新型高枝水果采摘器
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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。
In order to reduce the picking technical difficulty and cost of fruit,a mechanical device used forpicking high-branch fruits is designed and developed,which based on frequency control of vibration. Based on me-chanical analysis and theoretic calculation,the design scheme of main transmission is determined by bevel gearand crank slider mechanism,and then fruits picking is realized through converting output torque of DC motor intoreciprocating vibration of the branches. The vibration process of the branches is simulated by linear spring,and anequivalent mechanical model based on rigid-flexible coupling is designed and created. After that,the rationalityand reliability of the prototype are verified by kinematics and dynamics simulation. Picking experiment of thephysical prototype shows that,the device has good practicability and fruit picking efficiency. The results providean important technical reference for innovative design and practical application of the fruits picking machinery.
In order to reduce the picking technical difficulty and cost of fruit,a mechanical device used forpicking high-branch fruits is designed and developed,which based on frequency control of vibration. Based on me-chanical analysis and theoretic calculation,the design scheme of main transmission is determined by bevel gearand crank slider mechanism,and then fruits picking is realized through converting output torque of DC motor intoreciprocating vibration of the branches. The vibration process of the branches is simulated by linear spring,and anequivalent mechanical model based on rigid-flexible coupling is designed and created. After that,the rationalityand reliability of the prototype are verified by kinematics and dynamics simulation. Picking experiment of thephysical prototype shows that,the device has good practicability and fruit picking efficiency. The results providean important technical reference for innovative design and practical application of the fruits picking machinery.
引文
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[2]杨涛清,邓学雄.小型高空电动采果器设计[J].包装工程,2016,37(2):125-129.
[3]刘梦飞,郑甲红,高警.采摘机-核桃树系统的仿真与试验[J].食品与机械,2014,30(1):107-110.
[4]张忠将. SolidWorks 2016高级应用教程[M]. 2版.北京:机械工业出版社,2017:185-226.
[5]邱海飞.机械系统柔性建模方法与仿真研究[J].机械传动,2016,40(12):169-172.
[6]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.
[7]朱伯芳.有限单元法原理与应用[M]. 3版.北京:中国水利水电出版社,2009:428-433.