水果采摘机械手装置设计与仿真

摘要I水果采摘机械手装置设计与仿真摘要近年来，随着全国经济的持续发展，人们对果蔬的需求越来越大。在我国的果蔬生产中，柑橘生产所的占比重日益增大。而在整个柑橘生产活动中，柑橘的采摘所占的工作量十分巨大。除此之外，水果采摘质量的好坏还将直接影响到水果的保鲜储藏，运输配送等后续工作，并最终将严重影响到经济效益。如果继续延续原始的手工采摘，不仅工作环境十分的艰苦，效率低下，而且水果采摘质量也得不到保障，更甚至时有采摘工作者在采摘过程中因为环境的复杂不小心从树上摔下而受伤的事故发生。为了适应当代果蔬经济的发展，设计一种多自由度，满足工作空间的小型柑橘采摘机械手对实现农业自动化和提高经济效益具有重要意义。根据柑橘生产活动中完成果实采摘整个过程的的具体条件，首先运用所学知识进行机构尺寸的设计；然后创新设计内嵌式关节采摘机械手所有零部件的具体合理尺寸；再按照设计的零件图通过Pro/E三维造型出机械手的所有零部件；接着根据机械手的工作方式选择合理的连接方式并通过创建合理约束完成机械手的装配；最后通过选用Pro/E中的机构模式，经过旋转轴的自定义，伺服电机的添加，定义初始条件等完成机械手的运动仿真。关键词：柑橘采摘机械手，内嵌式关节，Pro/E三维造型，运动仿真AbstractIIAbstractInrecentyears,withthecontinuousdevelopmentofeconomy,theproportionofcitrusproductioninfruitandvegetableproductionisgrowinginourcountry.Intheentirecitrusproductionactivities,theworkloadofcitruspickingisverybig.What’smore,thequalityoffruitpickingwilldirectlyaffectthefruitstorage,transportationandotherfollow-upwork,whicheventuallyhasseriousinfluenceontheeconomicbenefit.Ifwecontinuetousetheoriginalmanualpicking,notonlyworkingenvironmentisverydifficult,workinginefficient,butalsothequalityoffruitpickingisnotguaranteed.what’sworse,thefruitpickingworkersmaybefellfromthetreesandinjuredaccidentallybecausetheenvironmentisverycomplexintheprocessofpicking.Inordertoadapttothedevelopmentofcontemporaryeconomicfruitandvegetable,itisofgreatsignificancetoagriculturalautomationrealizedandimprovingtheeconomicbenefitthatdesigningakindofsmallcitruspickingmanipulatorwiththefeaturesofmulti-degreeoffreedomandsatisfiedtheworkingspace.Accordingtothespecificconditionsofthewholeprocessoffruitpickingincitrusproductionactivities,atfirst,usingtheacquiredknowledgetocreativelydesignallpartsofembeddedcitruspickingmanipulatorjointswithreasonablesize.ThenaccordingtothedesignofthepartdrawingshapesallpartsofthemanipulatorthroughthePro/E3dmodelingsoftware.Nextchoosingthereasonableconnectionaccordingtotheworkingsofamanipulatorandcreatingareasonableconstrainttocompletetheassemblyofthemanipulator.Finally,throughchoosingmechanismmodelinPro/E,aftertheaxisofrotationofthecustom,theaddingoftheservomotoranddefinedtheinitialconditionstocompletethemotionsimulationofthemanipulator.Keywords:citruspickingmanipulator,embeddedjoints,Pro/E3dmodeling,motionsimulation目录1第一章绪论............................................................................................................................11.1前言.............................................................................................................................11.2机械手的介绍.............................................................................................................11.3水果采摘机械手研究概况.........................................................................................11.3.1国外机械手的研究概况..................................................................................11.3.2国内机械手研究概况......................................................................................31.4目的和意义.................................................................................................................3第二章柑橘采摘机械手的结构设计....................................................................................52.1柑橘采摘机械手的系统构成.....................................................................................52.2柑橘采摘机械手的材料选定.....................................................................................52.3机械手大小臂长度的确定.........................................................................................62.3.1机械手大小臂长度的确定..............................................................................62.3.2基于果园环境的机械手CAD模拟.................................................................62.4机械手关节处伺服电机内嵌式创新.........................................................................82.5电机的选定...................................................................................................................82.5.1电机种类的选择选择发..................................................................................82.5.2电机规格的选择..............................................................................................92.6机械臂尺寸的设计.....................................................................................................122.6.1机械手的结构设计..........................................................................................122.6.2机械手各个零件的尺寸设计..........................................................................12第三章三自由度机械手的三维造型....................................................................................143.1机械手大臂的三维造型。.........................................................................................143.2机械手小臂的造型.....................................................................................................163.3机械手底座的造型.....................................................................................................163.4舵机的三维造型.........................................................................................................17第四章三自由度机械手的装配............................................................................................184.1基于PRO/E的装配简概.................