基于振动策略的蓝莓采摘机的设计研究

Research on Design of Blueberry Picker Based on Vibration Strategy

振动式蓝莓采摘机是通过振动蓝莓侧枝使果实产生受迫力实现果枝分离,为此本文建立蓝莓侧枝受力模型,分析蓝莓侧枝的轴向纵向振动,以无阻尼为基础,进而推导出侧枝的振动响应及果实的受迫力。通过Matlab仿真分析,得到不同坐标下不同形式的振动响应及受迫力的仿真结果。对仿真结果分析,得到轴向受迫力的作用小于径向受迫力,而径向受迫力是导致果实脱落的关键因素,且同一根蓝莓侧枝不同位置的振幅几乎一致。以此结果设计蓝莓采摘机。经过对所设计的蓝莓采摘机实地实验,机采效率是人采效率的10.6倍,希望为后续的研究提供借鉴。

The vibration type blueberry picker is to separate the branches of blueberry by vibrating the lateral branches of blueberry to produce forced force. Therefore, the stress model of blueberry lateral branches was established to analyze the axial and longitudinal vibration of blueberry lateral branches. Based on the undamped model, the vibration response of lateral branches and the forced force of fruit were deduced. Through MATLAB simulation analysis, the simulation results of vibration response and forced force in different coordinates are obtained. Through the analysis of the simulation results, it is found that the axial force is less than the radial force, and the radial force is the key factor leading to fruit abscission, and the amplitudes of different positions of the same blueberry lateral branch are almost the same, so the blueberry picker is designed based on this theory. Through the field experiment of the blueberry picker, the efficiency of the machine is 10.6 times that of the human, which provides reference for the follow-up research.