摘要
针对红花采摘仍以人工采摘为主、采摘效率低下、费时费力等问题,结合红花物理生长特性及红花种植模式设计了一种直角坐标红花采摘机器人。对直角坐标采摘系统进行参数计算,确定直角坐标采摘系统X轴总长为900 mm,Y轴总长为700 mm,Z轴的行程范围为698 mm。由静力学仿真试验可知:在采摘过程中应用普通碳钢应变最小为6.565e-007,最大位移量为4.348e-003mm,因此选择普通碳钢为直角坐标系统结构材料。
Aiming at the problems of safflower picking,which is still manual picking,low picking efficiency,time-consuming and labor-intensive,a rectangular coordinate safflower picking robot is designed based on the safflower physical growth characteristics and safflower planting mode.Calculate the parameters of the rectangular coordinate picking system to determine the total length of the rectangular coordinate picking system in the X axis 900 mm,the total length of the Y axis is 700 mm,and the travel range of the Z axis is 698 mm.From the statics simulation test,the minimum strain of ordinary carbon steel used in the picking process is 6.565e-007,and the maximum displacement is 4.348e-003mm.Therefore,ordinary carbon steel is selected as the structural material of the rectangular coordinate system.
作者
张晓伟
葛云
张立新
陈飞
马文霄
Zhang Xiaowei;Ge Yun;Zhang Lixin;Chen Fei;Ma Wenxiao(College of Mechanical and Electrical Engineer,Shihezi University,Shihezi 832003,China)
出处
《农机化研究》
北大核心
2022年第1期79-84,共6页
Journal of Agricultural Mechanization Research
基金
国家自然科学基金项目(51565050)
国家重点研发计划项目(2019YFC1710905)。
关键词
采摘机器人
直角坐标
仿真
红花
picking robot
rectangular coordinates
simulation
safflower
