Design And Research Of End-actuator Of The Machnical System For Nanjiang Apple Picking

Most of the harvest apples are used as fresh food because of its very good quality, but the apple picking is the most time-consuming and laborious in the process of actual production chain. Strong seasonality and big labor intensity in picking operation, the need of labor accounts for about 50%-70% of the whole process of production in the harvest period. Not only that, the manual picking often need to bend and the climbing ladder in the process of picking operations. So the apple picking operations is not only a large labor intensity and consumption times, but also has a certain amount of risk. With the continuous improvement of people living standard, the rapid progress of apple cultivation technology, the high speed development of agricultural industrialization, apple gradually presents a scale of planting. However, apple picking is basically in a state of manual work, which has become the biggest bottleneck to achieve a scale of operations in the process of planting. At the same time, people also need to relief from the work of high strength, high risk, high time consuming. From what has been discussed above, it has the extremely vital significance to realize the apple picking mechanization and scale operations.At present, the intelligent fruit picking is the development trend of fruit production in the world, which greatly improves the working efficiency, promotes the better and faster development of southern Xinjiang apple industry. End-actuator is a part of robot that directly connects with the fruits, which good or bad will directly influence on apple picking efficiency. The domestic research and manufacturing of apple end-actuator is just getting started, which results are less, Facing to a series of problems in apple picking work in southern Xinjiang, a new kind of end-actuator was researched, designed and manufactured in this project. The main work as follows:1. The whole design of end-actuator is based on apple grown characteristics and the existing way of picking operations in southern Xinjiang.2. Setting the design principles and goals, designing the whole organization of end-autuator with the help of Pro/ENGINEER and Workbench 14.0.3. With the aid of mapping software Pro/ENGINEER, designing and establishing the 3 d end-actuator.Then existing model parameter analysis, finally determining the plan and manufacturing.4. Setting the simple experiment platform,developing the end-actuator clamping experimental,and according to the experimental results,improving the end-actuator.Through the understand of apple picking end-actuator and the present field survey of apple picking methods in southern Xinjiang,Designing a new type of end-actuator which applys to southern Xinjiang apple picking mechanical system,which clamping range in 46-126 mm,meets the design goal;Its weight is 0.75 kg and the biggest agency length is 302 mm,meets the design goals in compact structure and light body. And then constructing simple clamping experiment simulation platform,makes a series of studies at the successful rate,the efficiency of grab,the measurement of hardness and solid content and so on,further confirms the reliability of the design at the end-actuator in this paper.