油茶果采摘机器人采摘头设计和分析.PDFVIP

第36 卷 第2 期 中南林业科技大学学报 Vol. 36 No. 2 2016 年2 月 Journal of Central South University of Forestry Technology Feb. 2016 Doi:10.14067/j .cnki.1673-923x.2016.02.022 http : // 油茶果采摘机器人采摘头设计与分析 高自成，李立君，王朋辉，祝 强，罗玉坤 ( 中南林业科技大学机电工程学院，湖南长沙4 10004 ） 摘 要：油茶是一种重要的油料树种。随着我国油茶种植面积的增长，油茶果机械化与自动化采收成为人们关注 的热点问题。本文论述了油茶果采摘机器人采摘头的结构设计，并利用Inventor 软件对采摘头进行了力学仿真 和关键零件有限元分析试验。试验结果表明，最大应力值随振幅和频率增大而增大；振动频率对采摘头关键零 件最大应力值影响较大，短连杆和曲柄最大应力值最高，但仍小于材料的屈服强度，结合采摘头现场工作试验， 验证了油茶果采摘机器人采摘头的可行性和安全性。 关键词：采摘头，结构设计，力学分析，采摘机器人，油茶果 中图分类号：S776.22+2 文献标志码：A 文章编号：1673-923X(2016)02-0114-05 The design and analysis of Camellia fruit picking robots’ picking monomers GAO Zi-cheng, LI Li-jun, WANG Peng-hui, ZHU Qiang, LUO Yu-kun (Mechanical and Electrical Engineering Institute, Central South University of Forestry and Technology, Changsha 410004, Hunan, China) Abstract: Camellia is a kind of important oil tree species.Tea oil, which is of great value on nutritional and medicinal and has huge ’ market demand, is extracted from the tea seed.With the increase of camellia s cultivated area, the traditional manual harvesting have been unable to meet the demand of its scale and industrialization.Realizing the camellia fruit harvesting mechanized and roboticized has been the focus.Aimed at the status quo, camellia fruit picking robot is designed. Firstly, this paper discusses the working principle of camellia fruit picking robots’ picking monomers, and carries on the 3D structure design. Secondly, this paper p