摘要
【目的】像苹果、梨子、桃子这类树高3 m左右的树生水果的采摘仍主要采用传统的手工作业方式,劳动强度大、劳动成本高,人工采摘作业不仅效率低下还具有一定的危险性。而目前研究开发的农业采摘机器人多采用刚性关节型机械臂,难以满足某些地方果树生长密集、枝条随机生长等情况的采摘需要,为了解决这些问题,亟需设计一款柔性采摘机械臂。【方法】课题组根据仿生学原理,模仿大象鼻子的运动机理,设计了一种拉绳驱动的仿象鼻柔性采摘机械臂,并基于该机械臂设计了一种树生水果采摘机器人。采用三维数字化软件SolidWorks对树生水果采摘机器人进行三维建模,树生水果采摘机器人的整体结构主要由机械爪部分、机械臂部分、收集装置部分、车身部分组成。【结果】机械爪部分可以夹裹目标果实;机械臂部分可实现多自由度、较大幅度的柔顺弯曲运动,用于实现机械爪在抓取、采摘过程中所需的各种柔性运动,配合可升降的收集装置部分,能有效缩短机械臂的运动行程,进一步提高采摘效率;车身部分带有水果收集箱,采摘后的水果能暂时储存在车身部分中。【结论】该采摘机器人具有工作空间更大、灵活性更强、安全性更高等优点,可以满足枝条密集、作业空间狭窄环境下的采摘作业需求,使得人机协作更加安全。
[Objective]The picking of tree grown fruits such as apples,pears,and peaches with a height of about 3 meters still mainly adopts traditional manual operations,which are labor-intensive and costly.Manual picking operations not only have low efficiency but also have certain risks.However,the current research and development of agricultural harvesting robots mostly use rigid articulated robotic arms,which are difficult to meet the harvesting needs of fruit trees growing densely and branches growing randomly in certain areas.In order to solve these problems,it is urgent to design a flexible harvesting robotic arm.[Method]According to the principle of bionics and imitating the movement mechanism of the elephant trunk,the research group designed a flexible picking manipulator of elephant trunk driven by pulling rope,and based on this manipulator,a fruit picking robot was designed.The three-dimensional digital software SolidWorks is used to model the tree fruit picking robot.The overall structure of the tree fruit picking robot mainly consists of a mechanical claw part,a mechanical arm part,a collection device part,and a vehicle body part.[Result]The mechanical claw part can wrap the target fruit.The mechanical arm can achieve multiple degrees of freedom and significant flexible bending motion,which is used to achieve various flexible movements required by the mechanical claw during the grasping and picking process.Combined with the adjustable collection device,it can effectively shorten the movement stroke of the mechanical arm and further improve the picking efficiency.The body part is equipped with a fruit collection box,and the harvested fruits can be temporarily stored in the body part.[Conclusion]The harvesting robot has the advantages of larger workspace,stronger flexibility,and higher safety,which can meet the needs of harvesting operations in environments with dense branches and narrow working spaces,making human-machine cooperation safer.
作者
黄保赛
赵栋杰
张伟涛
张赛
Huang Baosai;Zhao Dongjie;Zhang Weitao;Zhang Sai(College of Mechanical and Automotive Engineering,Liaocheng University,Shandong Liaocheng 252000)
基金
聊城大学大学生创新创业训练项目“一种仿象鼻柔性采摘机械臂”(CXCY2022307)。
