Design and Research of Automatic Fruit and Vegetable Picking Execution Device
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摘要:
针对传统刚性机械手在果蔬采摘过程中出现的驱动电机数过多、气源不便于携带等应用性问题，设计了由驱动模组、固定与切换模组和抓取模组3部分组成的果蔬自动化采摘执行装置。通过驱动模组的旋转电机配合切换结构，实现抓取模组绕着转轴整体旋转和抓取模组自体式旋转两种模式之间的切换，完成执行装置的位姿调整。同时，通过伸缩电机控制抓取爪的联动开合，取代传统的气动夹爪，实现对作业对象抓取。
Abstract:Aiming at application problems of traditional rigid manipulator in fruit and vegetable picking process, such as too many driving motors and inconvenient air source to carry, an automatic fruit and vegetable picking executive device was designed, which was composed of three parts: driving module, fixed and switching module and grabbing module．Through combination of rotating motor of driving module and switching structure, switching between two modes of overall rotation of grasping module around rotating shaft and self-body rotation of grasping module was realized, and posture adjustment of execution device was completed．At the same time, linkage opening and closing of grasping claw was controlled by telescopic motor, which replaced traditional pneumatic clamping claw and realizes object grasping．
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Keywords:
- fruit and vegetable /
- picking device /
- execution device /
- motor drive
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图 1 水果采摘装置
1. 旋转电机 2. 固定组件 3. 锁紧块 4. 支撑座 5. 连杆组件6. 抓取组件 7. 具有弧形槽的托板 8. 弧形槽 9. 顶出气缸
Figure 1. Fruit picking device
图 2 固定组件结构
1. 第1齿轮 2. 第2齿轮 3. 上连接板 4. 齿轮电机5. 连接轴 6. 下连接板
Figure 2. Structure of fixed components
图 3 切换组件结构
1. 旋转电机 2. 联轴器 3. 前端轴承 4. 支撑座轴承 5. 连杆组件6. 支撑座 7. 转轴 8. 顶出气缸 9. 托板 10. 弧形槽与导杆 11. 推动气缸
Figure 3. Structure of switching components
图 4 抓取组件结构
1. 抓取爪 2. 电机座 3. 抓取伸缩电机 4. 连接片5. 伸缩块 6. 内凹槽
Figure 4. Structure of picking components
表 1 果蔬自动化采摘执行装置运动参数范围
Table 1. Range of motion parameters of automatic fruit and vegetable picking actuator
参数名称 参数范围 最大抓取力/N 1 000 可抓取对象半径/mm 80～270 固定组件最大旋转角度/（°） 45 连杆组件最大旋转角度/（°） ±180 
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