The invention relates to a multi-point touch type accurate positioning apple picking machine, and belongs to the technical field of agricultural machinery. According to the crawler-type apple pickingmachine, an articulated structure is adopted as a picking system structure, compared with other structural forms, the articulated structure is most effective for determining any position and posture in a three-dimensional space, operation objects of the picking machine are randomly distributed on a fruit tree, the distribution space of the operation objects is relatively large, a plurality of obstacles possibly exist around the operation objects, a multi-degree-of-freedom joint type mechanical arm has the function of fitting any curve in space, a control system is adopted to control movement of corresponding joints, so that a tail end picking device fixed to the mechanical arm can effectively avoid the obstacles in the process of reaching the operation target position, and therefore, the picking efficiency can be effectively improved by adopting the multi-degree-of-freedom joint type mechanical arm as the fruit picking machine.
本发明涉及一种多点触控式精准定位苹果采摘机,属于农用机械术领域。本发明设计的履带式苹果采摘机采用关节型结构作为采摘系统结构,与其他结构形式相比,关节型结构对于确定三维空间中的任意位置和姿态是最有效的,采摘机的作业对象在果树上是随机分布的,并且其分布空间较大,其周围可能存在很多的障碍物,多自由度的关节型机械手具有拟合空间任意曲线的功能,采用控制系统通过控制相应关节的运动,使得固定在机械臂上的末端采摘器在达到作业目标位置的过程中,能够有效躲避障碍物,因此采用多自由度关节型机械手作为果实采摘机可以有效提高采摘效率。
Multi-point touch type accurate positioning apple picking machine
一种多点触控式精准定位苹果采摘机
2020-12-22
Patent
Electronic Resource
Chinese