Manual Carrying Claw Fruit(Pear)Picker Design And Experimental Research

China is one of the main producers of pears.At present,pears mainly rely on manual picking.Fruit farmers need to climb trees or climb ladders during the picking process.The picking process is not only difficult and intensive,but also has certain risks,which seriously restricts the healthy development of the pear industry.Therefore,it is particularly important to develop pear pickers to reduce the labor intensity of fruit farmers’ picking and improve the picking efficiency in order to promote the healthy development of pear planting.By analyzing the development and research status of pickers at home and abroad,it is found that existing pickers generally have shortcomings such as small picking range,inaccurate positioning of fruits,process of cutting fruit stems,which is easy to damage fruits and difficult to operate.Therefore,based on the study of the physical and mechanical properties of the picking object,a pear picker with manual jaws is designed.This article takes the designed pear picker as the research object.The research contents and conclusions are as follows:(1)Taking pears as the object of picking,the weight and volume of pears are measured,and the density of pears is calculated.At the same time,the outer diameter of the fruit and the diameter of the fruit stem are also measured;Experimental research on compressive properties,to find out the physical and mechanical properties of the picking object(2)With reference to the measured physical and mechanical characteristics of the picking object,the overall scheme design of the picker is introduced,and the mechanism and working principle of the picker are introduced;the key components of the picker are:driving mechanism,picking head mechanism,telescopic mechanism,strap adjustment mechanism and Design the structure of the collection bag.(3)According to the designed picker,the kinematics and mechanical analysis of the relevant mechanism components are obtained to obtain the kinematics equations of the mechanism.The allowable rotation angle ranges of the operating handle and the sheave in the driving operation components are 152.8 ° and 177.5°,respectively.When the blade shearing mechanism works normally,the theoretical displacement of the blade pull rod ring is 32mm;after mechanical analysis of the mechanism,the force acting on the operating handle is 15.9N.(4)The kinematics simulation analysis is carried out on the picker mechanism,and the simulation results are obtained:the maximum angle of rotation of the operating handle is 91.6°,the maximum angle of rotation of the sheave is 150°;the inner blade is installed with a semi-circle and the outer blade is installed with a semi-circle The maximum angle of rotation of the ring is greater than 90°;the overall dynamics simulation of the picker is carried out,and the maximum contact force between the gripper and the pear model is stable at 4.2N;the minimum contact force between the blade and the fruit handle is 9N;The finite element analysis model of the picker rod group is established,and the finite element analysis calculation is performed to find that the maximum deformation position of the picker rod group is located at the picking head installation,the maximum deformation is 0.039627mm;the maximum stress position is at the connection of the two rods At this point,the maximum stress on the rod assembly is 26.63MPa.(5)The feasibility verification test of the fruit picker is carried out,and the results showed that the picker had the ability to pick spherical fruits.In order to further verify the picking performance of the fruit picker and the collection performance of the bag collection,a field picking comparison test is conducted.The test results showed that the picking efficiency of the picker is 78.6%higher than that of the manual picking,and the bag collection performance is good.