基于视觉分拣系统中机械手执行部的设计

Design of Manipulator Execution Department Based on Visual Sorting System

本文设计的视觉分拣系统中机械手执行部,应用在农业果树生长周期中,能够代替人工进行疏花、疏果、授粉、采摘及视觉分拣等操作,能够大大降低工人的劳动强度,提高作业效率。以河北省种植面积最大的梨树为例,通过在梨树果实的各个生长周期中果树的操作需求设计不同机械手执行部,从而满足一台带分拣执行部的机械手能够对整个梨树生长周期所需功能进行操作,从而实现农业智能化。

The manipulator executive part of the visual sorting system designed in this paper is applied in the growth cycle of agricultural fruit trees. It can replace manual operations such as Flower and fruit thinning,Vegetable picking and pollination, picking and visual sorting, which can greatly reduce the labor intensity of workers and improve the operation efficiency. Taking the pear tree with the largest planting area in Hebei Province as an example, through the operation requirements of the fruit tree in each growth cycle of the pear tree, different manipulator execution parts are designed to meet the requirements that a manipulator with sorting execution part can operate the functions required in the whole growth cycle of the pear tree, so as to realize the intellectualization of agriculture.