苹果采摘机器人末端执行器的原理及试验研究

Structural Principle and Experimental Research on the End Effector of Apple Picking Robot

随着我国水果种植不断发展,果园面积不断扩充,人工展开果实采摘工作已无法满足实际需求,果实采摘向机械化、智能化方向发展是必然趋势。目前,苹果采摘已经开始引进机械手采摘,极大地提高了采摘效率。由于苹果采摘机器人在我国并未推广,相关技术环节仍旧存在一定弊端。为此,针对当前苹果采摘末端执行器结构存在的不足,结合苹果采摘工作实际需求,根据苹果采摘作业手法设计了切实可行的苹果采摘末端执行器。试验表明:苹果采摘机器人末端执行器具有可行性及良好的应用效果,为其进一步推广提供了理论基础。

With the continuous development of fruit growing in China, the area of the orchard has been expanded, and the fruit picking work has been unable to meet the actual demand. Apple is one of the fruits that people love to eat, the market demand is large. Currently apple picking has begun to introduce mechanical hand picking, greatly improve the picking efficiency. Because apple picking robot is not in vogue in our country, there are still some disadvantages in the relevant technical aspects. In this paper, the current apple picking end effector structure is discussed, combined with the actual needs of apple picking, according to apple picking practices to study the practical implementation of apple picking end. The feasibility and application effects of apple picking robot end effector are verified by experiments, which provides a theoretical basis for further promotion.