振刷式枸杞采收机设计与试验优化
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摘要
为了实现枸杞机械采收的高效、低损,融合振动和梳刷原理,设计了一种便携振刷式枸杞采收机,同时,根据枸杞鲜果与果柄脱离机理,采用单个集中质量力学模型,建立了采收机动力学模型,得到了采收机作用于枸杞鲜果的接触点位移、速度和加速度方程。运用ADAMS对采收机进行了运动学与动力学仿真,仿真结果表明:梳刷转速60～70 r/min、凸轮转速25～35 r/min、梳刷样式Ⅱ型时,熟果可以从果柄上脱离且不受损伤。采用三因素三水平二次正交旋转组合试验,建立了熟果采收率、青果错采率、熟果破损率与梳刷转速、凸轮转速、梳刷样式之间的数学模型,分析了各因素对熟果采收率、青果错采率、熟果破损率的影响,确定了最佳参数组合:梳刷转速64. 52 r/min、凸轮转速29. 68 r/min、梳刷样式Ⅱ型,并进行了田间试验验证。田间试验表明,熟果采收率为89. 12%,青果错采率为5. 87%,熟果破损率为6. 24%。
Nowadays,the manual harvesting is the most common harvesting method of Lycium barbarum( L. barbarum),but the efficiency of the manual harvesting is low and the cost of that is high. In order to achieve the goal of high efficiency and low damage of the mechanical harvesting of L. barbarum,a portable vibrating and comb brushing harvester for L. barbarum based on the principle of vibrating and comb brushing was designed. Based on the separation principle of L. barbarum and the carpopodium,the mechanical model was adopted by single centralized mass method to establish the dynamic model of the harvester and the equations of the displacement,velocity and acceleration of contact point of ripe L. barbarum applied load by the harvester were obtained. In order to optimize the structure and working parameters of the harvester,the kinematics and dynamics simulation of the harvester was done through ADAMS. Results showed that the combination that the revolving speed of comb brush was 60 ～ 70 r/min,the revolving speed of cam was 25 ～ 35 r/min and the style of comb brush was Ⅱ,which was helpful to harvest L. barbarum. Three factors and three levels quadratic orthogonal revolving experiment was adopted to establish the mathematical model between the harvesting rate of ripe L. barbarum,harvesting rate of unripe L. barbarum,damage rate of ripe L. barbarum and revolving speed of comb brush,revolving speed of cam and style of comb brush. The influences of various factors on the harvesting rate of ripe L. barbarum,the harvesting rate of unripe L. barbarum and the damage rate of ripe L. barbarum were analyzed and the best combination was determined as the revolving speed of comb brush was 64. 52 r/min,the revolving speed of cam was 29. 68 r/min and the style of comb brush was Ⅱ. Field experiment results showed that the harvesting rate of ripe L. barbarum was 89. 12%,the harvesting rate of unripe L. barbarum was 5. 87% and the damage rate of ripe L. barbarum was 6. 24%. The research result provided a design basis for the later research of vibrating and comb brushing harvester for L. barbarum.
Nowadays,the manual harvesting is the most common harvesting method of Lycium barbarum( L. barbarum),but the efficiency of the manual harvesting is low and the cost of that is high. In order to achieve the goal of high efficiency and low damage of the mechanical harvesting of L. barbarum,a portable vibrating and comb brushing harvester for L. barbarum based on the principle of vibrating and comb brushing was designed. Based on the separation principle of L. barbarum and the carpopodium,the mechanical model was adopted by single centralized mass method to establish the dynamic model of the harvester and the equations of the displacement,velocity and acceleration of contact point of ripe L. barbarum applied load by the harvester were obtained. In order to optimize the structure and working parameters of the harvester,the kinematics and dynamics simulation of the harvester was done through ADAMS. Results showed that the combination that the revolving speed of comb brush was 60 ～ 70 r/min,the revolving speed of cam was 25 ～ 35 r/min and the style of comb brush was Ⅱ,which was helpful to harvest L. barbarum. Three factors and three levels quadratic orthogonal revolving experiment was adopted to establish the mathematical model between the harvesting rate of ripe L. barbarum,harvesting rate of unripe L. barbarum,damage rate of ripe L. barbarum and revolving speed of comb brush,revolving speed of cam and style of comb brush. The influences of various factors on the harvesting rate of ripe L. barbarum,the harvesting rate of unripe L. barbarum and the damage rate of ripe L. barbarum were analyzed and the best combination was determined as the revolving speed of comb brush was 64. 52 r/min,the revolving speed of cam was 29. 68 r/min and the style of comb brush was Ⅱ. Field experiment results showed that the harvesting rate of ripe L. barbarum was 89. 12%,the harvesting rate of unripe L. barbarum was 5. 87% and the damage rate of ripe L. barbarum was 6. 24%. The research result provided a design basis for the later research of vibrating and comb brushing harvester for L. barbarum.
引文
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[3]李强,叶力勤,安巍.枸杞采摘机的适采条件[J].农机化研究,2009,31(6):126-128.LI Qiang,YE Liqin,AN Wei. The suitable working of wolfberry harvest machine[J]. Journal of Agricultural Mechanization Research,2009,31(6):126-128.(in Chinese)
[4] SO J D. Vibration characteristics of boxthorn(Lycium Chinense Mill.)branches[J]. Applied Engineering in Agriculture,2001,17(6):755-760.
[5] SO J D. Vibratory harvesting machine for boxthorn(Lycium Chinense Mill.)berries[J]. Transactions of the ASAE,2003,46(2):211-221.
[6] PETERSON D L,TAKEDA F,KORNECKI T. Harvester for“T”,“V”,and“Y”trellised eastern thornless blackberries[J].Applied Engineering in Agriculture,1992,8(1):9-12.
[7] DU X Q,CHEN D,ZHANG Q,et al. Dynamic responses of sweet cherry trees under vibratory excitations[J]. Biosystems Engineering,2012,111:305-314.
[8] YU P C,LI C Y,TAKEDA F,et al. Quantitative evaluation of a rotary blueberry mechanical harvester using a miniature instrumented sphere[J]. Computers&Electronics in Agriculture,2012,88:25-31.
[9] YU P C,LI C Y,TAKEDA F,et al. Measurement of mechanical impacts created by rotary,slapper,and sway blueberry mechanical harvesters[J]. Computers&Electronics in Agriculture,2014,101:84-92.
[10]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. Machanism simulation analysis and prototype experiment of Lycium barbarum harvest by vibration mode[J]. Transactions of the CSAE,2015,31(10):20-28.(in Chinese)
[11]周兵,何晶.模拟手枸杞采摘机设计[J].农业工程学报,2010,26(增刊1):13-17.ZHOU Bing,HE Jing. Design of simulate hand wolfberry picking machine[J]. Transactions of the CSAE,2010,26(Supp. 1):13-17.(in Chinese)
[12]张文强,张明明,张俊雄,等.振摇枸杞采收机设计与试验[J/OL].农业机械学报,2018,49(7):97-102. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20180712&flag=1. DOI:10. 6041/j. issn. 1000-1298.2018. 07. 012.ZHANG Wenqiang,ZHANG Mingming,ZHANG Junxiong,et al. Design and experiment of vibrating wolfberry harvester[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(7):97-102.(in Chinese)
[13]张文强,李召召,谭豫之,等.变间距梳刷式枸杞采收装置优化设计与试验[J/OL].农业机械学报,2018,49(8):83-90. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180810&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2018. 08. 010.ZHANG Wenqiang,LI Zhaozhao,TAN Yuzhi,et al. Optimal design and experiment on variable pacing combing brush picking device for Lycium barbarum[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(8):83-90.(in Chinese)
[14]赵健,陈云,王亚磊,等.便携式枸杞振动采收装置参数优化试验研究[J].农机化研究,2019,41(3):176-182.ZHAO Jian,CHEN Yun,WANG Yalei,et al. Experimental research on parameter optimization of portable vibrating and harvesting device of Chinese wolfberry[J]. Journal of Agricultural Mechanization Research,2019,41(3):176-182.(in Chinese)
[15]陈军,王虎,蒋浩然,等.猕猴桃采摘机器人末端执行器设计[J/OL].农业机械学报,2012,43(10):151-154. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20121027&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2012. 10. 027.CHEN Jun,WANG Hu,JIANG Haoran,et al. Design of end-effector for kiwifruit harvesting robot[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(10):151-154.(in Chinese)
[16]傅隆生,张发年,槐岛芳德,等.猕猴桃采摘机器人末端执行器设计与试验[J/OL].农业机械学报,2015,46(3):1-8. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20150301&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2015. 03. 001.FU Longsheng,ZHANG Fanian,GEJIMA Yoshinori,et al. Development and experiment of end-effector for kiwifruit harvesting robot[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(3):1-8.(in Chinese)
[17]刘继展,李萍萍,李智国,等.面向机器人采摘的番茄力学特性试验[J].农业工程学报,2008,24(12):66-70.LIU Jizhan,LI Pingping,LI Zhiguo,et al. Experimental study on mechanical properties of tomatoes for robotic harvesting[J].Transactions of the CSAE,2008,24(12):66-70.(in Chinese)
[18] DAVIDSON J,SILWAL A,KARKEE M,et al. Hand-picking dynamic analysis for undersensed robotic apple harvesting[J].Transactions of the ASABE,2016,59(4):745-758.
[19] LI J,KARKEE M,ZHANG Q,et al. Characterizing apple picking patterns for robotic harvesting[J]. Computers&Electronics in Agriculture,2016,127:633-640.
[20] HE L,FU H,SUN D Z,et al. Shake-and-catch harvesting for fresh market apples in trellis-trained trees[J]. Transactions of the ASABE,2017,60(2):353-360.
[21]陈燕,蒋志林,李嘉威,等.夹剪一体的荔枝采摘末端执行器设计与性能试验[J/OL].农业机械学报,2018,49(1):35-41. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180104&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2018. 01. 004.CHEN Yan,JIANG Zhilin,LI Jiawei,et al. Design and testing of litchi picking end-effector integrated clamping and cutting performance[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(1):35-41.(in Chinese)
[22]杨义勇,金德闻.机械系统动力学[M].北京:清华大学出版社,2009.
[23]孙桓,陈作模,葛文杰.机械原理[M].北京:高等教育出版社,2006.
[24]季顺中,李双,陈树人,等.基于ADAMS的高速插秧机三插臂分插机构运动仿真[J].农业机械学报,2010,41(增刊):82-85.JI Shunzhong,LI Shuang,CHEN Shuren,et al. Kinematical simulation of three separating planting bars of high-performance rice transplanter based on ADAMS[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(Supp.):82-85.(in Chinese)
[25]杜岳峰,毛恩荣,宋正河,等.基于ADAMS的玉米植株收获过程仿真[J/OL].农业机械学报,2012,43(增刊):106-111. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=2012s21&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2012. S0. 021.DU Yuefeng,MAO Enrong,SONG Zhenghe,et al. Simulation on corn plants in harvesting process based on ADAMS[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2012,43(Supp.):106-111.(in Chinese)
[26]贾洪雷,郭明卓,郭春江,等.免耕播种机动态仿生破茬装置设计与参数试验优化[J/OL].农业机械学报,2018,49(10):103-114. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20181012&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2018. 10. 012.JIA Honglei,GUO Mingzhuo,GUO Chunjiang,et al. Design of dynamic bionic stubble cutting device and optimization test of parameters[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):103-114.(in Chinese)
[2]徐丽明,陈俊威,吴刚,等.梳刷振动式枸杞收获装置设计与运行参数优化[J].农业工程学报,2018,34(9):75-82.XU Liming,CHEN Junwei,WU Gang,et al. Design and operating parameter optimization of comb brush vibratory harvesting device for wolfberry[J]. Transactions of the CSAE,2018,34(9):75-82.(in Chinese)
[3]李强,叶力勤,安巍.枸杞采摘机的适采条件[J].农机化研究,2009,31(6):126-128.LI Qiang,YE Liqin,AN Wei. The suitable working of wolfberry harvest machine[J]. Journal of Agricultural Mechanization Research,2009,31(6):126-128.(in Chinese)
[4] SO J D. Vibration characteristics of boxthorn(Lycium Chinense Mill.)branches[J]. Applied Engineering in Agriculture,2001,17(6):755-760.
[5] SO J D. Vibratory harvesting machine for boxthorn(Lycium Chinense Mill.)berries[J]. Transactions of the ASAE,2003,46(2):211-221.
[6] PETERSON D L,TAKEDA F,KORNECKI T. Harvester for“T”,“V”,and“Y”trellised eastern thornless blackberries[J].Applied Engineering in Agriculture,1992,8(1):9-12.
[7] DU X Q,CHEN D,ZHANG Q,et al. Dynamic responses of sweet cherry trees under vibratory excitations[J]. Biosystems Engineering,2012,111:305-314.
[8] YU P C,LI C Y,TAKEDA F,et al. Quantitative evaluation of a rotary blueberry mechanical harvester using a miniature instrumented sphere[J]. Computers&Electronics in Agriculture,2012,88:25-31.
[9] YU P C,LI C Y,TAKEDA F,et al. Measurement of mechanical impacts created by rotary,slapper,and sway blueberry mechanical harvesters[J]. Computers&Electronics in Agriculture,2014,101:84-92.
[10]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. Machanism simulation analysis and prototype experiment of Lycium barbarum harvest by vibration mode[J]. Transactions of the CSAE,2015,31(10):20-28.(in Chinese)
[11]周兵,何晶.模拟手枸杞采摘机设计[J].农业工程学报,2010,26(增刊1):13-17.ZHOU Bing,HE Jing. Design of simulate hand wolfberry picking machine[J]. Transactions of the CSAE,2010,26(Supp. 1):13-17.(in Chinese)
[12]张文强,张明明,张俊雄,等.振摇枸杞采收机设计与试验[J/OL].农业机械学报,2018,49(7):97-102. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20180712&flag=1. DOI:10. 6041/j. issn. 1000-1298.2018. 07. 012.ZHANG Wenqiang,ZHANG Mingming,ZHANG Junxiong,et al. Design and experiment of vibrating wolfberry harvester[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(7):97-102.(in Chinese)
[13]张文强,李召召,谭豫之,等.变间距梳刷式枸杞采收装置优化设计与试验[J/OL].农业机械学报,2018,49(8):83-90. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180810&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2018. 08. 010.ZHANG Wenqiang,LI Zhaozhao,TAN Yuzhi,et al. Optimal design and experiment on variable pacing combing brush picking device for Lycium barbarum[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(8):83-90.(in Chinese)
[14]赵健,陈云,王亚磊,等.便携式枸杞振动采收装置参数优化试验研究[J].农机化研究,2019,41(3):176-182.ZHAO Jian,CHEN Yun,WANG Yalei,et al. Experimental research on parameter optimization of portable vibrating and harvesting device of Chinese wolfberry[J]. Journal of Agricultural Mechanization Research,2019,41(3):176-182.(in Chinese)
[15]陈军,王虎,蒋浩然,等.猕猴桃采摘机器人末端执行器设计[J/OL].农业机械学报,2012,43(10):151-154. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20121027&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2012. 10. 027.CHEN Jun,WANG Hu,JIANG Haoran,et al. Design of end-effector for kiwifruit harvesting robot[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(10):151-154.(in Chinese)
[16]傅隆生,张发年,槐岛芳德,等.猕猴桃采摘机器人末端执行器设计与试验[J/OL].农业机械学报,2015,46(3):1-8. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20150301&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2015. 03. 001.FU Longsheng,ZHANG Fanian,GEJIMA Yoshinori,et al. Development and experiment of end-effector for kiwifruit harvesting robot[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(3):1-8.(in Chinese)
[17]刘继展,李萍萍,李智国,等.面向机器人采摘的番茄力学特性试验[J].农业工程学报,2008,24(12):66-70.LIU Jizhan,LI Pingping,LI Zhiguo,et al. Experimental study on mechanical properties of tomatoes for robotic harvesting[J].Transactions of the CSAE,2008,24(12):66-70.(in Chinese)
[18] DAVIDSON J,SILWAL A,KARKEE M,et al. Hand-picking dynamic analysis for undersensed robotic apple harvesting[J].Transactions of the ASABE,2016,59(4):745-758.
[19] LI J,KARKEE M,ZHANG Q,et al. Characterizing apple picking patterns for robotic harvesting[J]. Computers&Electronics in Agriculture,2016,127:633-640.
[20] HE L,FU H,SUN D Z,et al. Shake-and-catch harvesting for fresh market apples in trellis-trained trees[J]. Transactions of the ASABE,2017,60(2):353-360.
[21]陈燕,蒋志林,李嘉威,等.夹剪一体的荔枝采摘末端执行器设计与性能试验[J/OL].农业机械学报,2018,49(1):35-41. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180104&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2018. 01. 004.CHEN Yan,JIANG Zhilin,LI Jiawei,et al. Design and testing of litchi picking end-effector integrated clamping and cutting performance[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(1):35-41.(in Chinese)
[22]杨义勇,金德闻.机械系统动力学[M].北京:清华大学出版社,2009.
[23]孙桓,陈作模,葛文杰.机械原理[M].北京:高等教育出版社,2006.
[24]季顺中,李双,陈树人,等.基于ADAMS的高速插秧机三插臂分插机构运动仿真[J].农业机械学报,2010,41(增刊):82-85.JI Shunzhong,LI Shuang,CHEN Shuren,et al. Kinematical simulation of three separating planting bars of high-performance rice transplanter based on ADAMS[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(Supp.):82-85.(in Chinese)
[25]杜岳峰,毛恩荣,宋正河,等.基于ADAMS的玉米植株收获过程仿真[J/OL].农业机械学报,2012,43(增刊):106-111. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=2012s21&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2012. S0. 021.DU Yuefeng,MAO Enrong,SONG Zhenghe,et al. Simulation on corn plants in harvesting process based on ADAMS[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2012,43(Supp.):106-111.(in Chinese)
[26]贾洪雷,郭明卓,郭春江,等.免耕播种机动态仿生破茬装置设计与参数试验优化[J/OL].农业机械学报,2018,49(10):103-114. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20181012&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2018. 10. 012.JIA Honglei,GUO Mingzhuo,GUO Chunjiang,et al. Design of dynamic bionic stubble cutting device and optimization test of parameters[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):103-114.(in Chinese)