番茄采摘机械手-毕业论文.docVIP

---文档均为word文档，下载后可直接编辑使用亦可打印--- 摘要 番茄是我们日常饮食中比较常见的一种蔬菜，它具有非常高的营养价值，能为人们提供几种维生素和矿物质的需求。作为农业大国，番茄的种植已经遍及我国各地，尤其是各种大棚蔬菜的种植，可以说已经大大的提高了番茄的产量，这对于番茄的采摘无疑是一个巨大的劳动量，需要大量的劳动力、并且，番茄的成熟期比较短，所以采摘的时机要及时，不然就会影响番茄的质量和新鲜度。 农业机器人是目前全国各地研究的比较多的机器人之一，以为农业机器人的研究对于某些农业大国来说意义是很大的。能在一定程度上推动国家的经济发展，尤为重要的是能解决人口老龄化，劳动力缺失的问题。水果和蔬菜的采摘是生产中的重要环节。设计研究一种番茄采摘机械手，对提高番茄的生产量有很大的意义。 本文设计了一种采摘机器人的末端执行器，番茄采摘机械手，专门用于番茄的采摘，该采摘机械手结构简单，易于实现采摘，并且该机械手运用了比较前沿的气动软体手指做夹持装置，可以说是一大创新 关键词：番茄采摘机械手；软体手抓；密封装置；切断装置。 Abstract Tomato is a common vegetable in our daily diet. It has very high nutritional value and can provide people with several vitamins and minerals. As a big agricultural country, tomato cultivation has spread all over China, especially the cultivation of various greenhouse vegetables. It can be said that the yield of tomatoes has been greatly improved. This is undoubtedly a huge amount of labor for tomato harvesting, and requires a lot of labor. Moreover, the ripening period of the tomato is relatively short, so the timing of picking must be timely, otherwise it will affect the quality and freshness of the tomato. Agricultural robots are one of the more widely studied robots in the country. It is thought that the research of agricultural robots is of great significance to some agricultural powers. To a certain extent, it can promote the country’s economic development. It is particularly important to solve the problem of population aging and lack of labor. The picking of fruits and vegetables is an important part of production. Designing and researching a tomato picking robot has great significance for improving tomato production. In this paper, an end-effector of picking robot, tomato picking robot, is specially designed for the picking of tomato. The picking robot is simple in structure and easy to pick, and the robot uses a relatively advanced aerodynamic soft finger as clamping device. Say it is a big innovation Key words: Tomato picking robot; Software grasping; Sealing means; Cutting device.  第一章