CAJ | 학술논문

　　通过研制用于现代化园林维护及城区绿化等工程的多功能园艺维护机械手，可完成对园林及其他绿化带的修剪、灌溉、摘果、药物喷洒等操作，减轻操作工人的劳动强度，并保证园林绿化维护工作的高效运行。该机械手主要由动力系统、关节式运动机构、维护机械手机构、可移动支座等部分组成，具有结构简单，运动灵活的特点；机械手的控制系统以单片机为控制核心，通过驱动各关节的驱动电机并经谐波减速器调速后带动各臂执行各种动作，通过编制控制程序控制工作刀片移动、转动，以及控制灌溉液体的喷射，完成对园林植被的修整、高处蔓枝的修剪、采摘、灌溉、喷洒农药等各种复杂动作。
　　통과연제용우현대화완림유호급성구녹화등공정적다공능완예유호궤계수，가완성대완림급기타녹화대적수전、관개、적과、약물분쇄등조작，감경조작공인적노동강도，병보증완림녹화유호공작적고효운행。해궤계수주요유동력계통、관절식운동궤구、유호궤계수궤구、가이동지좌등부분조성，구유결구간단，운동령활적특점；궤계수적공제계통이단편궤위공제핵심，통과구동각관절적구동전궤병경해파감속기조속후대동각비집행각충동작，통과편제공제정서공제공작도편이동、전동，이급공제관개액체적분사，완성대완림식피적수정、고처만지적수전、채적、관개、분쇄농약등각충복잡동작。
A multifunctional gardening maintenance Manipulator driven is designed to reduce the labor intensity of operators in the project of modern landscape maintenance and urban greening, this manipulate have the functions of garden and other greening belt pruning, fruit picking, drug spray operation etc, and it is composed of the power system, joint movement mechanism, the maintenance hand and tools, mobile support components; it has the characters of simple structure and flexible movement. The single chip microcomputer (SCM) is used as the control core of its control system, the moving and rotating of the maintenance tools is realized with each arm joint rotating driven by the motor and changing speed by the harmonic reducer, the irrigation and injection of the liquid are controlled by the electromagnetic valve, and they are all controlled by the program in the SCM. Then the functions of the landscape vegetation trimming, high vine pruning of branches, picking, irrigation, spraying of pesticides and other complex action are realized, which are ensure the landscape maintenance work with the high efficiency.