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

doi:10.3969/j.issn.1004-1524.2021.07.17

Acta Agriculturae Zhejiangensis ›› 2021, Vol. 33 ›› Issue (7): 1309-1319.DOI: 10.3969/j.issn.1004-1524.2021.07.17

• Biosystems Engineering • Previous Articles Next Articles

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

Abstract

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

CLC Number:

S225.93

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.

Figures/Tables 14

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.

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.

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.

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.

Fig.5 Motion diagram of centering crank slider mechanism

Fig.6 Model grid division

Fig.7 Typical mode cloud of Carya cathayensis

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

Fig.8 Dropout diagram at different vibration frequencies

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

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

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

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

Fig.10 Damage map of bud and branch

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

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Figures/Tables 14

References 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

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