草莓自动采摘装置设计.docxVIP

摘要 每到草莓生产季节，为了草莓的外貌质量和营养成分的保证，必需在收获季节每天进行人为的采摘，其劳动强度和成本约占草莓生产成本的1/4。基于此种现状，进行草莓自动采摘机构的研究已经成了发展趋势，这能够有效减轻果农的生产负担。 本次设计主要分为三个方面进行设计，分别是自动行走机构、移动机构和采摘机构。其中行走机构采用履带传动结构，负责采摘装置的行走；移动机构采用三自由度工作台的设计形式，负责采摘机械臂的XYZ三轴方向的移动；采摘机构采用以双目视觉系统定位、“双驱双夹”机构采摘的形式完成草莓的定位和采摘工作。 通过验证，本次设计的草莓采摘各机构能够优秀的完成设计要求。行走机构和移动机构可以完成装置各位移要求；末端执行装置和定位系统能够完全实现垄作种植的草莓的采摘工作。 关键字：草莓；自动采摘；三自由度；双目视觉 Abstract In every strawberry production season, in order to guarantee the appearance quality and nutritional composition of strawberries, it is necessary to pick them artificially every day during the harvest season. The labor intensity and cost account for about 1/4 of the production cost of strawberries. Based on this situation, it has become a developing trend to conduct research on the automatic picking mechanism of strawberry, which can effectively reduce the production burden of fruit farmers. This design is mainly divided into three aspects: automatic walking mechanism, mobile mechanism and picking mechanism. The walking mechanism adopts caterpillar transmission structure, which is responsible for the walking of the picking device; The mobile mechanism adopts the design form of a three-degree-of-freedom worktable, which is responsible for the movement of the picking arm along the XYZ three-axis direction; The picking mechanism USES binocular vision system positioning, double drive and double clip mechanism to complete the strawberry positioning and picking work. Through verification, the design of the strawberry picking institutions can be excellent to complete the design requirements. The walking mechanism and the moving mechanism can fulfill the requirements of each shift of the device; The end effector and positioning system can completely realize the picking of strawberry in ridge planting. Key words: strawberry; Automatic picking; Three degrees of freedom; Binocular vision 目录 TOC \o 1-3 \h \z \u 摘要 I Abstract II 目录 III 第1章 绪论 1 1.1 引言 1 1.2 草莓自动采摘装置及国内外研究状况 1 1.2.1 草莓自动采摘装置的特性 1