Design Of A Bagging Machine For Young Apple Fruit

With the improvement of living standard,people's demand for apple quality has been increasing.In order to improve the quality and yield of apples,fruit growers have widely applied the young fruit bagging technology in the production.The bagging technology of young fruit increased production and quality and increased labor and labor intensity of fruit growers.In today's increasingly scarce labor force,in order to improve the commodity value of apples,reduce the labor intensity of fruit farmers,and improve bagging efficiency,the research and design of bagging robot for young apples has become an irresistible trend.Based on the biological characteristics of apple trees and the agronomic requirements of bagging process,the modular analysis of bagging robot was carried out in this paper.According to the theory of design methodology,each module structure of bagging robot is solved in principle,and the final design scheme is evaluated by the method of effective value analysis.Secondly,an applicable new fruit bag is designed based on the design scheme.CAD was used to simulate the constraint conditions of manipulator workspace,and Matlab was used to calculate the optimal structure parameters of manipulator.According to the target parameters,Solidworks is used to conduct 3d modeling of bagging arm and end-effector of apple bagging robot,and reducer and drive motor are selected.Finally,using the d-h method to apple and young fruit bagging motion space of the robot are analyzed,and use the robot in the Matlab toolbox toolkit for apple young fruit bagging the robot's motion are simulated and verified the correctness of the theoretical analysis,established the apple young fruit bagging the robot working space cloud,further verified the apple young fruit bagging the rationality of the robot working space.