水果采摘器的设计与运动学分析  

Design and kinematics analysis of fruit picker

作　　者：王维信 孟广耀 王哲 孙英暖 WANG Wei-xin;MENG Guang-yao;WANG Zhe;SUN Ying-nuan(School of Mechanical and Automotive Engineering, Qingdao University of Technology, Qingdao 266520, China)

机构地区：[1]青岛理工大学机械与汽车工程学院,青岛266520

出　　处：《青岛理工大学学报》2020年第4期121-126,共6页Journal of Qingdao University of Technology

基　　金：国家自然科学基金资助项目(51175276)。

摘　　要：针对水果种植业快速发展但是采摘效率低下的问题,设计了一种采用平面连杆机构和末端抓手组成的新型水果采摘机器,通过伺服电机和气压缸控制杆件在空间的运动和末端抓手的开合实现水果采摘器的功能.新型水果采摘器操作简单,能够采摘多种不同尺寸的水果,使水果的采摘过程更加方便、高效.在SolidWorks软件中建立样机模型,通过对机器原理的分析进行结构尺寸的计算,确定抓手尺寸.对水果进行受力分析,优化抓手抓力的范围,应用Simulink对水果采摘器杆件部分进行建模和运动学仿真.位移和加速度的仿真曲线表明杆件运动稳定且响应速度快,验证了结构的合理性和稳定性,有良好的实际应用价值.In view of the rapid development and low picking efficiency in fruit growing industry,a new fruit picking machine is designed,which is composed of planar connecting rod mechanism and end gripper.The function is realized by the movement of servo motor and air cylinder linkage mechanism in space and the opening and closing of end gripper.The new fruit picker is simple to operate and can pick a variety of fruits of different sizes,making the fruit picking process more convenient and efficient.The prototype model is established in SolidWorks software,and the size of the end gripper is determined through the calculation of the structure size based on the analysis of the machine principle.The stress analysis of fruit is carried out to optimize the range of grasping force.The modeling and kinematics simulation of the fruit picker bar are carried out by using Simulink.The simulation results show from the displacement and acceleration curves that the motion of the bar is stable and the response speed is high,which verify the rationality and stability of the structure,and its considerable application value.

关 键 词：机械设计 水果采摘器 连杆机构 受力分析 运动学仿真 

分 类 号：TH122[机械工程—机械设计及理论]