CAJ | 학술논문

随着草莓种植的推广，国内草莓种植面积迅速增加。草莓是最不耐贮藏的水果，成熟后必须及时采摘，因收获季节劳动力不足，严重制约了草莓的种植发展。为此，提出了一种草莓采摘机械手爪。首先对摄像头采集的画面进行图像处理控制手爪的动作，使得手爪处于采摘位置，手指上的传感器控制电机旋转，带动齿轮传递动力给丝杠，通过丝杠的动作使手指闭合，对草莓果柄进行切割和抓取，实现果实的自动化采摘。本机构简单、可靠，为后续的研究奠定了基础。
수착초매충식적추엄，국내초매충식면적신속증가。초매시최불내저장적수과，성숙후필수급시채적，인수획계절노동력불족，엄중제약료초매적충식발전。위차，제출료일충초매채적궤계수조。수선대섭상두채집적화면진행도상처리공제수조적동작，사득수조처우채적위치，수지상적전감기공제전궤선전，대동치륜전체동력급사강，통과사강적동작사수지폐합，대초매과병진행절할화조취，실현과실적자동화채적。본궤구간단、가고，위후속적연구전정료기출。
With the promotion of strawberry industry , strawberry acreage has been increasing rapidly .Because of its shot time storage ,ripe strawberry must be harvested promptly .However ,harvest labor shortage has seriously hampered the de-velopment of strawberry industry .Strawberry harvest robot has been developed under this background .Therefore , a straw-berry picking gripper is proposed .With the help of the control system , which contains the camera to capture strawberry pictures and the CPU processing part , the gripper in movement system can be moved in the right position precisely .The movement system includes a motor rotation and gears-screw structures .When the motor rotation gets the picking informa-tion from the control system , it works to make the gripper closed .Meanwhile ,the blades on the gripper close , cutting of the strawberry stalk .And the griper grips the strawberry .This mechanism is simple and reliable .It`s helpful for further re-search.