【作者】 葛晓棠；

【导师】 张铁中； 徐丽明；

【作者基本信息】 中国农业大学 ， 农业机械化工程， 2005， 硕士

【摘要】 随着社会的进步,人们的生活水平在不断的提高,从而对物品的质量要求也在不断提高。水果在人们生活中是必不可少的,它可以提供许多人们身体的营养元素,在各种水果中,苹果是需求量最大的,苹果的销售量近几年在不断增加。为了提高苹果的果实品质,许多地方开始采用苹果套袋技术,套袋后可以防止农药和空气中有害物质对果实的污染,是生产无公害食品苹果的重要手段之一。该技术应用,解决了果质和污染问题,在生产中具有较高的实用价值。 本课题主要针对套袋技术的特点,研究设计了半自动苹果套袋机器人,主要分为撑袋机构和套袋机构,撑袋机构设计了弧形手爪,使果袋的内腔撑开到最大容积,满足水果套袋的要求。机构中主要采用气动和真空系统驱动,动作快,提高作业的效率,实现了纸袋撑开过程的全自动化。套袋机构采用独特的V型封口设计,快捷牢固地将果袋固定在果梗上,套袋机构采用人工操作的伸缩杆控制,可以快速准确地找到果实,并使套袋机构准确地套上果实,完成套袋作业。 半自动苹果套袋机器人中的撑袋机构控制系统采用51系列的单片机,各部分之间既能同时动作又能相互协调,大大提高了控制的实时性和作业速度,达到3～4个/分,为其推广应用打下良好基础。更多还原

【Abstract】 With the development of society, people’s standard of living is improved continually, and so the quality of goods is regarded as an important thing. Fruit, as a necessary part in people’s life, can provide a lot of nutrition element for the body. Among the kinds of fruits, apple has the call. And the sales volume of apple is increasing in the recent years. In order to improve the quality of apple, the apple bagging technology is used in many places. This technology can avoid the pollution of pesticide and injurant to the fruit, and it is one of the important measures to produce non-pollution apple. The application of this technology can solve the problem of fruit quality and pollution, and it has highly practical value in production.Aiming at the characteristic of bagging technology, the semi-automatic robot for apple bagging is designed, which mainly contains two parts, supporting part and bagging part. The supporting mechanism has an arc paw, controlled by the aerodynamic force and vacuum system, to enlarge inside of the bag maximally, improving the working efficiency and realizing the full automation of the supporting process. The bagging mechanism uses special manual flex pole to approach. and bag Fruit exactly.The control system of the supporting mechanism in this robot uses 51-series single-chip microcomputer. All the parts can work at the same time and also can correspond with each other. Real-time control and working speed had been improved greatly. The working speed reaches to 3-4 apples per minute.更多还原