果蔬自动化采摘执行装置设计与研究  

Design and Research of Automatic Fruit and Vegetable Picking Execution Device

作　　者：黄鹏程[1] 林雪[1] HUANG Pengcheng;LIN Xue(Key Laboratory of Crop Harvesting Equipment Technology of Zhejiang Province,Jinhua Polytechnic,Jinhua Zhejiang 321000,China)

机构地区：[1]金华职业技术学院,浙江省农作物收获装备技术重点实验室,浙江金华321000

出　　处：《农业工程》2022年第11期14-17,共4页AGRICULTURAL ENGINEERING

基　　金：金华市科学技术研究计划项目(2019-2-013)。

摘　　要：针对传统刚性机械手在果蔬采摘过程中出现的驱动电机数过多、气源不便于携带等应用性问题,设计了由驱动模组、固定与切换模组和抓取模组3部分组成的果蔬自动化采摘执行装置。通过驱动模组的旋转电机配合切换结构,实现抓取模组绕着转轴整体旋转和抓取模组自体式旋转两种模式之间的切换,完成执行装置的位姿调整。同时,通过伸缩电机控制抓取爪的联动开合,取代传统的气动夹爪,实现对作业对象抓取。Aiming at application problems of traditional rigid manipulator in fruit and vegetable picking process,such as too many driving motors and inconvenient air source to carry,an automatic fruit and vegetable picking executive device was designed,which was composed of three parts:driving module,fixed and switching module and grabbing module.Through combination of rotating motor of driving module and switching structure,switching between two modes of overall rotation of grasping module around rotating shaft and self-body rotation of grasping module was realized,and posture adjustment of execution device was completed.At the same time,linkage opening and closing of grasping claw was controlled by telescopic motor,which replaced traditional pneumatic clamping claw and realizes object grasping.

关 键 词：果蔬 采摘装置 执行装置 电机驱动 

分 类 号：S225[农业科学—农业机械化工程]