多功能园艺修枝机械手臂的设计与特性分析
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摘要
针对国内修枝机械作业方式比较原始,修枝劳动强度大,效率低的问题,对传统修枝机械的结构和功能进行优化,设计一款具有多功能的园艺修枝机械臂。多功能园艺修枝臂的研究主要从作业原理、结构设计与优化和模型构建等方面进行分析。通过对多功能园艺修枝臂的三维模型构建和力学的受力分析,保证所设计的多功能园艺修枝机械臂结构的自由度、结构强度和刚度符合要求,满足机械在实际作业中的工作要求。多功能园艺修枝机械臂集修枝和集材于一体,可实现修枝作业的机械化,提高作业效率。修枝机械臂在工作时,能够一步实现枝条的修剪和收集,解决采用人工修枝费时费力的问题,弥补传统修枝工艺的不足,推动园艺修枝机械的发展。该机械臂功能齐全,结构简单,便于操作,能够适应复杂的林业机械作业的环境。
In view of the fact that the domestic pruning machinery operation mode is relatively primitive,the pruning labor intensity is high,and the efficiency is low,the structure and function of the traditional pruning machine are optimized,and a multifunctional gardening pruning robot arm is designed. The research of multifunctional gardening pruning arm is mainly analyzed from the aspects of operation principle,structural design and optimization,and model construction. Through the three-dimensional model construction and mechanical force analysis of the multi-functional gardening pruning arm,the freedom,structural strength and rigidity of the designed multi-functional gardening pruning arm structure are guaranteed to meet the requirements,and the mechanical work in the actual operation can be satisfied. The multi-functional gardening and pruning robotic arm integrates pruning and collecting functions,which can realize mechanization of pruning operations and improve work efficiency. When the pruning arm is working,it can realize the pruning and collecting of the branches in one step,solve the problem of time and laborious use of artificial pruning,make up for the deficiency of the traditional pruning process,and promote the development of the gardening pruning machine. The mechanical arm is fully functional,simple in structure,easy to operate,and can adapt to complex forestry machinery operations.
In view of the fact that the domestic pruning machinery operation mode is relatively primitive,the pruning labor intensity is high,and the efficiency is low,the structure and function of the traditional pruning machine are optimized,and a multifunctional gardening pruning robot arm is designed. The research of multifunctional gardening pruning arm is mainly analyzed from the aspects of operation principle,structural design and optimization,and model construction. Through the three-dimensional model construction and mechanical force analysis of the multi-functional gardening pruning arm,the freedom,structural strength and rigidity of the designed multi-functional gardening pruning arm structure are guaranteed to meet the requirements,and the mechanical work in the actual operation can be satisfied. The multi-functional gardening and pruning robotic arm integrates pruning and collecting functions,which can realize mechanization of pruning operations and improve work efficiency. When the pruning arm is working,it can realize the pruning and collecting of the branches in one step,solve the problem of time and laborious use of artificial pruning,make up for the deficiency of the traditional pruning process,and promote the development of the gardening pruning machine. The mechanical arm is fully functional,simple in structure,easy to operate,and can adapt to complex forestry machinery operations.
引文
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[10]王燕,杨庆华,鲍官军,等.关节型果蔬采摘机械臂优化设计与试验[J].农业机械学报,2011,42(7):191-195.WANG Y,YANG Q H,BAO G J,et al. Optimization design and experiment of joint type fruit and vegetable picking robot[J].Transactions of the Chinese Society of Agricultural Machinery,2011,42(7):191-195.
[11]罗天洪,马翔宇,陈才等.基于操纵子学模型的5自由度宏-微精密机械手运动的映射关系[J].机械工程学报,2016,52(13):47-53.LUO T H,MA X Y,CHEN C,et al. Control system of five degrees of freedom of macro-micro precision manipulator based on operon model mapping[J]. Journal of Mechanical Engineering,2016,52(13):47-53.
[12]李启寿.车载式立木修剪机的设计与仿真研究[J].林业机械与木工设备,2018,46(11):31-35.LI Q S. Design and simulation of vehicle-mounted stand-up trimmers[J]. Forestry and Woodworking Equipment,2008,46(11):31-35.
[2]顾正平,沈瑞珍.国内外园林绿化机械现状与发展趋势[J].林业机械与木工设备,2004,32(2):4-7.GU Z P,SHEN R Z. Present status and prospect of gardening machines at home and abroad[J]. Forestry Machinery and Woodworking Equipment,2004,32(2):4-7.
[3]李世葳,王述洋,王慧,等.树木整枝修剪机械现状及发展趋势[J].林业机械与木工设备,2008,36(1):15-16.LI S W,WANG S Y,WANG H,et al. Present status and prospect of tree pruning machinery[J]. Forestry Machinery and Woodworking Equipment,2008,36(1):15-16.
[4]焦恩璋,张建红.车载式高枝修剪机的研制[J].南京林业大学学报(自然科学版),1990,14(1):63-67.JIAO E Z,ZHANG J H. Development of vehicle-mounted high branch trim machine[J]. Journal of Nanjing Forestry University(Natural Science Edition),1990,14(1):63-67.
[5]张玉磊,王维新,马本学,等.棉花采摘机械手机构设计及参数优化[J].农机化研究,2015,37(3):142-145.ZHANG Y L,WANG W X,MA B X,et al. Design and parameter optimization of cotton picking manipulator mechanism[J]. Journal of Agricultural Mechanization Research,2015,37(3):142-145.
[6]李扬,杜帅,陈宝林,等.高枝修剪机姿态协调控制与精准锯切定位[J].农业工程学报,2017,33(10):40-48.LI Y,DU S,CHEN B L,et al. Attitude coordination control and accurately sawing-positioning of high-branch pruning machine[J]. Transactions of the Chinese Society of Agricultural Engineering,2017,33(10):40-48.
[7]吴良军,杨洲,洪添胜.等.荔枝树枝力学特性的试验研究[J].农业工程学报,2012,28(16):68-73.WU L J,YANG Z,HONG T S,et al. Experimental study on mechanical properties of litchi branches[J]. Transactions of the Chinese Society of Agricultural Engineering,2012,28(16):68-73.
[8]蒲筠果,王志刚,朱良.基于农业采摘的机械臂结构设计研究[J].农机化研究,2018,40(9):39-43.PU J G,WANG Z G,ZHU L. Research on structural design of mechanical arm based on agricultural picking[J]. Journal of Agricultural Mechanization Research,2018,40(9):39-43.
[9]周舟,王俊.番茄采摘机器人机械臂结构设计与参数优化[J].安徽农业科学,2012,40(22):11520-11522.ZHOU Z,WANG J. Structural design and parameter optimization of robot picking robot manipulator[J]. Journal of Anhui Agricultural Sciences,2012,40(22):1150-11522.
[10]王燕,杨庆华,鲍官军,等.关节型果蔬采摘机械臂优化设计与试验[J].农业机械学报,2011,42(7):191-195.WANG Y,YANG Q H,BAO G J,et al. Optimization design and experiment of joint type fruit and vegetable picking robot[J].Transactions of the Chinese Society of Agricultural Machinery,2011,42(7):191-195.
[11]罗天洪,马翔宇,陈才等.基于操纵子学模型的5自由度宏-微精密机械手运动的映射关系[J].机械工程学报,2016,52(13):47-53.LUO T H,MA X Y,CHEN C,et al. Control system of five degrees of freedom of macro-micro precision manipulator based on operon model mapping[J]. Journal of Mechanical Engineering,2016,52(13):47-53.
[12]李启寿.车载式立木修剪机的设计与仿真研究[J].林业机械与木工设备,2018,46(11):31-35.LI Q S. Design and simulation of vehicle-mounted stand-up trimmers[J]. Forestry and Woodworking Equipment,2008,46(11):31-35.