农业装备与车辆工程2025，Vol.63Issue(4)：14-21,8.DOI:10.3969/j.issn.1673-3142.2025.04.003
基于现代设计方法学的葡萄采摘机器人设计
Design of grape harvesting robot based on modern design methodology
摘要
Abstract
In order to improve the degree of automation and efficiency of grape picking,reduce labor costs and adapt to the development trend of smart agriculture,a grape picking robot was designed.Based on modern design methodology,the functions of the grape picking robot were decomposed,and its core modules such as the execution module,drive module,vision module,control module and support module were defined.Through the morphological matrix,multiple design schemes were constructed.Combined with the utility value analysis method,a systematic evaluation of the schemes was carried out.Finally,the scheme with a crawler walking device,driven by a DC motor and using gear transmission as the core,and integrated with multiple vision modules was selected.This grape picking robot adopted a six-axis robotic arm structure,and was driven by a worm gear.The end-effector was equipped with a flexible gripper and a cutting device,which could accurately grip and cut grape branches with a diameter of 1～3 mm.And the preliminary design of the control system was completed.It provided a feasible technical solution for the automation of grape picking.Its modular design and the characteristics of low maintenance cost make it have a relatively broad application prospect.关键词
葡萄采摘机器人/现代设计方法学/效用值分析法/控制系统设计/视觉检测Key words
grape harvesting robot/modern design methodology/effective value analysis method/control system design/visual inspection分类
农业科技引用本文复制引用
林涛,万义才,郭海东,霍大勇,孙付春,李晓晓..基于现代设计方法学的葡萄采摘机器人设计[J].农业装备与车辆工程,2025,63(4):14-21,8.基金项目
四川省区域创新合作项目"面向川疆葡萄智能采摘机器人关键技术研究及示范应用"(2024YFHZ0147) （2024YFHZ0147）
