草莓采集机械手设计毕业设计说明书.docx

摘要 近几年来,草莓作为主要的经济作物,在国内外栽培普遍,特别是中国现已成为最大的草莓产量与出口大国,名列全球第一。草莓所含有的各种维他命,营养素都及其丰富,因此通常被人誉为果蔬女王,并受到广泛消费者群体的深切喜爱。除新鲜食用之外,还能够冷冻制造成草莓酱,以及草莓果汁等各类草莓副产品,因此受到了许多消费者的喜爱。 目前，草莓的普遍使用使得草莓的种植面积迅速增长，但在收割劳动力方面却面临着严重的不足。这是影响我国草莓种植质量的一个主要原因。所以要开展一项智能采收机器人，取代人工去做这项耗时耗力的工作。智能采摘机器人需要对成熟度高的草莓进行自动定位，并利用该位置信息对其进行操作，从而达到自动操作的目的。在过去的三年中,全世界有关草莓采摘机器手的发明专利数量最多,草莓采摘机器手发明专利量的上升体现了人类对在农产品中利用机械双手的兴趣越来越强烈,农产品智能化程度最高,智能化发展趋势越来越持久。 首先，对国内外草莓的生产和智能采摘机械手的研究现状进行了综述，并结合国内的草莓栽培实践，提出了一种智能化的草莓采摘机械手。介绍了一种五个自由度的智能采摘机器人，该机器人具有五个自由度：腰部、肘部、肩部、腕部、和腕摆，并研制出了末端执行机构，该机构由曲柄滑块机构、伺服电机、动夹和镍铬电加热线构成，通过夹持草莓的果柄，既不会对草莓的果实造成损伤，还可以通过镍铬电加热线切断果柄，避免伤口被细菌污染，还能提升果实品质。 关键字：草莓采集机械手,机器本体,五自由度草莓采集机器手臂,末端执行器 Abstract In recent years, strawberries have become an important cash crop and are widely grown around the world, especially China has become the largest strawberry producer and exporter, ranking first in the world. Strawberries are rich in a variety of vitamins, nutrients and rich, often known as the queen of fruit, deeply loved by the majority of consumers. At present, the widespread use of strawberries has led to a rapid increase in the area under cultivation of strawberries, but it faces a serious shortage in harvesting labor. This is one of the main reasons affecting the quality of strawberry cultivation in our country. Therefore, it is necessary to carry out an intelligent harvesting robot to replace the manual to do this time-consuming and labor-intensive work. Intelligent picking robots need to automatically locate strawberries with high ripeness and use this position information to operate them, so as to achieve the purpose of automatic operation. In the past three years, China has the largest number of patents on strawberry picking manipulators, and the increase in the number of patents for strawberry picking manipulators reflects the growing interest in the use of manipulators in agriculture, the high degree of agricultural automation, and the trend of automation is more durable. First of all, the research status of strawberr