Design And Analysis Of Fruit Picking Machine Based On The Trunk Vibration Mechanism

In recent years, with the continuous development of fruit industry, especially the development of fruitindustry in Xinjiang is very rapid, which has formed a certain scale. Currently, the fruit industry has enteredfull fruit period, due to the low efficiency, high labor intensity, labor shortages and high cost of pickingprocess, resulting the large number of mature fruit not timely harvest, the lowly harvest efficiency. Aimingat the existing problems in the development of fruit industry, in order to improve the picking efficiency,increase the income of farmers, reduce the cost of picking, this paper designs a fruit picking machine tosuitable the planting pattern of Xinjiang.First established the picking machine-vibration model of fruit trees which contains dampingcoefficient, elasticity coefficient, get the dynamic equations of fruit trees, and by the simplified modelderived the fruit vibration differential equations. Theoretical analysis that the single group of eccentricblock vibration the fruit stem, the vibration trajectory of fruit trunk is circular; two groups of steeringinstead of eccentric block vibration the fruit stem, the vibration trajectory of fruit trunk is a straight line,then by derivation formula obtained the force equation of vibration at fruit stalk and fruit, fruit stalk andbranch connection. Secondly, designs the mechanical structure of picking machine, as well as designed andanalyzed the key parts, the eccentric moment of eccentric designed is1kg m, the most exciting force is24.6kN, the range of holding trunk diameter is80~200mm, suitable the orchards of the spacing has3m above,the power range of supporting the tractor is25-40hp.Again, automatic control of picking machines has designed based on the Arduino, through real-timemeasurement and control, to keep the amplitude at9~10mm when the fruit trees is vibrationed. Thendesigned and checking the hydraulic system of picking machine, and selection the hydraulic components,simulation the hydraulic system by AMESim simulation software, obtained speed curves,travel graphs,flow graphs when the hydraulic cylinder work; flow diagram, speed graph when the hydraulic motor work;change of speed and flow graphs when hydraulic motor use the throttle, the results show that the design ofthe hydraulic system is feasible. By simulated the fruit of vibration system using ADAMS software, getvibration trajectory of fruit trees, the acceleration variation diagram of the vibration box centroid, velocityvariation diagram of the trunk centroid, verify the theoretical analysis of rationality, and get the excitationeffect with the same speed is better than the different speed by compared and analyzed. Finally, through thetest of eccentric block vibration fruit tree trunk, if eccentric have a good vibration effect, the main factorsinfluencing the amplitude is the vibration frequency and the holding height.