| At present, the two indexes of fruit planting area and annual production in China have been the most top in the world. And, apple is one of most cultivated and highest produced fruits in China. Nevertheless, the fruit is basically harvested by manual with high requires of labor intensity and quantity. As the population ages and agricultural labor reduce, picking cost increases. Such greatly make the market less competitiveness of products. So, the most effective action is to speed up the pace of developing fruit picking robot and it has great meaning to enhance our agricultural comprehensive level.Based on the GY-1apple-picking robot as the research object, the author focus on the key technology of structure design and system control of hydraulic walking part and servo dynamo picking part and makes a simulation on the hydraulic arm with ADAMS and develops a set of control scheme on hydraulic walking system and hydraulic picking system. Through several picking tests, the paper concludes that the average harvest speed is19.6s per apple and apple recognition rate is86.57%. Through the simple kinematics and dynamics simulation of the basic movement, some key information and data can be worked out.The main research objects about the key technology of apple-picking robot are as follows:1. Structure of the robot bodyIntroduce the car structure. Combined with the design requirements of the robot, resistance and traction was calculated, some key hydraulic components were designed.2. Design of the hydraulic walking and picking control schemeState the hardware and software desigh of hydraulic walking and picking control system. The design of hardware contains that main control system, assisted control system and communication system. The software program is written with ST and FB language based on the software development platform PROSYD1131. Some key functional modules were highlighted.3. Design and test of the servo dynamo picking arm and simulation of the hydraulic arm.Introduce the structure of the servo dynamo picking arm and its visual system. Expound the hardware structure and software design process of the dynamo arm control system. Do some related picking tests. Do the3d modeling and simulation on the hydraulic arm by using Inventor and ADMAS. |
