名优茶采摘机器人整机机械技术研究进展与展望

Research Progress and Prospects of Mechanical Technology for Whole Machine of High-quality Tea Picking Robot

摘要:

名优茶采摘是茶园生产劳作中劳动力需求最多的环节，随着劳动力短缺和劳动力成本不断上升，已严重制约名优茶产业的持续健康发展。农业机器人是机器人领域的重要分支，农业采摘机器人代替人工采摘作业成为现代农业发展的重要趋势。名优茶为我国特有的茶叶品类，世界范围内名优茶采摘机器人研究也主要在国内科研院所中开展。首先，阐述了名优茶采摘机器人的采摘末端执行器、采摘机械臂和运动底盘等整机机械关键技术，涵盖不同采摘方式的末端执行器，包括剪切式、提拉式、折断式和仿生式；末端执行器的收集方式包括负压吸式、抛甩式和传送式；采摘机械臂的构型包括 XYZ型、SCARA型、Delta型为主的并联型和多关节串联型，对机械臂运动规划、多机械臂协同、轨迹规划等支撑技术进行了分析；以及适用于不同茶园环境的运动底盘形式，包括轮式、履带式和轨道式。通过以上关键技术的技术方案对比分析，总结出各种关键技术方案的应用特点和存在问题。其次，将名优茶采摘机器人的研究划分为名优茶采摘机器人的理论研究、试验验证和样机试验3个发展阶段，并阐述了最新研究进展。最后，阐述了名优茶采摘机器人的整机机械关键技术应用需求和技术挑战，指出名优茶采摘机器人整机机械关键技术的未来发展趋势，为名优茶采摘机器人的研发和后续应用提供参考和借鉴。

Abstract:

The picking of high-quality tea is the most labor-intensive process in tea planting and production. With the shortage of labor and the rising cost of labor, it has seriously constrained the sustainable and healthy development of the high-quality tea industry. Replacing manual picking operations with agricultural picking robots has become an important trend in the development of modern agriculture. High-quality tea is a unique tea category in China, and research on high-quality tea picking robot worldwide was mainly carried out in domestic research institutes. Firstly, by analyzing existing domestic and foreign literatures, the research focused on key mechanical technologies such as the picking end effector, picking robotic arm, and motion chassis of the high-quality tea picking robot. The technical solutions of the key technologies were compared and analyzed, and the application characteristics and existing problems of the technical solutions were summarized. Secondly, three development stages were divided for the research of the whole machine of the high-quality tea picking robot. Finally, the key mechanical technical application requirements and technical challenges of the whole machine of the high-quality tea picking robot were elaborated, and the future technological development trends of the key mechanical technologies of the whole machine of the high-quality tea picking robot were pointed out.