New Type Picking-device for Fruits on High-branch

Ya'nan Zhou; Haifei Qiu; Xiaomin Zhao; Xinchao Qiao; Yifan Liu

doi:10.16578/j.issn.1004.2539.2019.06.025

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New Type Picking-device for Fruits on High-branch

Development·Application | 更新时间：2022-10-01

- New Type Picking-device for Fruits on High-branch
- Journal of Mechanical Transmission Vol. 43, Issue 6, Pages: 139-143(2019)
- 作者机构：
  
  1.西京学院机械工程学院，陕西西安 710123
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.06.025
  CLC：
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周亚男,邱海飞,赵晓敏等.新型高枝水果采摘器[J].机械传动,2019,43(06):139-143.

Zhou Ya'nan,Qiu Haifei,Zhao Xiaomin,et al.New Type Picking-device for Fruits on High-branch[J].Journal of Mechanical Transmission,2019,43(06):139-143.
周亚男,邱海飞,赵晓敏等.新型高枝水果采摘器[J].机械传动,2019,43(06):139-143. DOI： 10.16578/j.issn.1004.2539.2019.06.025.

Zhou Ya'nan,Qiu Haifei,Zhao Xiaomin,et al.New Type Picking-device for Fruits on High-branch[J].Journal of Mechanical Transmission,2019,43(06):139-143. DOI： 10.16578/j.issn.1004.2539.2019.06.025.

摘要

为了降低水果采摘的技术难度与成本，设计研制了一种基于振动频率控制的高枝水果采摘机械装置。在该装置的机构学分析和理论计算基础上，确定了以锥齿轮和曲柄滑块机构为主的传动设计方案，通过将直流电机输出转矩转化为树枝的往复振荡来实现水果采摘。利用线性弹簧模拟树枝振荡过程，设计创建了基于刚柔耦合形态的等效力学模型；并通过运动学、动力学仿真分析，验证了样机结构的合理性与可靠性。现场采摘试验结果表明，该装置具有良好的实用性和水果采摘效能。为水果采摘机械的创新设计和实践应用提供了重要技术参考。

Abstract

In order to reduce the picking technical difficulty and cost of fruit，a mechanical device used for picking high-branch fruits is designed and developed，which based on frequency control of vibration. Based on mechanical analysis and theoretic calculation，the design scheme of main transmission is determined by bevel gear and crank slider mechanism，and then fruits picking is realized through converting output torque of DC motor into reciprocating vibration of the branches. The vibration process of the branches is simulated by linear spring，and an equivalent mechanical model based on rigid-flexible coupling is designed and created. After that，the rationality and reliability of the prototype are verified by kinematics and dynamics simulation. Picking experiment of the physical prototype shows that，the device has good practicability and fruit picking efficiency. The results provide an important technical reference for innovative design and practical application of the fruits picking machinery.

关键词

采摘振荡频率弹性系数刚柔耦合力学模型试验

Keywords

PickingOscillation frequencyElastic coefficientRigid-flexible couplingMechanical modelExperiment

references

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张少芳，李充宁，杨保占. 2K-V型减速机振动测试实验与分析［J］. 机械设计与制造工程， 2015， 44（9）：81-85.

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