摘要
为了提高采集林木球果的效率 ,保证采种作业工人安全 ,减小对母树的损坏 ,研制了林木球果采集机器人。该机器人采用集材 5 0型履带式拖拉机作行走机构 ,上部安装 6自由度机械手及单片机程序控制系统。其主要技术参数为 :最大采集高度 14 m,最大作业半径 6.8m ,最大采集力 2 5 0 0 N。试验表明 ,该机器人每天可采落叶松球果约 5 0 0 kg,效率约为人工采集的 3 0～ 3
In order to improve the efficiency of collecting conifer cone, ensure the safety of workers in production, and reduce the damage to the mother trees, a collecting robot of conifer cone was developed. The robot mainly consists of a manipulator with 6 freedoms, a walking mechanism of caterpillar and a numerical program control system of chip computer. The main technical parameters are as follows, the maximum height of collecting cone is 14 m, the maximum radius of collecting cone 6 8 m, and the maximum force of collecting 2 500 N. The practical test shows that the robot can collect about 500 kg larch cones per day and its efficiency is about 30~35 times than that of a worker who picks cones by hand.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2001年第6期52-54,58,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家 8 63计划项目 (项目编号 :8635 12 370 1)
