【摘要】 通过分析中国香蕉种植现状和长势情况,基于香蕉采摘与运输的碰撞与机械损伤问题,结合我国香蕉采摘与运输的实际情况,运用SolidWorks三维设计软件研制一种适用于香蕉辅助采摘运输的柔性夹持装置,搭建相应的试验装置。同时采用PLC控制技术对柔性夹持装置和四自由度调整装置进行控制系统设计,柔性夹持控制子系统以扭矩作为检测反馈参数实现闭环控制。研究结果表明,该装置实现香蕉果串的柔性夹持与低损采收,可进一步与智能化香蕉切割装置进行协同作业。更多还原

【Abstract】 By analyzing the current situation of the banana planting and growing situation,based on the collision and mechanical damage of banana picking and transportation,combined with the actual situation of banana picking and transportation in China,a flexible clamping device suitable for banana assisted picking and transportation and test device was developed by using SolidWorks three-dimensional design software.At the same time,the control system design of the flexible clamping device and the four-degree-of-freedom adjustment device was carried out by using PLC control technology.The flexible clamping control subsystem realized the closed-loop control with torque as the detection feedback parameter.The results show that the device can realize the flexible gripping and low-loss picking of banana fruit clusters,and can further cooperate with the intelligent banana cutting device.更多还原