番茄收获机器人-

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摘要

这些年我们国家在科技方面的技术水平提升是很明显的，随着社会生活水平的不

断提高，现在市场对于产品的要求越来越高，而且各个行业当中的科技痕迹来越明显，

在这种情况下，可以说每一个行业当中只有真正的跟科技有很好的配合，才能够从中

脱颖出来，才能够真正的占据市场。再细细看来，现在的科技其实对于每一个行业的

影响是很明显的，以工业领域为例，目前的工业生产过程早已经开始将自动化生产的

方式贯穿到每一个环节当中了，技术的引入必然带来的是生产模式的更新，原来可能

需要大量劳动力来完成的工作，现在直接利用自动化生产线就可以满足加工要求了，

这是一种进步，也是一种必然的发展趋势。再回到日常的生活当中来，我们国家是属

于一个传统意义上的农业大国，农业在整个国家的经济体系当中占据了非常重要的位

置，但是随着人口红利的不断消失，从事农业的人员越来越少，但是饭碗端在自己人

手里这个愿景确是不能有变化的，这种情况下，就需要通过极少的人力来满足大面积

的种植过程，那么对于农用机械的技术要求就变得很高的，这是实现农业改革的关键

的一步，实现农业生产自动化。

这次的设计重点就是根据目前的番茄采摘的过程来设计一款能够自动化完成番茄

采摘工作的采摘机设备，这种设备需要满足行走的需求，满足采摘的需求，满足采摘

之后确保质量的需求，具体结构的确定是需要根据目前的机械设计的原则来开展计算

的，这次的设计当中的重点内容就是完成上述提到的结构的确定，一方面要有很好的

效率表现，同时对于番茄本身的质量不能够造成影响，在完成了结构的确定之后，还

出具了详细的图纸，让整个设计的内容看起来更加的直观。

关键词：番茄；采摘；行走；机械手；末端执行

Abstract

In recent years, the improvement of our country's technical level in science and

technology is very obvious. With the continuous improvement of social living standards, the

market now has higher and higher requirements for products, and the technological traces in

various industries are more and more obvious. In this case, it can be said that only the real

cooperation with science and technology in each industry can be distinguished. Can really

occupy the market. In the industrial field, for example, the current industrial production

process has already begun to automate the way of production through every link, the

introduction of technology will inevitably bring about the update of the production mode, the

original may require a large number of labor to complete the work, Now the direct use of

automated production lines can meet the processing requirements, which is a kind of progress,

but also an inevitable development trend. Back to our daily life, our country is a big

agricultural country in the traditional sense, and agriculture occupies a very important position

in the economic system of the whole country. However, with the continuous disappearance of

the demographic dividend, fewer and fewer people are engaged in agriculture, but the vision

that the rice bowl is in the hands of our own people cannot be changed. It is necessary to meet

the large area of the planting process through very little manpower, then the technical

requirements for agricultural machinery become very high, which is a key step to achieve

agricultural reform and realize the automation of agricultural production.

The focus of this design is to design a picking machine that can automatically complete

the picking of tomatoes according to the current picking process. This equipment needs to

meet the needs of walking, picking and ensuring quality after picking. The specific structure

is determined according to the current mechanical design principles to carry out calculations.

The key content of this design is to complete the determination of the structure mentioned

above, on the one hand, there must be a good efficiency performance, while the quality of the

tomato itself can not be affected, after the completion of the determination of the structure,

but also issued a detailed drawing, so that the entire design content looks more intuitive.

Key words: tomato; Pick; Walk; Manipulator; End execution

目录
目录
摘  要.........................................................................................................................................I
Abstract......................................................................................................................................II
第1章 前言...............................................................................................................................5
1 课题研究背景..............................................................................................................5
2 农业机器人的发展现状..............................................................................................6
2.1 国外农业机器人的发展现状..............................................................................6
2.2 国内农业机器人发展与应用现状......................................................................7
2.3 收获机器人存在问题..........................................................................................7
3 课题拟采用的研究方法及主要研究内容..................................................................8
第2章 整体结构设计...............................................................................................................8
1 方案总体结构设计.......................................................................................................8
2 行走方式的选择...........................................................................................................9
2.1 履带式行走机构..................................................................................................9
2.2 轮式行走机构....................................................................................................10
2.3 足式行走机构....................................................................................................12
2.4 行走机构形式的选择........................................................................................13
3 行走机构的设计参数需求.........................................................................................14
4 行走机构驱动力的计算............................................................................................15
4.1 驱动力与转矩的关系........................................................................................15
4.2 驱动力与阻力计算............................................................................................15
5 行走驱动电机的选型计算........................................................................................17
5.1 确定电机功率与转矩........................................................................................17
5.2 驱动电机的选型................................................................................................18
6 行走装置减震装置的设计........................................................................................19
6.1 独立悬挂于非独立悬挂形式的选择................................................................19
6.2 悬架结构的设计................................................................................................20
6.3 减震器选型和计算............................................................................................21
6.4 减振器构造参数的计算....................................................................................22
第3章 采摘机械臂的设计及计算.........................................................................................23
III

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标签： #番茄收获机器人 #机器人

摘要：

摘要摘要这些年我们国家在科技方面的技术水平提升是很明显的，随着社会生活水平的不断提高，现在市场对于产品的要求越来越高，而且各个行业当中的科技痕迹来越明显，在这种情况下，可以说每一个行业当中只有真正的跟科技有很好的配合，才能够从中脱颖出来，才能够真正的占据市场。再细细看来，现在的科技其实对于每一个行业的影响是很明显的，以工业领域为例，目前的工业生产过程早已经开始将自动化生产的方式贯穿到每一个环节当中了，技术的引入必然带来的是生产模式的更新，原来可能需要大量劳动力来完成的工作，现在直接利用自动化生产线就可以满足加工要求了，这是一种进步，也是一种必然的发展趋势。再回到日常的生活当中来，我们国家是属于...

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