柑橘采摘机器人的结构设计说明书.docxVIP

柑橘采摘机器人的结构设计 柑橘采摘机器人的结构设计 摘要 果实采摘是农业生产中的一个重要环节，需要大量的采摘人员，但由于农村人口城市化，农业从事人员的数量不断下降，人力成本不断上升，国内外都已经研发了许多的采摘机器人来解决这一问题。本课题设计的采摘机器人主要是针对柑橘树之类的果树，对采摘机器人的机械臂和末端执行器的结构进行设计。首先确定了机器臂的类型和设计的总体方案，再对机器人各部分进行受力分析计算，选择适合的电机和减速器，设计相关传动轴并进行校核，设计了相关的传动结构。根据电机和减速器的连接和固定，设计了机械臂的腕部、臂部和底座结构。 关键词：柑橘采摘；结构设计；农业机器人  Structure design of citrus picking robot ABSTRACT The fruit picking is an important part of agricultural production, it needs a large number of workers. However, due to the urbanization of the rural population, workers of the fruit picking is continuously declining and the labor cost is constantly rising. Different kinds of picking robots have been designed to solve this problem all around the world. The picking robots developed in this project is aimed at picking citrus trees alike so that the design of structures of the mechanical arm and end effector of the picking robot is of great significance in this project. First, determing the type of the robot arm and the overall design of the robot.Then, performing the force analysis and calculation of each part of the robot and selecting appropriate motor and reducer,designing and checking the relevant transmission shaft, relevant transmission structure is developed as well. At the same time, according to the connection and fixation of the motor and reducer, the arm, and base structure of the arm are designed. Key words：Citrus picking; Structure design; Agricultural robot  目录 TOC \o 1-3 \h \z \u 1绪论 1 1.1研究的目的及意义 1 1.2国内外采摘机器人的研究现状 2 1.3机械臂与末端执行器的现状 5 1.4本课题主要设计内容 6 1.5本章小结 6 2总体方案设计 7 2.1引言 7 2.2柑橘采摘机器人的技术要求 7 2.3机器人的构型选择 7 2.4总体方案的选定 9 2.5机械臂的传动原理 10 2.6本章小结 12 3.末端执行器的设计 13 3.1切割电机的选择 13 3.2气缸的选择 14 3.3末端执行器的结构设计 14 3.4本章小结 15 4腕部的结构设计 16 4.1腕部机构设计的要求 16 4.2腕部旋转关节的结构设计 16 4.2.1旋转关节驱动电机的选择 16 4.2.2腕部旋转关节的结构设计 17 4.3腕部俯仰关节的结构设计 18 4.3.1俯仰关节驱动电机的选择 18 4.3.2腕部俯仰关节的设计 18 4.3.3带轮的设计 19 4.3.4传动轴的设计和校核 20 4.4本章小结 22 5臂部的结构设计 24 5.1手臂的设计要求 24