手自一体式山核桃采摘机的设计与试验

doi:10.3969/j.issn.1004-1524.2021.07.17

浙江农业学报 ›› 2021, Vol. 33 ›› Issue (7): 1309-1319.DOI: 10.3969/j.issn.1004-1524.2021.07.17

手自一体式山核桃采摘机的设计与试验

李赞松¹(), 曹成茂²^,^*(), 伍德林², 张建宇¹

1.铜陵学院机械工程学院,工程液压机器人安徽普通高校重点实验室,安徽铜陵 244061
2.安徽农业大学工学院,安徽合肥 230036

收稿日期:2020-06-28 出版日期:2021-07-25 发布日期:2021-08-06
通讯作者: 曹成茂
作者简介:*曹成茂,E-mail: caochengmao@sina.com
李赞松(1990—),男,安徽安庆人,硕士,研究方向为机械化生产技术与装备。E-mail: zansongli@sina.com
基金资助:
国家自然科学基金(51475002);国家重点研发计划(2016YFD0702105)

Design and experiment of hand-operated self-integrated picking machine for Carya cathayensis

LI Zansong¹(), CAO Chengmao²^,^*(), WU Delin², ZHANG Jianyu¹

1. College of Mechanical Engineering, Key Laboratory of Construction Hydraulic Robots of Anhui Higher Education Institutes, Tongling University,Tongling 244061, China
2. College of Engineering, Anhui Agricultural University, Hefei 230036, China

Received:2020-06-28 Online:2021-07-25 Published:2021-08-06
Contact: CAO Chengmao

摘要/Abstract

摘要：

为提高山核桃采摘效率,降低采摘成本,针对目前我国山核桃高空作业机械化程度低等特点,设计并研制了一款手自一体式山核桃采摘机。文章阐述了该机关键部件的设计,并对偏心轮机构进行数学建模与分析计算。应用ANSYS对果树进行自由模态响应分析,初步确定山核桃树采摘的频率范围为7~20 Hz。根据山核桃采摘试验,结果表明:振动频率对果树的采摘率具有显著影响(P=0.05),果实采摘率随振动频率的增大而增大,当振动频率为22 Hz时,采摘率为95.1%;为了提高采摘率且尽可能减小芽枝和果树的损伤,建议控制采收频率为16~18 Hz,此时果实的平均采摘率为83.9%~88.0%。未采摘的果实通过人工或机械二次采摘。

关键词: 手自一体式, 山核桃, 偏心轮机构, 振动频率, 采摘率

Abstract:

In order to improve the efficiency of picking and reduce the cost of picking, a hand-operated self-integrated picking machine for Carya cathayensis was designed and developed according to the low degree of mechanization of pecan high-altitude operation in China. The design of the key parts of the machine was designed, and the mathematical modeling and analysis calculation of the eccentric mechanism was carried out. Based on the free model response analysis of the fruit tree with ANSYS, and the frequency range of picking pecan trees was preliminarily determined to be 7-20 Hz. According to the picking test of pecan, the results showed that: vibration frequency had a significant effect on the picking rate of fruit trees (P=0.05). The picking rate of fruit increased with the increase of vibration frequency. When the vibration frequency was 22 Hz, the picking rate was 95.1%. In order to improve the picking rate and minimize the damage to buds and fruit trees, it is suggested to control the harvesting frequency at 16-18 Hz, and the average picking rate of fruits at this time was about 83.9%-88.0%.The unpicked fruit was repicked manually or mechanically.

Key words: hand-operated self-integration, Carya cathayensis, eccentric mechanism, vibration frequency, picking rate

中图分类号:

S225.93

李赞松, 曹成茂, 伍德林, 张建宇. 手自一体式山核桃采摘机的设计与试验[J]. 浙江农业学报, 2021, 33(7): 1309-1319.

LI Zansong, CAO Chengmao, WU Delin, ZHANG Jianyu. Design and experiment of hand-operated self-integrated picking machine for Carya cathayensis[J]. Acta Agriculturae Zhejiangensis, 2021, 33(7): 1309-1319.

图/表 14

图1 手自一体式山核桃采摘机示意图 1,汽油机;2,按压式转速调节器; 3,组合开关; 4,手柄; 5,丝杆机构; 6,伸缩杆; 7,偏心轮机构; 8,采摘头;9,频率传感器; 10,传动换向机构; 11,钢丝拉线; 12,快接接头; 13,直流减速电机; 14,Arduino控制器; 15,电源; 16,舵机。

Fig.1 Schematic diagram of hand-operated self-integrated picking machine for Carya cathayensis 1,Gasoline engine; 2, Press speed regulator; 3, Speed regulator; 4,Hand shank; 5, Lead screw drive actuator; 6, Expansion link; 7,Eccentric gear; 8, Picking the head; 9, Frequency sensor; 10, Transmission reversing mechanism; 11, Steel wire; 12, Quick union; 13, DC reduction motor; 14, Arduino controller; 15, Power source; 16, Steering engine.

图2 夹持机构结构示意图 1,丝杆; 2,法兰座; 3,复位弹簧; 4,动夹紧头; 5,橡胶垫片; 6,定夹紧头; 7,行程开关1; 8,铰链销; 9,行程开关2; 10,光轴; 11,行程开关3。

Fig.2 Schematic diagram of clamping mechanism 1, Lead screw; 2, Flanged housing; 3, Reset spring; 4, Dynamic clamping head; 5, Rubber gasket; 6,Fixed clamping head; 7,Travel switch 1; 8, Joint pin; 9,Travel switch 2; 10, Optical axis; 11,Travel switch 3.

图3 传动换向机构三维结构图 1,棘轮卡爪装置; 2,弧齿锥齿轮1; 3,销轴; 4,弧齿锥齿轮2; 5,弧齿锥齿轮4; 6,弧齿锥齿轮 3。

Fig.3 3d structure of transmission commutator mechanism 1, Ratchet clamping device; 2, Gleason spiral bevel gear 1; 3, Hinge pin; 4, Gleason spiral bevel gear 2; 5, Gleason spiral bevel gear 4; 6, Gleason spiral bevel gear 3.

图4 齿轮偏心轮机构三维示意图 71,小齿轮; 2,偏心轮; 3,环形连杆; 4,滑块; 5,机架; 6,大齿轮。

Fig.4 Three-dimensional diagram of eccentric gear mechanism 1, Pinion; 2,Eccentric gear; 3, Ring connecting rod; 4,Sliding block; 5, Frame; 6, Rack wheel.

图5 对心式曲柄滑块机构运动简图

Fig.5 Motion diagram of centering crank slider mechanism

图6 模型网格划分

Fig.6 Model grid division

图7 山核桃树典型模态云图

Fig.7 Typical mode cloud of Carya cathayensis

表1 不同震动频率下山核桃采摘数据

Table 1 Picking data under different vibrational frequency of Carya cathayensis

振动频率 Vibrational frequency/Hz	编号 Number	落果数 The number of dropped fruit	未落果数 The number of undropped fruit	总数 Sum
7	1	80	81	161
	2	85	72	157
	3	87	72	159
	4	57	70	127
	5	102	91	193
	6	121	91	212
	7	69	74	143
	8	102	72	174
10	1	109	59	168
	2	105	59	164
	3	101	49	150
	4	163	68	231
	5	78	51	129
	6	108	78	186
	7	123	80	203
	8	114	55	169
13	1	93	43	136
	2	113	46	159
	3	120	45	165
	4	123	61	184
	5	147	47	194
	6	197	56	253
	7	97	37	134
	8	142	45	187
16	1	140	30	170
	2	138	21	159
	3	142	23	165
	4	152	35	187
	5	201	33	234
	6	159	33	192
	7	158	43	201
	8	208	29	237
19	1	151	15	166
	2	181	20	201
	3	150	13	163
	4	213	29	242
	5	121	17	138
	6	231	16	247
	7	180	15	195
	8	196	18	214
22	1	154	12	166
	2	137	6	143
	3	165	6	171
	4	262	12	274
	5	110	4	114
	6	165	13	178
	7	238	9	247
	8	193	11	204

图8 不同振动频率下的落果图

Fig.8 Dropout diagram at different vibration frequencies

表2 不同振动频率果实采摘率

Table 2 The fruit picking rates under different vibration frequencies

振动频率 Vibrational frequency/Hz	采摘率Picking rate/%
振动频率 Vibrational frequency/Hz	平均值 Average value	标均差 Standard deviation
7	52.5 f	4.3
10	64.2 e	4.0
13	72.6 d	3.6
16	83.9 c	3.0
19	90.8 b	1.9
22	95.1 a	1.5

表3 多项式回归方差分析表(ANOVA)

Table 3 Polynomial regression analysis of variance (ANOVA)

	平方和 Quadratic sum	df	均方 Mean square	F	Sig.
回归 Regression	1343.109	2	671.555	438.052	<0.0001
残差 Residual	4.599	3	1.533
总计Total	1347.708	5

表4 多项式回归参数估计和t检验表

Table 4 Polynomial regression parameter estimation and t-test table

	未标准化系数 Unstandardized coefficient			t	Sig.
	B	标准误差 Standard error	Beta	t	Sig.
一次项 Coefficient of primary term	5.370	0.660	1.836	8.132	0.004
二次项 Quadratic coefficient	-0.085	0.230	-0.855	-3.789	0.032
常数项 Constant term coefficient	18.832	4.412	4.266	0.024

图9 山核桃采摘率回归模型曲线图

Fig.9 Regression model curve of picking rate of Carya cathayensis

图10 芽枝损伤图

Fig.10 Damage map of bud and branch

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手自一体式山核桃采摘机的设计与试验

Design and experiment of hand-operated self-integrated picking machine for Carya cathayensis

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参考文献 30

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振动频率 Vibrational frequency/Hz	编号 Number	落果数 The number of dropped fruit	未落果数 The number of undropped fruit	总数 Sum
7	1	80	81	161
	2	85	72	157
	3	87	72	159
	4	57	70	127
	5	102	91	193
	6	121	91	212
	7	69	74	143
	8	102	72	174
10	1	109	59	168
	2	105	59	164
	3	101	49	150
	4	163	68	231
	5	78	51	129
	6	108	78	186
	7	123	80	203
	8	114	55	169
13	1	93	43	136
	2	113	46	159
	3	120	45	165
	4	123	61	184
	5	147	47	194
	6	197	56	253
	7	97	37	134
	8	142	45	187
16	1	140	30	170
	2	138	21	159
	3	142	23	165
	4	152	35	187
	5	201	33	234
	6	159	33	192
	7	158	43	201
	8	208	29	237
19	1	151	15	166
	2	181	20	201
	3	150	13	163
	4	213	29	242
	5	121	17	138
	6	231	16	247
	7	180	15	195
	8	196	18	214
22	1	154	12	166
	2	137	6	143
	3	165	6	171
	4	262	12	274
	5	110	4	114
	6	165	13	178
	7	238	9	247
	8	193	11	204

振动频率 Vibrational frequency/Hz	编号 Number	落果数 The number of dropped fruit	未落果数 The number of undropped fruit	总数 Sum
7	1	80	81	161
	2	85	72	157
	3	87	72	159
	4	57	70	127
	5	102	91	193
	6	121	91	212
	7	69	74	143
	8	102	72	174
10	1	109	59	168
	2	105	59	164
	3	101	49	150
	4	163	68	231
	5	78	51	129
	6	108	78	186
	7	123	80	203
	8	114	55	169
13	1	93	43	136
	2	113	46	159
	3	120	45	165
	4	123	61	184
	5	147	47	194
	6	197	56	253
	7	97	37	134
	8	142	45	187
16	1	140	30	170
	2	138	21	159
	3	142	23	165
	4	152	35	187
	5	201	33	234
	6	159	33	192
	7	158	43	201
	8	208	29	237
19	1	151	15	166
	2	181	20	201
	3	150	13	163
	4	213	29	242
	5	121	17	138
	6	231	16	247
	7	180	15	195
	8	196	18	214
22	1	154	12	166
	2	137	6	143
	3	165	6	171
	4	262	12	274
	5	110	4	114
	6	165	13	178
	7	238	9	247
	8	193	11	204

[1]	高竞, 方伟, 顾佳悦, 严淑娴, 邵帅, 梁辰飞, 秦华, 陈俊辉, 徐秋芳. 荧光标记解淀粉芽孢杆菌WK1在山核桃树体和土壤中的定殖规律[J]. 浙江农业学报, 2021, 33(1): 77-86.
[2]	邵泱峰, 马燕萍, 应学兵, 徐健, 李松昊, 何勇. 不同山核桃蒲壳配方基质对番茄产量和果实品质的影响[J]. 浙江农业学报, 2018, 30(2): 255-260.
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振动频率 Vibrational frequency/Hz	编号 Number	落果数 The number of dropped fruit	未落果数 The number of undropped fruit	总数 Sum
7	1	80	81	161
	2	85	72	157
	3	87	72	159
	4	57	70	127
	5	102	91	193
	6	121	91	212
	7	69	74	143
	8	102	72	174
10	1	109	59	168
	2	105	59	164
	3	101	49	150
	4	163	68	231
	5	78	51	129
	6	108	78	186
	7	123	80	203
	8	114	55	169
13	1	93	43	136
	2	113	46	159
	3	120	45	165
	4	123	61	184
	5	147	47	194
	6	197	56	253
	7	97	37	134
	8	142	45	187
16	1	140	30	170
	2	138	21	159
	3	142	23	165
	4	152	35	187
	5	201	33	234
	6	159	33	192
	7	158	43	201
	8	208	29	237
19	1	151	15	166
	2	181	20	201
	3	150	13	163
	4	213	29	242
	5	121	17	138
	6	231	16	247
	7	180	15	195
	8	196	18	214
22	1	154	12	166
	2	137	6	143
	3	165	6	171
	4	262	12	274
	5	110	4	114
	6	165	13	178
	7	238	9	247
	8	193	11	204

振动频率 Vibrational frequency/Hz	编号 Number	落果数 The number of dropped fruit	未落果数 The number of undropped fruit	总数 Sum
7	1	80	81	161
	2	85	72	157
	3	87	72	159
	4	57	70	127
	5	102	91	193
	6	121	91	212
	7	69	74	143
	8	102	72	174
10	1	109	59	168
	2	105	59	164
	3	101	49	150
	4	163	68	231
	5	78	51	129
	6	108	78	186
	7	123	80	203
	8	114	55	169
13	1	93	43	136
	2	113	46	159
	3	120	45	165
	4	123	61	184
	5	147	47	194
	6	197	56	253
	7	97	37	134
	8	142	45	187
16	1	140	30	170
	2	138	21	159
	3	142	23	165
	4	152	35	187
	5	201	33	234
	6	159	33	192
	7	158	43	201
	8	208	29	237
19	1	151	15	166
	2	181	20	201
	3	150	13	163
	4	213	29	242
	5	121	17	138
	6	231	16	247
	7	180	15	195
	8	196	18	214
22	1	154	12	166
	2	137	6	143
	3	165	6	171
	4	262	12	274
	5	110	4	114
	6	165	13	178
	7	238	9	247
	8	193	11	204

振动频率 Vibrational frequency/Hz	编号 Number	落果数 The number of dropped fruit	未落果数 The number of undropped fruit	总数 Sum
7	1	80	81	161
	2	85	72	157
	3	87	72	159
	4	57	70	127
	5	102	91	193
	6	121	91	212
	7	69	74	143
	8	102	72	174
10	1	109	59	168
	2	105	59	164
	3	101	49	150
	4	163	68	231
	5	78	51	129
	6	108	78	186
	7	123	80	203
	8	114	55	169
13	1	93	43	136
	2	113	46	159
	3	120	45	165
	4	123	61	184
	5	147	47	194
	6	197	56	253
	7	97	37	134
	8	142	45	187
16	1	140	30	170
	2	138	21	159
	3	142	23	165
	4	152	35	187
	5	201	33	234
	6	159	33	192
	7	158	43	201
	8	208	29	237
19	1	151	15	166
	2	181	20	201
	3	150	13	163
	4	213	29	242
	5	121	17	138
	6	231	16	247
	7	180	15	195
	8	196	18	214
22	1	154	12	166
	2	137	6	143
	3	165	6	171
	4	262	12	274
	5	110	4	114
	6	165	13	178
	7	238	9	247
	8	193	11	204

振动频率 Vibrational frequency/Hz	编号 Number	落果数 The number of dropped fruit	未落果数 The number of undropped fruit	总数 Sum
7	1	80	81	161
	2	85	72	157
	3	87	72	159
	4	57	70	127
	5	102	91	193
	6	121	91	212
	7	69	74	143
	8	102	72	174
10	1	109	59	168
	2	105	59	164
	3	101	49	150
	4	163	68	231
	5	78	51	129
	6	108	78	186
	7	123	80	203
	8	114	55	169
13	1	93	43	136
	2	113	46	159
	3	120	45	165
	4	123	61	184
	5	147	47	194
	6	197	56	253
	7	97	37	134
	8	142	45	187
16	1	140	30	170
	2	138	21	159
	3	142	23	165
	4	152	35	187
	5	201	33	234
	6	159	33	192
	7	158	43	201
	8	208	29	237
19	1	151	15	166
	2	181	20	201
	3	150	13	163
	4	213	29	242
	5	121	17	138
	6	231	16	247
	7	180	15	195
	8	196	18	214
22	1	154	12	166
	2	137	6	143
	3	165	6	171
	4	262	12	274
	5	110	4	114
	6	165	13	178
	7	238	9	247
	8	193	11	204