果园种植业的发展提高了果园机械市场的需求，为了节约人力物力，提高果农的经济效益，开展采摘器械的研究有重要的意义。水果采摘机是一种极具研究价值和应用前景的农用地面移动机器人，本对具有移动功能的采摘机进行了总体技术的研究，并主要对其车体结构部分、手臂部分、手抓部分进行了详细的设计。 本文首先，通过功能和设计任务的分析，确立了水果采摘机总体功能构架；接着，对本采摘机车体结构部分、手臂部分、手抓部分进行了详细设计与校核并采用Pro/E三维设计；然后，进行仿真分析，确保水果采摘机结构最优，效率最高，性能最优；最后采用AtuoCAD软件绘制了采摘机的装配图及主要零件图。 通过本次设计，对大学所学专业知识在理论结合实际的锻炼下加深了知识的理解，对今后的工作必定带来很大帮助。 关键词：水果采摘机；手臂；手抓；履带 Abstract The developme
nt of orchard pla
nti
ng i
ndustry has raised the dema
nd of the orchard machi
nery market. I
n order to save ma
npower a
nd material resources a
nd improve the eco
nomic be
nefit of the fruit farmers, it is of great sig
nifica
nce to carry out the research of the picki
ng i
nstrume
nts. The fruit picki
ng machi
ne is a ki
nd of agricultural grou
nd mobile robot which has great research value a
nd applicatio
n prospect. This paper studies the overall tech
nology of the picki
ng machi
ne with mobile fu
nctio
n, a
nd desig
ns the part of the body structure, arm a
nd ha
nd grip i
n detail. Firstly, through the a
nalysis of fu
nctio
n a
nd desig
n task, the overall fu
nctio
nal framework of fruit picki
ng machi
ne is established. The
n, the body structure part, arm part, ha
nd grab part of this picki
ng locomotive are desig
ned a
nd checked i
n detail a
nd Pro/E 3D desig
n is used. The
n, simulatio
n a
nalysis is carried out to e
nsure the optimal structure a
nd efficie
ncy of the fruit picki
ng machi
ne. Fi
nally, the assembly drawi
ng a
nd mai
n parts drawi
ng of the picki
ng machi
ne were plotted by AtuoCAD software. Through this desig
n, the k
nowledge of the professio
nal k
nowledge of the u
niversity has bee
n deepe
ned u
nder the practice of combi
ni
ng theory with practice, a
nd it will surely bri
ng great help to the future work. Key words: Fruit picki
ng machi
ne; Arm; Ha
nd graspi
ng; Crawler 目录 摘要IV Abstract V 第1章绪论1 1.1研究背景及意义1 1.2国内外研究及发展现状1 第2章总体方案设计2 2.1设计参数2 2.1.1设计技术参数2 2.2方案选定2 2.2.1车体方案设计2 2.2.2手臂方案设计2 2.2.3手抓方案设计3 2.3.4驱动方案的选择3 2.3工作原理分析4 2.3.1传动机构工作原理4 2.3.2手臂工作原理4 2.3.3手抓工作原理5 第3章零部件的设计与选择6 3.1行驶小车设计6 3.1.1主电机的选择6 3.1.2履带部分设计8 3.1.3副履带部分设计18 3.2手臂部分设计21 3.2.1电机的选择21 3.2.2大、小臂设计23 3.3手抓设计24 3.3.1电动机的选择24 3.3.2丝杆螺母副的选型与校核26 3.3.3手指结构设计29 3.3.4手抓支架的设计30 第4章基于Pro/E的三维设计31 4.1 Pro/E三维设计软件概述31 4.2三维设计31 4.2.1车体31 4.2.2主履带32 4.2.3副履带32 4.2.4手臂、手抓32 4.2.5三维装配33 4.3仿真分析33 4.3.1 Pro/E仿真介绍33 4.3.2仿真34 总结37 参考文献38 致谢39