高酸苹果振动式采摘机设计与试验  

Design and Experiment of High-acid Apple Vibrating Picker

作　　者：尚书旗[1] 李成鹏 何晓宁[1] 王东伟[1] 王海清 杨帅 SHANG Shuqi;LI Chengpeng;HE Xiaoning;WANG Dongwei;WANG Haiqing;YANG Shuai(College of Mechanical and Electrical Engineering,Qingdao Agricultural University,Qingdao 266109,China)

机构地区：[1]青岛农业大学机电工程学院,青岛266109

出　　处：《农业机械学报》2023年第3期115-125,168,共12页Transactions of the Chinese Society for Agricultural Machinery

基　　金：山东省农业重大应用技术创新项目(SD2019NJ001)。

摘　　要：为解决高酸苹果收获过程中的效率低、果实摘净率低、损伤率高等问题,根据我国青岛地区高酸苹果实际收获需要,设计了一种液压控制的高酸苹果振动式采摘机。基于振动式采摘机工作原理,完成振动采摘装置、激振装置、液压控制系统的结构设计,计算分析夹持钳对树干的夹持力为7 254 N,夹持钳夹持高度范围为12~103 cm。建立高酸苹果果实-树枝单摆动力学模型,分析果实脱落条件,得到果实振动微分方程,确定振动频率、振幅、夹持高度为采摘效果主要影响因素;利用ANSYS软件对果树模型进行自由模态响应与谐响应仿真分析,结果表明:振动频率9~12 Hz、振幅1~2 cm、夹持高度40~70 cm时,三级、最次级树枝位移最明显。为确定采摘机最优工作参数,进行三因素三水平组合田间试验,得到果实摘净率、果实损伤率的回归模型,利用Design-Expert软件对试验数据和回归模型响应曲面进行分析优化,当振动频率为10.0 Hz、振幅为1.6 cm、夹持高度为58.7 cm时,果实摘净率为95.9%、果实损伤率为1.3%,满足高酸苹果采收的质量要求。In order to solve the problems of low efficiency,low fruit picking rate and large damage rate in the harvesting process of high-acid apples,a hydraulically controlled high-acid apple vibration picking machine was developed according to the actual harvesting needs of high-acid apples in Qingdao,China.Based on the working principle of vibrating picker,the structural design of vibrating picking device,excitation device and hydraulic control system was completed,and the clamping force of the clamping pliers on the trunk was calculated and analyzed to be 7254 N,and the clamping height range of the clamping pliers was 12~103 cm.The dynamic model of fruit-branch pendulum of high-acid apple was established,the fruit shedding conditions were analyzed,the differential equation of fruit vibration was obtained,and the vibration frequency,amplitude and clamping height were determined as the main influencing factors of picking effect.ANSYS software was used to simulate the free modal response and harmonic response of the fruit tree model,and the results showed that when the vibration frequency was 9~12 Hz,the amplitude was 1~2 cm,and the clamping height was 40~70 cm,the displacement of the third-order and second-level branches was the most obvious.In order to determine the optimal working parameters of the picker,a three-factor three-level combination field experiment was carried out to obtain a regression model of fruit picking net rate and fruit damage rate,and the test data and regression model response surface were analyzed and optimized by Design-Expert software,when the vibration frequency was 10.0 Hz,the amplitude was 1.6 cm and the clamping height was 58.7 cm,the fruit picking net rate was 95.9%and the fruit damage rate was 1.3%,which met the quality requirements of high-acid apple harvesting.

关 键 词：高酸苹果 振动采收 液压控制 单摆模型 

分 类 号：S225.93[农业科学—农业机械化工程]