林业工程学报2025，Vol.10Issue(2)：138-146,9.DOI:10.13360/j.issn.2096-1359.202311004
双轨式油茶果采摘机器人的动力轨道平台设计
Design of a dual track power platform of Camellia oleifera fruit picking robot
摘要
Abstract
Camellia oleifera is a unique woody oil plant in China,known for its high nutritional and economic value.Currently,the harvesting of C.oleifera fruits in China relies primarily on manual labor.However,labor shortages,high physical demands,and rising employment costs are limiting the growth and development of C.oleifera industry.To improve the intelligent level of camellia fruit harvesting and realize the machine harvesting operation of C.oleifera fruits,a power track platform of dual track C.oleifera fruits picking robot was proposed.Firstly,according to the characteristics of the growth environment of C.oleifera and the working mode of the collaborative robot,the basic design requirements of the picking robot and its power track were analyzed,and the overall design scheme was given.Secondly,the key components of the picking robot,such as the platform,the walking driving device and the driving motor,were calculated and selected in detail.Based on SolidWorks,the stress-strain simulation of the track under different structural parameters was carried out and the optimal track size parameters were selected.Thirdly,a virtual prototype of the dynamic rail platform was built,and the kinematic simulation of the rail platform was carried out using ADAMS,and the change curves of parameters such as speed and displacement were obtained,and the walking characteristics were analyzed based on the simulation results.Then,the control unit of the power track platform was designed,and the control flow of the power track platform was analyzed.With the help of ANSYS software,the modal analysis of the power rail platform frame was conducted,and the main excitation sources of the power rail platform were compared with the power rail platform to determine whether the power rail platform frame would produce resonance phenomenon.Finally,the prototype of the power track platform of the dual track C.oleifera fruit picking robot was completed,and the prototype operation test was carried out.The results demonstrated that the designed dual track power platform of the C.oleifera fruit-picking robot can support the robot in successfully completing the fruit picking in the outdoor environments,proving its feasibility.关键词
油茶果/采摘/机器人/双轨式/轨道平台Key words
Camellia oleifera fruit/picking/robot/dual track type/track platform分类
农业科技引用本文复制引用
陈吉朋,王凯,陈佳佳,周宏平..双轨式油茶果采摘机器人的动力轨道平台设计[J].林业工程学报,2025,10(2):138-146,9.基金项目
国家林业和草原局应急科技项目(202202-3). （202202-3）
