一种基于变胞机构的苹果采摘执行器的设计

Design of an Apple Picking Actuator Based on Metamorphic Mechanism

设计了一种采用基于变胞机构的真空吸引器式自动苹果采摘执行器,其工作原理是:当真空吸引器吸住苹果,苹果压下吸引器底部机械触头时,机械触头将引起设在吸引器外底部的变胞机构发生动作,使该变胞机构切割头自动将被吸住苹果的根部切断,从而实现了苹果的自动采摘。该采摘机构降低了执行器的故障率,减小了被采摘苹果的破损率。

A kind of vacuum suction apparatus based on variable cell body type automatic apple picking actuator was designed. Its working principle was ： when the vacuum suction unit to absorb apple, apple under pressure to attract the bottom mechanical contactor, mechanical contactor would cause in the attractor variable cell at the bottom of the outside agency action, make the metamorphic mecha- nism of cutting head to cut off sucked root apple automatically, so as to realize the automatic picking of apples. The picking mechanism reduces the failure rate of actuator, and reduces the damage rate of picking apples.