精密草莓采摘机器人优化设计—基于光程调节结构

摘要

In the process of strawberry picking robots , because strawberry fruit is fragile , and its volume is small , so the breakage and leakage rate is high , which are related to strawberry picking robot positioning accuracy .In order to improve the positioning accuracy of strawberry picking process , in the acquisition robot localization system introduced a new kind of optical positioning results , and puts forward the vacuum for a white Cell optical path adjustment structure , using the feedback of the signal , realizes the optimization design of picking mechanism .In order to verify the reliability of the de-sign precision of strawberry picking robots , the design of the robot strawberry picking experiment , and the breakage and leakage rate were tested , by testing found that the device can effectively reduce the breakage and leakage of strawberry picking up rate , and lower picking time , high efficiency and can meet the needs of the strawberry picking the practical production .%在机器人草莓采摘过程中 ,由于草莓果实比较脆弱,加上其体积较小,因此存在较高的破碎率和漏采率,这都与草莓采摘机器人的定位精度有关. 为了提高草莓采摘过程的定位精度,在采集机器人定位系统的引入了一种新的光定位结果,并提出了一种用于真空怀特池光程调节的机构,利用该机构的反馈源信号,实现了对采摘机构的优化设计. 为了验证设计的精密草莓采摘机器人的可靠性,设计了机器人的草莓采摘试验,并对其破碎率和漏采率进行了测试. 通过测试发现:该装置可以有效地降低草莓采摘的破碎率和漏拾率,且采摘耗时低、效率高,可以满足草莓采摘实际生产的需要.