落地林果收获机器人设计  

Design of harvesting robot for falling forest fruits

作　　者：郑东臣 宋欣 冀鹏飞 陈娟娟 马磊 郑志伟 Zheng Dongchen;Song Xin;Ji Pengfei;Chen Juanjuan;Ma Lei;Zheng Zhiwei(Tianjin Agricultural University,College of Engineering and Technology,Tianjin 300392,China;John Deere(Tianjin)Co.Ltd,Tianjin 300457,China;Tianjin Agricultural University,College of Water Conservancy Engineering,Tianjin 300392,China)

机构地区：[1]天津农学院工程技术学院,天津300392 [2]约翰迪尔(天津)有限公司,天津300457 [3]天津农学院水利工程学院,天津300392

出　　处：《天津农学院学报》2020年第4期68-72,共5页Journal of Tianjin Agricultural University

基　　金：国家级大学生创新创业训练计划项目(201910061008);天津市科技支撑重点项目(18YFZCSF00650)

摘　　要：针对当前我国在林果收获作业中存在的机械化程度低、劳动强度大、作业效率低和人工成本高等问题,提出设计一种落地林果收获机器人。该机器人主要由捡拾器、输送机构、水平摆动机构、集果器、太阳能供电装置和自走式移动底盘组成,能够实现核桃、栗子、大枣等落地林果的自动捡拾、清杂和收集功能,能够自主适应果园的地形条件,作业灵活,操作简单。经过物理样机性能测试表明具有较高的捡拾效率和捡拾成功率。Aiming at the problems of low mechanization degree,high labor intensity,low operation efficiency and high labor cost in forest fruit harvesting in China,the design of the forest fruit harvesting robot was proposed in the paper.The robot is mainly composed of gatherer,conveying mechanism,horizontal swing mechanism,fruit collector,solar-powered device and self-moving mobile chassis,which can realize the functions of automatic picking up,cleaning and collecting of the falling forest fruit such as walnut,chestnut and jujube.It is flexible and easy to operate,and has good adaptability to the topography of orchards.The performance test of the physical prototype shows that it has high collecting efficiency and success rate.

关 键 词：落地林果 收获机器人 捡拾器 水平摆动机构 集果器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S776.2[自动化与计算机技术—控制科学与工程]