面向高空作业采摘果实机器人设计

针对果品采摘作业的复杂性以及自动化程度低的情况，提出高空采果机器人的设计和制造。机器人采用坦克式双履带行走驱动方式，所有的原动件安在机身上，使重心下移，保持行走稳定；手臂采用硬塑料板及铝质型材支撑多段折叠式手臂，通过底部的3个马达绕绳实现手臂的展开与收缩；手臂顶端为1个三自由度高度灵活的夹子，可以方便地采摘果实；夹子下方一个口袋作为收集装置。应用结果表明，文章设计的机器人具有质量轻，机身小，造价低，实用性好等优点，能满足高空采摘作业要求。

Design of Fruit Picking Robot for High-Altitude Operation

The design and manufacture of high-altitude fruit picking robot was put forward because of complexity and lowdegree of automation of fruit picking work. The robot was driven by tank-style double-drive mode crawler,all drivingcomponent was installed in the body,making center of gravity down to keep walking stability. Clip had the function ofmulti degree of freedom was convenient to aim at the fruit. Arm adopted the hard plastic plate and the aluminum profilesupporting sections of folding arm. Through the bottom of three motor winding rope to realize the expansion andcontraction of the arm. Arm to the top was a three degree of freedom flexible clip, can be easily picked fruit, clip thebottom of a pocket as a collector. The application results show that the designed robot in this paper has the advantages oflight weight, small body, low cost, good practicability, and can meet the requirements of high altitude pickingoperation.