农机使用与维修Issue(8)：33-36,4.DOI:10.14031/j.cnki.njwx.2025.08.008
番茄采摘末端执行器控制系统设计与研究
Design and Research on Control System of Tomato Harvesting End-effector
摘要
Abstract
For the automation needs of tomato picking end-effector,an end-effector system based on pneumatic-elec-trical cooperative control is designed.The device adopts a modular architecture to build a pneumatic control system,in-tegrating 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 pres-sure value enters the preset threshold range.The hardware circuit adopts four-channel optocoupler isolated relays to a-chieve 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 warn-ing 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 con-trol of the proportional pressure valve to achieve adaptive regulation of the system pressure.关键词
末端执行器/气动系统设计/控制系统设计/模拟试验Key words
End-effector/pneumatic system design/control system design/simulation tests分类
农业科技引用本文复制引用
胡晓平,赵晨,李亚芹,付彦伟,李彩花..番茄采摘末端执行器控制系统设计与研究[J].农机使用与维修,2025,(8):33-36,4.基金项目
黑龙江省教育厅基本科研业务费基础研究项目(2023-KYYWF-0569) （2023-KYYWF-0569）
