双轨式油茶果采摘机器人的动力轨道平台设计  

Design of a dual track power platform of Camellia oleifera fruit picking robot

作　　者：陈吉朋 王凯[1] 陈佳佳 周宏平[1] CHEN Jipeng;WANG Kai;CHEN Jiajia;ZHOU Hongping(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037

出　　处：《林业工程学报》2025年第2期138-146,共9页Journal of Forestry Engineering

基　　金：国家林业和草原局应急科技项目(202202-3)。

摘　　要：油茶是我国特有的木本油料之一。现阶段,油茶果主要由人工采收,成本高、效率低,制约了油茶产业的发展。为提高油茶采收的智能化水平、实现油茶果的机器采收作业,提出了一种双轨式油茶果采摘机器人的动力轨道平台;分析了采摘机器人及其动力轨道的基本设计需求,给出了总体设计方案。对采摘机器人搭载平台、行走驱动装置、驱动电机等关键部件进行了详细的计算和选型;基于SolidWorks对不同结构参数下的轨道进行了应力-应变仿真;利用ADAMS开展轨道平台的运动学仿真,对其行走特性进行了分析和研究;借助ANSYS软件对动力轨道平台机架部位进行了模态分析。设计了动力轨道平台的控制单元,分析了动力轨道平台的控制流程。完成了双轨式油茶果采摘机器人的动力轨道平台样机试制,并进行了样机运行试验。试验结果表明,所设计的双轨式油茶果采摘机器人动力轨道平台,可搭载机器人完成户外环境下的油茶果采摘,具有可行性。Camellia oleifera is a unique woody oil plant in China,known for its high nutritional and economic value.Currently,the harvesting of C.oleifera fruits in China relies primarily on manual labor.However,labor shortages,high physical demands,and rising employment costs are limiting the growth and development of C.oleifera industry.To improve the intelligent level of camellia fruit harvesting and realize the machine harvesting operation of C.oleifera fruits,a power track platform of dual track C.oleifera fruits picking robot was proposed.Firstly,according to the characteristics of the growth environment of C.oleifera and the working mode of the collaborative robot,the basic design requirements of the picking robot and its power track were analyzed,and the overall design scheme was given.Secondly,the key components of the picking robot,such as the platform,the walking driving device and the driving motor,were calculated and selected in detail.Based on SolidWorks,the stress-strain simulation of the track under different structural parameters was carried out and the optimal track size parameters were selected.Thirdly,a virtual prototype of the dynamic rail platform was built,and the kinematic simulation of the rail platform was carried out using ADAMS,and the change curves of parameters such as speed and displacement were obtained,and the walking characteristics were analyzed based on the simulation results.Then,the control unit of the power track platform was designed,and the control flow of the power track platform was analyzed.With the help of ANSYS software,the modal analysis of the power rail platform frame was conducted,and the main excitation sources of the power rail platform were compared with the power rail platform to determine whether the power rail platform frame would produce resonance phenomenon.Finally,the prototype of the power track platform of the dual track C.oleifera fruit picking robot was completed,and the prototype operation test was carried out.The results demonstrated that the designed dual tra

关 键 词：油茶果 采摘 机器人 双轨式 轨道平台 

分 类 号：S225.93[农业科学—农业机械化工程]