手持振动梳刷式小粒咖啡采摘装置设计与试验

Design and Experiment of Hand-held Vibrating Comb-type Coffea arabica L.Harvester

针对云南丘陵山区小粒咖啡人工采收成本高、大型机械采收困难等问题,设计了手持振动梳刷式小粒咖啡采摘装置。通过建立果树-机械收获动力学模型和多体动力学仿真,得到振幅的稳态响应表达式,并确定了振动部件和梳刷部件的结构参数。利用ADAMS建立了果树-机械刚柔耦合模型,采用广义力与传感器函数控制的方法进行单因素仿真试验,分析了频率、梳齿间距和偏心块夹角对小粒咖啡收获效果的影响规律。以频率、梳齿间距和偏心块夹角为试验因素,采净率、采青率和损伤率为试验指标,进行二次回归正交旋转组合试验,结果表明:对采净率和采青率的影响因素重要性依次为频率、梳齿间距、偏心块夹角;对损伤率影响因素重要性依次为梳齿间距、频率和偏心块夹角。当频率为26 Hz、梳齿间距为32 mm、偏心块夹角为22.5°时,采摘机工作性能最佳,经试验验证,此时采净率为91.35%,采青率为8.46%,损伤率为4.15%,满足小粒咖啡收获技术要求。

In view of the trouble of high cost of manual harvesting and the difficulty of large-scale machinery harvesting of Coffea arabica L.in the hilly areas of Yunnan,a hand-held vibrating comb-type Coffea arabica L.harvester was designed.Through establishing the harvest dynamic model of tree-machine and ADAMS simulation,the steady-state response expression of amplitude was obtained,and the structural parameters of the key components of the device were determined.The rigid-flexible coupling model of tree-machine was established in ADAMS,and the single-factor simulation experiment of the harvester was carried out by using the methods of generalized force and sensor function control.Through this method,the effects of frequency,comb spacing and the angle between the eccentric blocks on the harvest effect of Coffea arabica L.were analyzed.Then the quadratic regression orthogonal rotation combination test was done,with the frequency,comb spacing and eccentric block angle as the test factors,and the harvesting rate of ripe coffee,the harvesting rate of unripe coffee and the breaking rate of ripe coffee as test indexes.The results of the experiments showed that the importance of the factors affecting the harvesting rate of ripe coffee and the harvesting rate of unripe coffee were frequency,comb spacing and the angle between the eccentric blocks in turn.The importance of the factors affecting the damage rate were comb spacing,frequency and the angle between the eccentric blocks in turn.When the frequency was 26 Hz,the comb spacing was 32 mm and the angle between the eccentric blocks was 22.5°,the working performance of the harvester was the best.Verified by the experiments,the results showed that the harvesting rate of ripe coffee was 91.35%,the harvesting rate of unripe coffee was 8.46%,and the damage rate was 4.15%,which met the technical requirements of Coffea arabica L.harvest.