基于慧鱼模型水果采摘机的机械臂设计

Mechanical Arm Design of Fruit Picking Based on Fischertechnik

为解决水果采摘过程中将采摘器高效地送到采摘对象位置的问题,在研究机械传动的基础上,设计了水果采摘机机械臂。水果采摘机的机械臂由主支架、旋转臂、传动系统和控制单元四个部分组成。传动系统包括蜗轮蜗杆传动实现机械臂绕Z轴旋转和旋转臂绕Y轴旋转,丝杠螺母传动实现Z轴方向升降运动,气压传动实现X轴方向伸缩运动。在控制单元的控制下,机械臂带动采摘器到达采摘对象位置,实现辅助采摘作业过程中的定位过程。

In order to solve the problem of delivering the picking device efficiently to the position of the picking object during the fruit picking process,this article designs the mechanical arm of the fruit picking machine on the basis of studying the mechanical transmission.The mechanical arm of fruit picking machine is composed of main bracket,rotating arm,transmission system and control unit.The transmission system includes worm and worm transmission to realize rotation of mechanical arm around the Z axis and rotating arm around the Y axis,screw nut transmission to realize lifting motion along the Z axis,and pneumatic transmission to realize stretching motion along the X axis.Under the control of the control unit,the mechanical arm drives the picker to the position of the picker object and realizes the positioning process in the process of auxiliary picking.