苹果采摘机械手的设计

苹果采摘机械手的设计摘要本文设计了一种能够有效地减少苹果损失的苹果采摘机械手。针对为了解决传统手工摘苹果所面临的采收问题，研制了一种仿生机械爪子，以模拟人体工学原理，将其应用于生产中，使得产品的使用更方便、更有效。设计了一种新型的机械手爪，并对其主要零件进行了设计，并对其工作原理、特点及设计过程进行了阐述。本机械手可完成一系列的自由伸展、自由度转动、夹杂物等相关操作，采用交流伺服电机带动，气压带动机械进行小幅度的机械传动。该机器人包括基座、大臂、小臂、手腕等多个部件，并通过相应的控制来完成对机器人的操作。本发明能满足电路简化、维护方便、操作方便、机械结构合理、机械手结构优化、结构紧凑、使用方便等特点。设计出一种合适的机械手，可以很好地解决这一实际问题，并实现了本文所要实现的目标。关键词：机械手爪；交流伺服电机；自由度Apple picking robotic clawAbstractThis paper designs an apple picking manipulator which can effectively reducethe loss of apples.In order to solve the problem of traditional manual apple picking,a bionic mechanical paw was developed to simulate the principle of ergonomics andapply it in production,making the use of products more convenient and effective.Anew type of manipulator clamp is designed,and its main parts are designed,and itsworking principle,characteristics and design process are described.The manipulatorcan complete a series of free extension,degree of freedom rotation,inclusions andother related operations,driven by ac servo motor,pneumatic drive machinery forsmall mechanical transmission.The robot includes base,arm,forearm,wrist andother parts,and through the corresponding control to complete the operation of therobot.The invention can meet the characteristics of simplified circuit,convenientmaintenance,convenient operation,reasonable mechanical structure,optimizedstructure of manipulator,compact structure and convenient use.A suitablemanipulator is designed to solve this practical problem and achieve the goal of thispaper.Key words:Mechanical claw;Pneumatic drive;AC servo motor;Degree offreedom目录一、绪论()研究背景(二)国内外研究现状（三）机械手的概述.2(四)机械手原理图..2(五)机械手的结构2(六)机械手设计目的….3(七)课题研究的内容.3二、机械手的设计…(一)机械手设计图.4(二)机械手设计的需求…。.4(三)零部件的设计….51.基座的设计.52.手臂设计.53.伸缩连杆.74.末端执行器.75.齿轮…8(四)整体设计….10(五)驱动方式..11(六)传动方式11三、机械手参数设计….12(一)末端执行器齿轮双爪….12(二)手臂动力计算.13(三)小车动力计算13四、机械手三维建模….16(一)一级上臂.16(二)大臂.17n（三）小臂..17(四)末端执行器…。.18(五)伸缩连杆.….18(六)19.441(七)装配总图..20五、总结与展望…21