自锁式茶梗夹持器设计

Design of Self-locking Gripper for Tea Stalks

摘要:

为实现梗叶分离过程中茶鲜叶的整列夹持，设计了一种由曲柄滑块机构和RRR杆组构成的自锁式夹持器。理论分析表明，当机构参数选取不当时，可能产生夹爪回缩现象，不利于小直径物体的夹持，通过限制回缩高度可避免这一问题。通过机构分析，建立了夹持器各参数之间的依赖关系，在此基础上给出了夹持器关键参数的确定方法，将问题转变为一个超越方程组并用粒子群算法加以求解。试验结果表明，采用该方法设计的夹持器能较好地实现夹紧自锁的功能，且茶梗的夹持长度在5~15mm之间较为适宜。

Abstract:

In order to realize column clamping of fresh tea in tea leaf and stalk separation, a self-locking gripper consisted of slider-crank mechanism and RRR assur group was designed. Analysis showed that, retraction phenomenon might happen if parameters were not suitably selected, which make it difficult to grip small diameter objects. However, it could be avoided by the constraining of retraction height. Secondly, relations between parameters were deduced, based on which an appropriate method was proposed on the determination of design parameters. The design problem was attributed to a transcendental equation, which was solved by particle swarm optimization method. Experimental results showed that grippers designed with this method can realize clamping and self-locking successfully, and a clamping length of 5~15mm was suitable.