The Research Of Actuator For Apricot Picking Machine

During the agricultural production process,fruit picking is very time-consuming,laborious and manual-needed.In addition,the problems can be amplified because of the season and weather conditions as well as labor shortage.These factors reduce the agricultural production efficiency and influence the development of agriculture.Apricot,as a kind of nutrient rich fruit,is widely distributed in China.Aiming at the above problems,a new type of apricot fruit picking actuator machine was researched,which is used to improve the fruit picking level.In this paper,aiming at the apricot picking machine,we researched the apricot’s physical characteristics,did the simulation analysis,and produced a prototype.Apricot picking machine executive control system has been studied through electronic technology and control theory and other related knowledge.The main content is as follows:(1)The apricot fruit picking machine actuator was designed.Apricot fruit is soft and vulnerable to get injury,so we selected nylon as a picking bionic material.Based on the bionic principle of fingers working,we designed an appropriate angle to complete the picking action.The components,such as motor,reducer and bearings were selected accurately.(2)The tensile tests and shearing tests of apricot fruits in different growth stage were processed using the WDW-20 microcomputer control electronic universal testing machine.The moisture content was got by calculating and using electronic balance.Correlation analysis was performed using SPSS software to obtain the correlation coefficient and establish correlation.Then the regression was analyzed,regression equation was got.The moisture content and the quality of apricot fruit picking were to calculate the tensile and shearing force.The purpose is to determine the maturation time of apricot fruits,choose the suitable picking actuator speed and ensure economic benefits.(3)The real-time force of apricot fruit picking was tested,then the key components simulation analysis was carried out.The picking bionic fingers,picking actuator and the frame of resonance in resonant frequency were analyzed which should be avoided.The aim was to ensure the normal operation.(4)Based on the actuator of picking machine completed,the overall scheme of control system was introduced.The PC+ motion control card was used to complete the hardware design.Then the IPC,motion control card and servo components were introduced as well.(5)The picking experiment was completed,which showed that the actuator for apricot picking machine could successfully complete the picking task and determined that the picking can be completed efficiently at the speed of 34r/min without hurting the fruit.It can be inferred that the apricot fruit can be picked up effectively when the speed is kept at 30~40r/min.The mature date of East North apricot is in mid July,so the picking time should be at the beginning of July.Only in this way,we can adjust the rotation speed of the machine to achieve complete picking efficiency maximization and guarantee the fruit is not broken down.