基于枝干振动采摘机理的采摘机激振机构设计

Design of Vibration Excitation Mechanism of Picking Machinery based on Branch’s Vibration Picking Mechanism

为了实现树莓高效机械化采摘,探究树莓的振动采摘机理,建立树莓采摘力数学模型。根据采摘机理设计一种通过对采摘主轴施加不同刹车阻力实现激振频率可调的采摘机激振机构,建立采摘机激振机构三维模型,并用ADAMS对其进行仿真分析,通过仿真验证了采摘机激振机构的激振频率会在一定范围内随着采摘主轴所受阻力的增加而增加。通过样机实验验证了采摘机激振机构的可行性。样机的最佳采收率达到81%,采青率降到11.5%。

In order to achieve high-efficiency mechanized raspberry picking, the picking mechanism of raspberry is studied and the picking force model is established. According to the picking principle, an excitation mechanism, whose excitation frequency is adjustable by adding different braking resistance on the spindle, is designed. The 3D model of the excitation mechanism is established and simulated by ADAMS. The simulation results show that the excitation frequency of the mechanism will increase in a certain range with the increase of the resistance acted on the spindle. The feasibility of the mechanism is verified by prototype experiments. The best picking rate can be up to 81 %, and the harvest rate of immature fruit can be reduced to 11.5 %.