草莓采摘机设计

The Design of Strawberry Picking Machine

本设计主要包括采摘装置和行走装置两个部分的设计。(1)采摘装置设计。利用颜色识别可完成识别草莓是否成熟,利用机械手的移动抓取,把草莓从草莓茎上断开,并运到输送装置上,把草莓输送到机器顶部,完成草莓的采摘。(2)行走装置设计。主要完成整机的行走功能,通过传感器实时监测车体与草莓垄之间的距离,来不断调节并保持间距,利用四轮驱动,可以完成不图同程度的转弯,节省转弯的空间,车速可调节,以此来配合采摘装置采摘的速度。本机器的适用地形为垄侧面垂直地面,且垄间隙地面与垄两端地面为硬实土地,工作效率大约为0.3-0.6亩/小时。

This design mainly includes the design of two parts： pickers and walking devices. （1） Design of picking device. Whetherthe use of color recognition to complete recognition of strawberry mature, using the movement of the manipulator grasping, the strawberrydisconnect from strawberry stem, and to the conveying device, put the strawberries to the top of the machine, complete picking strawberries.（2） Design of walking devices. Mainly complete the walking function of the machine, through the sensor real-time monitoring body and thedistance between the strawberry planting, to continuously adjust and maintain the spacing, use of four-wheel drive, can do not the same de-gree of turn, turn to save space, the speed can be adjusted, in order to assist picking picking speed. The applicable topography of this ma-chine is the vertical ground of the ridge, and the ground between the ground and the ridge is hard and the work efficiency is about 0. 3 to0. 6 mu / h.