畢業(yè)設(shè)計(jì)（論文）-柑橘采摘機(jī)器人結(jié)構(gòu)設(shè)計(jì)

畢業(yè)設(shè)計(jì)（論文）題目：柑橘采摘機(jī)器人結(jié)構(gòu)設(shè)計(jì)全套圖紙加V信153893706或扣3346389411摘要目前，國(guó)內(nèi)的水果機(jī)械化采收水平還很低，大部分的采收工作都是靠手工進(jìn)行，而在全鏈條上，不僅費(fèi)時(shí)費(fèi)力，而且有的采收作業(yè)的費(fèi)用高達(dá)總費(fèi)用的70%。實(shí)現(xiàn)果蔬采收的機(jī)械化已成為今后的發(fā)展方向，它將為解決農(nóng)業(yè)勞動(dòng)密集型、農(nóng)業(yè)機(jī)械化等問(wèn)題帶來(lái)的巨大影響。新世紀(jì)是實(shí)現(xiàn)機(jī)械化、智能化、機(jī)械化的重要階段。采摘機(jī)是一種典型的農(nóng)業(yè)機(jī)械，它既可以減少工人的勞動(dòng)強(qiáng)度，又可以提高生產(chǎn)效率，提高產(chǎn)品質(zhì)量，確保水果的采收時(shí)間，是一種非常有發(fā)展前景的農(nóng)業(yè)機(jī)械。進(jìn)入二十一世紀(jì)之后，我國(guó)的GDP水平顯著提高，隨之而來(lái)大眾的消費(fèi)水平也提高了，柑橘在整個(gè)食品消費(fèi)結(jié)構(gòu)中的比例也不斷的增加。目前，我國(guó)大部分地區(qū)的柑橘采摘是通過(guò)人工勞作來(lái)完成的，柑橘的采摘季節(jié)性強(qiáng)，勞動(dòng)強(qiáng)度大，費(fèi)用高，工業(yè)生產(chǎn)的快速發(fā)展促使勞動(dòng)力大量減少，僅僅依靠人力勞動(dòng)已經(jīng)不能滿足現(xiàn)有的市場(chǎng)需求。除此之外，由于柑橘的微妙特性，現(xiàn)有的商用機(jī)器無(wú)法實(shí)現(xiàn)選擇性采摘柑橘，柑橘采摘的質(zhì)量好壞還會(huì)直接影響柑橘的保鮮儲(chǔ)藏，復(fù)雜的環(huán)境也會(huì)造成采摘工人在工作時(shí)受到傷害。因此,迫切的需要一種采摘機(jī)器人來(lái)輔助人工進(jìn)行柑橘的采摘，采摘機(jī)器人通過(guò)對(duì)柑橘果實(shí)的定位識(shí)別，控制機(jī)械手完成采摘任務(wù)，以達(dá)到高效、省力、提高經(jīng)濟(jì)效益的目的。本文以柑桔為對(duì)象，從理論上進(jìn)行了設(shè)計(jì)，并給出了一種可伸縮式采收機(jī)器人，并對(duì)其末端執(zhí)行器進(jìn)行了研究，并根據(jù)軟件的分析，得出了最佳的總體結(jié)構(gòu)方案。關(guān)鍵詞：柑橘；采摘機(jī)器人；定位識(shí)別；機(jī)械手ABSTRACTAtpresent,thecostofpickingfruitsandvegetablesinChinaislow,andmostofthepickingoperationscanbecompletedmanually,whichisstilltime-consumingandlaborious.Automaticfruitandvegetablepickingisaninevitabletrend,whichisoffar-reachingsignificancetosolvetheproblemsofhighlaborcostandlowproductionefficiency.Thenewcenturyisacriticalperiodforthedevelopmentofagriculturalmechanizationtoautomationandintelligence.Asatypicalagriculturalmachinery,pickingmachinerycannotonlyreducethelaborintensityandproductioncostofworkers,butalsoimprovelaborproductivityandproductquality,soastoensurethetimelyharvestoffruits,whichhasgreatpotentialforthedevelopmentofagriculture.Afterenteringthe21stcentury,China'sGDPlevelhasincreasedsignificantly,followedbytheimprovementofpublicconsumptionlevel,andtheproportionofCitrusinthewholefoodconsumptionstructureisalsoincreasing.Atpresent,citruspickinginmostpartsofChinaiscompletedthroughmanuallabor.Citruspickingisseasonal,labor-intensiveandcostly.Therapiddevelopmentofindustrialproductionhasledtoalargereductionoflaborforce.Relyingonhumanlaboralonecannolongermeettheexistingmarketdemand.Inaddition,duetothesubtlecharacteristicsofcitrus,theexistingcommercialmachinescannotrealizeselectivepickingofcitrus.ThequalityofCitruspickingwilldirectlyaffectthepreservationandstorageofcitrus,andthecomplexenvironmentwillalsocauseinjurytopickingworkersatwork.Therefore,thereisanurgentneedforapickingrobottoassistthemanualpickingofcitrus.Thepickingrobotcontrolsthemanipulatortocompletethepickingtaskthroughthepositioningandrecognitionofcitrusfruits,soastoachievethepurposeofhighefficiency,laborsavingandimprovingeconomicbenefits.Takingcitrusasthepickingobject,thispaperdesignsthestructureofCitruspickingrobotthroughtheoreticalanalysis,putsforwardamovabletelescopicpickingrobot,studiesanendactuator,anddeterminesthemostfeasibleoverallstructureschemethroughthesoftwareanalysisresults.Keywords:citrus;PickingRobot;LocationIdentification;Manipulator參考文獻(xiàn)[1]王勝,巫少龍,周明安,劉文軍.新型高效智能便攜式梨果采摘裝置的研制[J].河北農(nóng)機(jī),2020(02):20-21.[2]李俊良,張?zhí)熘?朱天奇,崔冰艷.基于連桿機(jī)構(gòu)采摘機(jī)器人的設(shè)計(jì)[J].科技創(chuàng)新導(dǎo)報(bào),2019,16(10):114-115.[3]高群,于歡,段旭明.柑橘采摘機(jī)器人的機(jī)械結(jié)構(gòu)設(shè)計(jì)分析[J].南方農(nóng)機(jī),2018,49(02):37.[4]羅陸鋒,譚遠(yuǎn)良,盧清華,鄒湘軍.水果防碰損采摘的視覺認(rèn)知及其執(zhí)行機(jī)構(gòu)研究進(jìn)展[J].河北科技大學(xué)學(xué)報(bào),2018,39(03):204-213.[5]陳金華,孫雪蕾.基于單片機(jī)的智能水果采摘機(jī)器人設(shè)計(jì)[J].農(nóng)業(yè)科技與裝備,2018(06):12-13.[6]馬質(zhì)璞,張抗,譚驥,劉宏偉.一種新型單果采摘器的設(shè)計(jì)[J].機(jī)械設(shè)計(jì)與制造,2017(05):252-255.[7]李建偉,陳艷艷.柑橘采摘機(jī)器人末端執(zhí)行器的原理及試驗(yàn)研究[J].農(nóng)機(jī)化研究,2017,39(09):139-142.[8]胡國(guó)順,喬琳,劉志剛.基于單片機(jī)和智能監(jiān)測(cè)的采摘機(jī)器人調(diào)速系統(tǒng)設(shè)計(jì)[J].農(nóng)機(jī)化研究,2016,38(09):83-87.[9]楊小慶,時(shí)磊,王娜,鮑秀蘭.基于單片機(jī)的仿人多指番茄采摘機(jī)器人設(shè)計(jì)[J].農(nóng)機(jī)化研究,2016,38(07):80-84.[10]伍錫如,黃國(guó)明,劉金霞,徐波.新型柑橘采摘機(jī)器人的設(shè)計(jì)與試驗(yàn)[J].科學(xué)技術(shù)與工程,2016,16(09):71-79.[11]楊冬進(jìn),張燕.基于單片機(jī)控制的自動(dòng)柑橘采摘機(jī)設(shè)計(jì)[J].農(nóng)機(jī)化研究,2015,37(02):28-31.[12]林偉.西紅柿采摘機(jī)器人[J].南方農(nóng)機(jī),2009(03):20.[13]LiesbetvanHerck,PolinaKurtser,LieveWittemans,YaelEdan.Cropdesignforimprovedroboticharvesting:Acasestudyofsweetpepperharvesting[J].BiosystemsEngineering,2020,192.[14]LongtaoMu,GongpeiCui,YadongLiu,YongjieCui,LongshengFu,YoshinoriGejima.Designandsimulationofanintegratedend-effectorforpickingkiwifruitbyrobot[J].InformationProcessinginAgriculture,2019.[15]TienThanhNguyen,ErdalKayacan,JosseDeBaedemaeker,WouterSaeys.TaskandMotionPlanningforAppleHarvestingRobot*[J].IFACProceedingsVolumes,2013,46(18)