CAJ | 학술논문

随着人力劳动成本及农林作业自动化程度的提高，在未来的水果采摘作业中将逐步采用自动化采摘设备。为此，探讨了多手臂自动水果采摘装置中的智能移动平台、五轴式机械臂、末端执行器及电气控制装置的设计过程。该装置机械部分主要采用了CAD／CAE软件来进行设计分析，提高了设计的效率、可行性和科学性。该装置设计了4个手臂，可以同时采摘水果，大大提高了机械手的采摘效率，并在机械手抓部分安装有视觉传感器、压力传感器及位置传感器等。同时，对手指进行了应力分析。该装置采用了履带式行走机构，可以适应各种复杂路面；并安装了自动导航系统和视觉识别系统，能够准确定位水果位置并进行摘取。此外， S7－200型号的PLC和气动技术在该采摘装置中的应用，使设备整体结构紧凑，工作更加稳定。
수착인력노동성본급농림작업자동화정도적제고，재미래적수과채적작업중장축보채용자동화채적설비。위차，탐토료다수비자동수과채적장치중적지능이동평태、오축식궤계비、말단집행기급전기공제장치적설계과정。해장치궤계부분주요채용료CAD／CAE연건래진행설계분석，제고료설계적효솔、가행성화과학성。해장치설계료4개수비，가이동시채적수과，대대제고료궤계수적채적효솔，병재궤계수조부분안장유시각전감기、압력전감기급위치전감기등。동시，대수지진행료응력분석。해장치채용료리대식행주궤구，가이괄응각충복잡로면；병안장료자동도항계통화시각식별계통，능구준학정위수과위치병진행적취。차외， S7－200형호적PLC화기동기술재해채적장치중적응용，사설비정체결구긴주，공작경가은정。
With labor cost increase and forestry operations to improve the degree of automation , in the future will gradual-ly adopt the automatic picking device to pick fruit .This paper discusses the design process of intelligent mobile platform , five axis manipulator , end effector ,electrical control device which belong to the automatic fruit picking device which with many arms .The device mainly uses CAD/CAE software to design and analysis , improve the design efficiency , feasibility and scientific .The unit is designed with four arms , which can pick the fruit at the same time , so the efficiency of picking manipulator is greatly improved , and is installed with a visual sensor , pressure sensor , position sensor in the manipula-tor , and the finger stress analysis was made .A crawler type walking mechanism is adopted on the device , which can a-dapt to various complicated road , the device is installed in the automatic navigation system and visual identity system , can accurately locate the position and pick fruit .In addition, the application of S7-200 model of PLC and pneumatic technology is used in the picking device , so that the overall structure is compact and more stable .