Design And Test Of A Camellia Fruit Picking Machine Picked By Holding The Roots And Shaking The Branches

In recent years,as people pay attention to health issues and issues such as genetically modified food oil,green natural Camellia fruit oil with high nutritional value has become more and more popular.However,the mechanized picking problem of the Camellia fruit has not been well solved.The existing manual picking mode has the problems of high labor cost,tight picking time,high labor intensity for picking,and low picking efficiency.It has seriously restricted the development of China's oil tea industry.In this paper,Camellia fruit picking machine picked by holding the roots and shaking the branches was designed to solve the problem of difficult picking of camellia.This article mainly studies the following:(1)Through the investigation and analysis of the picking environment and the investigation of different varieties of Camellia oleifera and flower and fruit traits on the site;the following growth characteristics of Camellia oleifera,fruit,and flower were obtained:a,each type of camellia tree Flowering and flowering time.b.The binding force between the stem of the camellia and the branches is independent of the position of the fruit.The best picking power of camellia is about 32N.c.The binding force of the flower buds is approximately inversely proportional to the distance between the flower buds and the branches,and the distance from the branches to the branches is proportional to the pulling force of the flowers.d.The lower end of the camellia fruit has good toughness and is not easy to break;e.Artificially remove the extra flower buds of Camellia oleifera every year.These provide the basis for our picking methods and the design of the picking equipment.(2)By summarizing the research on domestic and international picking equipment and the investigation results of different varieties of Camellia oleifera and flower and fruit traits on the site,the design requirements of the Camellia fruit picking device were determined,and the whole Camellia fruit picking plan was determined,a Camellia fruit picking machine picked by holding the roots and shaking the branches was designed,a three-dimensional model of the Camellia fruit picking machine picked by holding the roots and shaking the branches was established in Solidworks.And the working process and working principle of a Camellia fruit picking machine picked by holding the roots and shaking the branches were analyzed.At the same time,the lead screw of the Camellia fruit picking machine picked by holding the roots and shaking the branches,the picking arm,the picking head clamping mechanism,the walking platform,the translation base and other components have been carefully designed,and a simple operation circuit control system and a simple operation hydraulic control system are designed.Facilitate the management and maintenance of equipment?It is concluded that:a,the maximum axial load of the equipment drive screw is F=F1=95.3N,and the allowable tensile compression load of the shaft is:P2=3.55x104N;b.Determine the first picking arm of the picking device The size of the main arm is 0.85m,the size of the second main arm is 0.8m,and the clamping force of the picking head is 562.5N<F<800N.(3)The 3D model of the Camellia fruit picking machine picked by holding the roots and shaking the branches is imported into the ADAMS software,the motion parameters are set,and the motion trajectory measurement analysis is performed on the end vertices of the connecting arms.It is concluded that the moving speed of the picking head in the X and Z directions is within 0.4m/s,and the motion is stable;the acceleration of the picking head in the X and Z directions is within±0.5m/s2,which will not cause the picking machine a huge vibrations,verified the correctness of the data calculated by the previous mathematical model.This provides an accurate basis for prototype manufacturing,reduces the amount of prototype manufacturing and testing tasks,and provides a clear direction for prototype manufacturing.(4)By combining theory and practice,the physical prototype of the picking device was fabricated,and the prototype action test was carried out to confirm that the machine arm,the walking platform,the picking head and other actions achieved the desired effect,The control range of the picking head clamping force is 562.5N<F<800N,the vibration frequency of the picking head is adjustable from 5-30Hz,the amplitude of the picking head is adjustable from 10mm-25mm,and the durability of the equipment parts meets the experimental conditions,We did a picking test.Get the best picking data:When the picking head vibrates at 10 Hz,the picking head has an amplitude of 20 mm and the picking time is 8-10 s.The fruit leakage rate is 15%,and the flowering rate is also less than 35%.