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当前位置: 首页 > 文章 > 草莓采摘手爪结构设计 农机化研究 2014 (9) 100-104
Position: Home > Articles > Structural Design of Strawberry Picking Gripper Journal of Agricultural Mechanization Research 2014 (9) 100-104

草莓采摘手爪结构设计

作  者：
史慧文;石慧奇;王继祥
单  位：
交通运输部公路科学研究所;中国农业机械化科学研究院;中国农业大学工学院
关键词：
草莓采摘;手指;动力传动;识别
摘  要：
随着草莓种植的推广,国内草莓种植面积迅速增加。草莓是最不耐贮藏的水果,成熟后必须及时采摘,因收获季节劳动力不足,严重制约了草莓的种植发展。为此,提出了一种草莓采摘机械手爪。首先对摄像头采集的画面进行图像处理控制手爪的动作,使得手爪处于采摘位置,手指上的传感器控制电机旋转,带动齿轮传递动力给丝杠,通过丝杠的动作使手指闭合,对草莓果柄进行切割和抓取,实现果实的自动化采摘。本机构简单、可靠,为后续的研究奠定了基础。
译  名：
Structural Design of Strawberry Picking Gripper
作  者：
Shi Huiwen;Shi Huiqi;Wang Jixiang;College of Engineering,China Agricultural University;Research Institute of Hightway Ministry of Transport;Chinese Academy of Agricultural Mechanization Sciences;
关键词：
strawberry picking;;finger;;power transmission;;identification
摘  要：
With the promotion of strawberry industry,strawberry acreage has been increasing rapidly. Because of its shot time storage,ripe strawberry must be harvested promptly. However,harvest labor shortage has seriously hampered the development of strawberry industry. Strawberry harvest robot has been developed under this background. Therefore,a strawberry picking gripper is proposed. With the help of the control system,which contains the camera to capture strawberry pictures and the CPU processing part,the gripper in movement system can be moved in the right position precisely. The movement system includes a motor rotation and gears- screw structures. When the motor rotation gets the picking information from the control system,it works to make the gripper closed. Meanwhile,the blades on the gripper close,cutting of the strawberry stalk. And the griper grips the strawberry. This mechanism is simple and reliable. It`s helpful for further research.

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