手动背负夹爪式简易梨采摘器研制
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摘要
针对梨采摘效率低且劳动强度大的问题,该文通过分析梨果实特征,并搭建剪切力测量平台,对不同品种和成熟度的梨进行果柄剪切试验,测得剪断果柄的最大剪切力为5.4 N;设计了一款操作简单且不伤果实的手动背负式梨采摘器,该手动背负式采摘器由操作执行机构通过拉索拉动采摘头,使夹爪和刀片先后动作,完成采摘;采摘完后,松开操作手柄,在复位弹簧的作用下,刀具和夹爪顺序动作,果实通过收集布袋落入果篮中;基于Recurdyn对采摘器关键部件进行仿真,得出剪切力平均为13.5N,大于剪断果柄所需的剪切力;基于ANSYS软件对主要的受力杆件组进行强度分析,验证了所设计的采摘器强度满足要求;开展实地试验验证设计的合理性。试验表明:该手持式采摘器操作简单、舒适,采用采摘器采摘,采摘效率比人工采摘效率提高了57.1%,可以实现不同高度梨的采摘,提高了果农的采摘效率和采摘过程安全性。
In order to solve the problem of low efficiency and high labor intensity of pear picking, a hand-operated piggyback jaw type simplified pear picker was designed in this paper. The characteristics of pears were analyzed by selecting 3 kinds of pears commonly found in the market: 'Xuehua' pear, 'Yali' pear, and 'Apple-pear', the pear maturity was divided into A, B and C grades according to the fruit diameter size and the growth period. Referring to the previous research results on the shear mechanical properties of citrus and litchi fruit handles, the shear force measurement bench was constructed. Shearing tests of the fruit stem were carried out on the 3 kinds of pears with different maturity according to the lever principle. In the test, 60 fruits of each grade of maturity of each pear were taken and the average value of the measurement results was obtained. The result showed that the shearing force of the stems of the 3 varieties was different, with the increase of the fruit maturity level, the shearing force of the pear stems increases first and then decreases, the maximum shearing force of the fruit stem was 5.4 N among the 3 varieties. The picking device was composed of driving operating parts, picking head parts, adjustable straps and carrying "Z" type collecting bag. The length and position of the strap picker could be adjusted by pulling up the handle of the strap and pressing down the handle after moving the clamp block to the appropriate position according to personal use. The driving operating unit was connected to the picking head through the hollow aluminum tube through the dragline.The other components on the picking head were connected by cylindrical pins. The pear picking process was divided into 3 steps: in the first step, the operator placed the picking head near the pear and puted the pear into the tray of the picking head, so that the pear was accurately positioned. In the second step, the operator pulled the operating handle to hold the fruit and cuted off the handle. In the last step, after the picking, the operator released the operating handle, the clamping claw and blade automatically return to the position under the action of the reset spring, and the fruit slides into the fruit basket through the "Z" type collecting sack. The movement simulation of the picking head was conducted based on the software Recurdyn. The simulation result showed that the average shear force was 13.5 N, it was greater than the maximum shear force of 5.4 N which was the required shear force of the pear stem. The main stressed parts were analyzed based on ANSYS Workbench 15.0 software. The results demonstrated that the maximum deformation of the picker was located at the installation place of the picking head, and the maximum deformation was 0.072 571 mm, which was less than the maximum allowable deformation of the picker 0.1 mm. The maximum stress position of the picker was at the joint of the 2 rods. The maximum stress of the group was 19.267 MPa, which was much smaller than the allowable stress of the material 110 MPa, the strength of the picking device met the requirements. In order to verify the rationality of the design, the field experiments were carried out in the summer of 2018 at Mushan pear orchards in Shaoyang, Hunan Province. The test results demonstrated that the hand-held picker was simple and comfortable to operate. The picking efficiency was 57.1% higher than that of manual picking. The average damage rate was 1.0%. The reason of fruit damage during the picking process was maily that the diameter of the pear was more than 100 mm, which leaded to the wrong touch of the blade. The hand-operated piggyback pear picker improved the picking efficiency and the operational safety of picking process.
In order to solve the problem of low efficiency and high labor intensity of pear picking, a hand-operated piggyback jaw type simplified pear picker was designed in this paper. The characteristics of pears were analyzed by selecting 3 kinds of pears commonly found in the market: 'Xuehua' pear, 'Yali' pear, and 'Apple-pear', the pear maturity was divided into A, B and C grades according to the fruit diameter size and the growth period. Referring to the previous research results on the shear mechanical properties of citrus and litchi fruit handles, the shear force measurement bench was constructed. Shearing tests of the fruit stem were carried out on the 3 kinds of pears with different maturity according to the lever principle. In the test, 60 fruits of each grade of maturity of each pear were taken and the average value of the measurement results was obtained. The result showed that the shearing force of the stems of the 3 varieties was different, with the increase of the fruit maturity level, the shearing force of the pear stems increases first and then decreases, the maximum shearing force of the fruit stem was 5.4 N among the 3 varieties. The picking device was composed of driving operating parts, picking head parts, adjustable straps and carrying "Z" type collecting bag. The length and position of the strap picker could be adjusted by pulling up the handle of the strap and pressing down the handle after moving the clamp block to the appropriate position according to personal use. The driving operating unit was connected to the picking head through the hollow aluminum tube through the dragline.The other components on the picking head were connected by cylindrical pins. The pear picking process was divided into 3 steps: in the first step, the operator placed the picking head near the pear and puted the pear into the tray of the picking head, so that the pear was accurately positioned. In the second step, the operator pulled the operating handle to hold the fruit and cuted off the handle. In the last step, after the picking, the operator released the operating handle, the clamping claw and blade automatically return to the position under the action of the reset spring, and the fruit slides into the fruit basket through the "Z" type collecting sack. The movement simulation of the picking head was conducted based on the software Recurdyn. The simulation result showed that the average shear force was 13.5 N, it was greater than the maximum shear force of 5.4 N which was the required shear force of the pear stem. The main stressed parts were analyzed based on ANSYS Workbench 15.0 software. The results demonstrated that the maximum deformation of the picker was located at the installation place of the picking head, and the maximum deformation was 0.072 571 mm, which was less than the maximum allowable deformation of the picker 0.1 mm. The maximum stress position of the picker was at the joint of the 2 rods. The maximum stress of the group was 19.267 MPa, which was much smaller than the allowable stress of the material 110 MPa, the strength of the picking device met the requirements. In order to verify the rationality of the design, the field experiments were carried out in the summer of 2018 at Mushan pear orchards in Shaoyang, Hunan Province. The test results demonstrated that the hand-held picker was simple and comfortable to operate. The picking efficiency was 57.1% higher than that of manual picking. The average damage rate was 1.0%. The reason of fruit damage during the picking process was maily that the diameter of the pear was more than 100 mm, which leaded to the wrong touch of the blade. The hand-operated piggyback pear picker improved the picking efficiency and the operational safety of picking process.
引文
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[3]张最,肖宏儒,丁文芹,等.振动式枸杞采摘机理仿真分析与样机试验[J].农业工程学报,2015,31(10):20-28.Zhang Zui,Xiao Hongru,Ding Wenqin,et al.Simulation analysis and prototype test of vibrating picking mechanism[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(10):20-28.(in Chinese with English abstract)
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[5]蔡健荣,周小军,王锋,等.柑橘采摘机器人障碍物识别技术[J].农业机械学报,2009,40(11):171-175.Cai Jianrong,Zhou Xiaojun,Wang Feng,et al.Impact recognition technology for citrus picking robots[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(11):171-175.(in Chinese with English abstract)
[6]宋健,孙学岩,张铁中,等.开放式茄子采摘机器人设计与试验[J].农业机械学报,2009,40(1):143-147.Song Jian,Sun Xueyan,Zhang Tiezhong,et al.Design and experiment of open eggplant picking robot[J].Transactions of the Chinese Society for Agricultral Machinery,2009,40(1):143-147.(in Chinese with English abstract)
[7]李国利,姬长英,顾宝兴,等.多末端苹果采摘机器人机械手运动学分析与试验[J].农业机械学报,2016,47(12):14-21,29.Li Guoli,Ji Changying,Gu Baoxing,et al.Kinematics analysis and experiment of multi-terminal apple picking robot manipulator[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(12):14-21,29.(in Chinese with English abstract)
[8]吕继东,赵德安,姬伟,等.苹果采摘机器人对振荡果实的快速定位采摘方法[J].农业工程学报,2012,28(13):48-53.LüJidong,Zhao De'an,Ji Wei,et al.A rapid method for picking and oscillating fruit picking by apple picking robot[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(13):48-53.(in Chinese with English abstract)
[9]钱少明,杨庆华,王志恒,等.黄瓜抓持特性与末端采摘执行器研究[J].农业工程学报,2010,26(7):107-112.Qian Shaoming,Yang Qinghua,Wang Zhiheng,et al.Study on cucumber grip characteristics and end picking actuator[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2010,26(7):107-112.(in Chinese with English abstract)
[10]姚天曙,丁为民.机械手采摘黄瓜的振动特性试验[J].农业工程学报,2006,22(9):250-253.Yao Tianshu,Ding Weimin.Experimental study on vibration characteristics of manipulator picking cucumber[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2006,22(9):250-253.(in Chinese with English abstract)
[11]杨小庆,时磊,王娜,等.基于单片机的仿人多指番茄采摘机械手设计[J].农机化研究,2016,38(7):80-84.Yang Xiaoqing,Shi Lei,Wang Na,et al.Design of a human-like multi-finger tomato picking robot based on single-chip microcomputer[J].Journal of Agricultural Mechanization Research,2016,38(7):80-84.(in Chinese with English abstract)
[12]王粮局,张铁中,褚佳,等.大容差高效草莓采摘末端执行器设计与试验[J].农业机械学报,2014,45(增刊1):252-258.Wang Liangju,Zhang Tiezhong,Chu Jia,et al.Design and experiment of high tolerance strawberry harvesting end effector[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(S1):252-258.(in Chinese with English abstract)
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