“美登”蓝莓两模式机械采摘手设计与性能分析  

Design and Performance Analysis of Two-Mode Mechanical Picking Hand for‘Maiden’Blueberry

作　　者：孟兆新[1] 高旗 柳珍 程月峰 田相雨 MENG Zhao-xin;GAO Qi;LIU Zhen;CHENG Yue-feng;TIAN Xiang-yu(School of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin Heilongjiang 150040,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《林业机械与木工设备》2025年第2期57-63,共7页Forestry Machinery & Woodworking Equipment

摘　　要：由于“美登”蓝莓植株矮,大多数为人工采摘,采摘成本高且劳动强度大;国内现有的采摘机械易对蓝莓造成损害且对经济和科技水平要求较高。针对现有问题设计了一种两模式机械采摘手,采用简单机械结构的机械手与机械爪配合,适合多粒采摘与单粒采摘。通过图像识别系统,采摘模式得以确定并自动切换。并针对“美登”蓝莓两模式机械采摘手结构进行了设计,对其进行了运动学分析和仿真分析,验证了该采摘器的合理性。Due to the short plant of‘Maiden’blueberry,most of them are picked manually,which has high picking cost and high labor intensity.The existing picking machinery in China is easy to cause damage to blueberry and has higher requirements for economic and technological level.Therefore,a two-mode mechanical picking hand is designed for the existing problems.The simple mechanical structure of the manipulator and the mechanical claw are used to cooperate,which is suitable for multi-grain picking and single-grain picking.Through the image recognition system,the picking mode can be determined and automatically switched.The structure of the‘Maiden’blueberry two-mode mechanical picking hand was designed,and the kinematics analysis and simulation analysis were carried out to verify the rationality of the picking device.

关 键 词：蓝莓采摘 两模式 机械手 手指正解 仿真分析 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] S225[自动化与计算机技术—控制科学与工程]