菠萝采摘机械手结构设计  

Structure Design of Pineapple Picking Manipulator

作　　者：李道义[1] 陈雷 尚小龙 王梓超 王威 杨旭龙 LI Daoyi;CHEN Lei;SHANG Xiaolong;WANG Zichao;WANG Wei;YANG Xulong(Chinese Academy of Agricultural Mechanization Sciences,Beijing 100083,China;College of Agricultural Equipment Engineering,Henan University of Science and Technology,Luoyang Henan 471003,China)

机构地区：[1]中国农业机械化科学研究院,北京100083 [2]河南科技大学农业装备工程学院,河南洛阳471003

出　　处：《农业工程》2019年第2期1-5,共5页AGRICULTURAL ENGINEERING

基　　金：国家重点研发计划重点专项项目"丘陵山区林果机械化作业机械装备研发与示范"(项目编号:2018YFD0700602)

摘　　要：利用机器人技术实现果实精准化、智能化收获是现代果业生产技术的发展方向之一。提出了一种由夹持机构、剪切机构和支撑机构组成的菠萝采摘机械手。介绍了各主要部件的结构特点和设计参数,利用Solid Works软件建立了采摘机械手的虚拟样机,并进行了田间试验。项目研究成果可为中国现代果园全程机械化研究提供技术参考。Using robot technology to realize precise and intelligent fruit harvest is one of development directions of modern fruit production technology.A pineapple picking manipulator composed of clamping device,shearing device and support device was designed.Structural characteristics and design parameters of main components of manipulator were described in detail.Virtual prototype of picking manipulator was established by SolidWorks software,and field experiment was carried out.Research results could provide technical reference for whole mechanization research of Chinese modern orchard.

关 键 词：菠萝采摘 机械手 末端执行装置 结构设计 

分 类 号：S225.93[农业科学—农业机械化工程]