一种基于变胞原理的水果采摘机构设计与分析  

Design and Analysis of a Fruit Picking Mechanism Based on Cellu lar Principle

作　　者：李海波 邵绪威 夏晓斌 LI Haibo;SHAO Xuwei;XIA Xiaobin(Aviation Equipment Manufacturing Department,Zhangjiajie Institute of Aeronautical Engineering,Zhangjiajie 427000,China;Foshan Power Supply Bureau,Guangdong Power Grid Co.,Ltd,FoShan 528000,China)

机构地区：[1]张家界航空工业职业技术学院航空装备制造学院,湖南张家界427000 [2]广东电网有限责任公司佛山供电局,广东佛山528000

出　　处：《河南工学院学报》2025年第1期7-11,49,共6页Journal of Henan Institute of Technology

基　　金：湖南省教育厅科学研究项目(23C1037);中国南方电网有限责任公司科技攻关项目(GDKJXM20220730)。

摘　　要：提出和研究了一种基于变胞原理的水果采摘装置,该装置具有周向对称性好、便携、果型适应能力强等特点。在分析机构整体方案与变胞原理的基础上,建立了剪杆刃口端的运动学模型、误差分析模型和碰撞力计算模型。随后对夹臂碰到果体前的剪杆-夹臂稳态进行分析,建立了稳态判断条件,帮助设计人员准确掌握机构的运动状态。最后仿真分析了机构关键安装点位对剪杆刃口端的运动速度和剪断能力的影响,分析结果表明,关键点位的安装位置对剪杆的剪断能力具有重要影响;合理的结构设计可以让剪杆刃口端速度取得局部最优解。A fruit picking device based on the principle of cell transformation was proposed and studied,which has the characteristics of good circumferential symmetry,portability,and strong adaptability to fruit shape.On the basis of analyzing the overall scheme of the mechanism and the principle of deformation,a kinematic model and error analysis model of the cutting edge of the shear rod were established.Subsequently,the steady-state analysis of the shear rod clamp arm before the clamp arm touched the fruit body was carried out,and the steady-state judgment conditions were established,which can help designers accurately grasp the motion state of the mechanism.Finally,the influence of key installation points on the motion speed and cutting ability of the cutting edge of the shear rod was simulated and analyzed.The analysis results showed that the installation position of key points has a significant impact on the cutting ability of the shear rod;A reasonable structural design can achieve a local optimal solution for the cutting edge speed of the shear rod,which can serve as a reference for optimizing the device.

关 键 词：水果采摘 变胞机构 便携式 

分 类 号：TM754[电气工程—电力系统及自动化]