“美登”蓝莓两模式机械采摘手设计与性能分析

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中图分类号：TP241；S225 文献标识码：A 文章编号：2095-2953（2025）02-0057-07

Design and Performance Analysis of Two-Mode Mechanical Picking Hand for‘ Maiden' Blueberry

MENG Zhao-xin，GAO Qi* ，LIU Zhen，CHENG Yue-feng，TIAN Xing-yu （School of MechanicalandElectricalEngineering，NortheastForestryUniversity，Harbin Heilongjiang15O04，China）

Abstract：Due to the short plant of‘Meideng‘blueberry，most of them are picked manualy，which has high picking costand high labor intensity.The existing picking machinery in China iseasyto cause damage to blueberryand has higherrequirements for economic and technological level. Therefore，a two-mode mechanical picking hand is designed for the existing problems.The simple mechanical structure of the manipulator and the mechanical claw are used to cooperate，which is suitable for multi-grain picking and single-grain picking.Through the image recognition system，the picking mode can be determined and automatically switched.The structure of the‘Maiden‘blueberry two-mode mechanical picking hand was designed，andthe kinematics analysis and simulation analysis were carried out to verify the rationality of the picking device.

Key words：blueberry picking ;two modes ；manipulator ； finger straight solution ; simulation analysi

蓝莓属杜鹃花科越橘属，为多年生落叶或常绿灌木[1-3]，其果实风味独特，营养丰富，VC含量是苹果的几十倍，被誉为“桨果之王”，而且含有防止脑神经衰老、增强心脏功能、记忆力、明自及抗癌等独特功效物质，食用价值和药用价值极高，被国际粮农组织列为人类五大健康食品之一，是野生浆果中的极品[4-5]。（剩余6575字）