水果采摘装置的研究与开发

Research and Development on Fruit Picking Device

研制了一种具有微调和快换功能的多类水果采摘装置,通过大行程升降平台带动采摘杆,由微调装置进行精准定位,运用液压传动装置使机械手抓住水果并剪断果把,液压装置带动采摘杆旋转,将采摘的水果放入水果集中盘中,通过机械设计原理,对整体装置机构进行计算验证。研究表明:升降部分液压缸负载为1000 N,惯性负载为6 N,工作负载为1000 N,估算液压缸总负载为1100~1300 N。采摘水果的效率约为40个/min,是普通人工采摘水果数量的2倍,且具有更高的安全系数。运用机械传动、电气控制以及单片机驱动模块的交互配合,使得该采摘装置更加稳定可靠,并具有实际应用的潜力。

A kind of multi-type fruit picking device with functions of fine adjustment and quick change was developed.The picking lever is driven by the large stroke lifting platform,and precise positioning is carried out by the fine-tuning device.The hydraulic transmission device is used to make the manipulator grasp the fruit and cut the fruit handle.The hydraulic device is used to drive the picking lever to rotate,and puts the picked fruit into the fruit concentration plate.The whole picking device was calculated and verified by the mechanical design principle.The researches show that hydraulic cylinder load of the lifting part is 1000 N,the inertial load is 6 N,and the working load is 1000 N,and the estimated total load of the hydraulic cylinder is 1100~1300 N.The efficiency of picking fruit of the device is about 40 pieces per minutes,which is twice as much as the number of fruit picking by manual,and has a higher safety factor.With the interaction of mechanical transmission,electrical control and single-chip drive module,the picking device is more stable and reliable,and has the potential of practical application.