振动式苹果采摘机的结构设计与试验

Structural Design and Testing of a Vibrating Apple Picker

针对我国现有苹果采摘自动化程度低、人工成本高、采摘时间长等问题,本文以苹果树为研究对象,旨在设计一款针对苹果采摘的树干式振动采摘机,以提高苹果采摘作业的效率,解决当下产量低等问题。首先,测量苹果树及其果实的生物学特性的数值,并取具有代表性的数值进行记录。其次,提出苹果采摘机的总体设计方案,确定采摘机物理尺寸,对采摘机重要单元进行结构设计,并利用Solid Works对整个苹果采摘机结构进行三维建模,对其关键部件进行模态分析和应力分析,确定其可以正常进行采摘作业。最后,通过加速度传感器对苹果树侧枝点进行加速度数据采集,通过计算确定满足果梗断裂条件。试验表明:苹果在振动式苹果采摘机的激振力作用下,侧枝点所获得的加速度可以使果梗脱落,从而实现对苹果的采摘作业。

In response to the challenges of low automation,high labor costs,and extended picking times in existing apple picking practices in China,our research focuses on developing a trunk-type vibration picker for apple harvesting.The primary objective is to enhance operational efficiency and address the current issue of low yield in apple harvesting.The research process involves several key steps.Firstly,we conducted measurements of the biological characteristics of apple trees and their fruits,capturing representative values for further analysis and documentation.Subsequently,we proposed an overall design scheme for the apple picker,determined the physical dimensions of the device,conducted structural design for crucial components,and created a comprehensive three-dimensional model using Solid Works.Modal and stress analyses were then performed on the key components to ensure the picker's ability to carry out picking operations effectively.Finally,acceleration data were collected through an acceleration sensor positioned at the side branch point of the apple tree.Through calculations,it was established that the obtained acceleration met the necessary conditions for fruit stalk breakage.The conducted tests demonstrated that the acceleration applied at the side branch point effectively caused the fruit stalk to detach when subjected to the excitation force generated by the vibrating apple picker.Consequently,successful apple picking operations were achieved.In summary,our research and design efforts aim to overcome existing challenges in apple picking by introducing a technologically advanced trunk-type vibration picker,ultimately improving efficiency and addressing current low yield issues in the industry.