基于双目视觉定位的智能葡萄采摘机设计

Design of Intelligent Grape Picking Machine Based on Binocular Vision Localization

针对传统人工采摘葡萄效率低、人力成本高的问题,本文设计了一款基于双目视觉定位的智能葡萄采摘机。分析人工采摘葡萄过程中的托住葡萄、剪裁葡萄柄和收集葡萄一系列动作,设计了基于可沿环形运输臂运动的袋装装置和夹持装置的葡萄托住机构、末端执行器带剪子的六自由度机械臂葡萄剪裁机构和采用滚珠丝杠原理实现葡萄分装的葡萄收集机构。利用Solidworks建立了基于双面视觉定位的智能葡萄采摘机三维模型,系统仿真了采摘机的葡萄采摘、封装、运输功能,输出目标葡萄串的运动轨迹,可实现采摘、封装和运输为一体的自动化操作;驱动机构采用市面上成熟产品具备较大安全设计余量,基于ANSYS Workbench软件对主要受力部件进行了分析校核,对结构方案设计及材料选型进行了验证分析。结果表明,该设计方案可满足使用需求,具有较强的工程实施价值,可为其他类似自动化产品设计提供参考。

In response to the problems of low efficiency and high labor cost in traditional manual grape picking,this article designs an intelligent grape picking machine based on binocular visual positioning.Based on the analysis of a series of actions of supporting grapes,cutting grape handles and collecting grapes in the process of manual grape picking,a grape holding mechanism based on the bagging device and the clamping device that can move along the circular transport arm,a Six degrees of freedom robot arm with scissors at the end of the actuator,and a grape collecting mechanism that uses the ball screw principle to realize grape subpackage were designed.A three-dimensional model of an intelligent grape picking machine based on double-sided visual positioning was established using Solidworks.The system simulated the grape picking,packaging,and transportation functions of the picking machine,outputting the motion trajectory of the target grape string,and achieving automated operations that integrate picking,packaging,and transportation;The driving mechanism adopts mature products on the market with significant safety design margin.Based on ANSYS Workbench software,the main load-bearing components were analyzed and verified,and the structural scheme design and material selection were verified and analyzed.The results indicate that the design scheme can meet the usage needs and has strong engineering implementation value,which can provide reference for the design of other similar automation products.