三爪气动无损采摘机械手设计

Design of Three Claw Pneumatic Nondestructive Picking Manipulator

在农业生产作业中,人工采摘成本日益提高,而机器人采摘造成的果实损伤率又较高,因此对采摘机器人末端执行器便提出了无损采摘这一要求。针对果实中占比较高的球形及类球形果实,本设计将采摘机械手能够最终完成吸附果实、拉直果梗、夹持果实、扭断果梗的一体化采摘与卸果动作为设计目标,对机械手的末端执行器展开了设计。分析国内外采摘机器人的研究内容,完成了三爪采摘机械手结构的设计,使其具有夹持稳定、通用性强的特点。分析材料性能,结合工作情况,对本设计的主要零部件进行设计计算,完成选型工作。考虑机械手的动作要求,完成了对无损采摘气动系统的设计。根据果实采摘过程的控制流程,运用压力传感器,使机械手形成力的闭环反馈,实现无损采摘这一要求。设计使用西门子公司的S7-200系列PLC,利用V4.0 STEP 7 MicroWIN SP9软件编写程序,对控制系统完成了设计。

In agricultural production,the cost of manual picking is increasing day by day,and the rate of fruit damage caused by robot picking is higher.Therefore,the requirement of nondestructive picking is put forward for the end actuator of picking robot.Aiming at the spherical and quasi spherical fruits which occupy a high proportion of fruits,this design aims at the integrated picking and unloading action of the picking manipulator,which can finally complete the actions of absorbing fruits,straightening fruit stalks,holding fruits and twisting fruit stalks.The end actuator of the manipulator is designed.This paper analyzes the research contents of the picking robot at home and abroad,and completes the design of the structure of the three claw picking manipulator,which has the characteristics of stable clamping and strong universality.Analyze the material performance,combined with the working situation,design and calculate the main parts of the design,and complete the selection work.Considering the action requirements of the manipulator,the design of the pneumatic system for nondestructive picking is completed.According to the control flow of fruit picking process,the pressure sensor is used to make the manipulator form the closed-loop feedback of force,so as to realize the requirement of nondestructive picking.The control system is designed by using S7-200 series PLC of Siemens company and programming with V4.0 STEP 7 MicroWIN SP9 software.