;(d),形态受损的鲜叶;(e),误采的老叶。

Fig.16 Results of picking test (a), Area before being picked; (b), Area after being picked; (c), Fresh leaves with integrated shape; (d), Fresh leaves with damaged shapes; (e), Old leaves being mis-picked.

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基于提采动作的便携式名优茶鲜叶采摘机

Portable famous tea fresh leaves picking machine based on lifting-picking action

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