基于槽型凸轮传动的蓝莓采摘机设计与试验

为改善机械采摘蓝莓的果品质量,设计了基于槽型凸轮传动的蓝莓采摘机。样机关键零部件设计包括驱动元件计算与选择、传动系统减速比分配、凸轮运动曲线计算等,采用"反转法"推导凸轮廓形曲线,利用"角分线法"设计采摘系统末端执行装置。在ADAMS中建立采摘机模型,搭建仿真环境对采摘机进行动力学分析,研究凸轮设计参数、各杆件长度、驱动元件转速对采摘传动装置的影响。在种植园进行蓝莓采摘试验,得到槽型凸轮采摘机采摘效率4.6 kg/min、未成熟果实脱落率3.2%、成熟果实采净率83%、果实损坏率3.1%,对比分析得出:槽型凸轮采摘机的采果质量优于牵引式采摘机,采摘效率是人工采摘效率的13倍。

Design and Experiment on Blueberry Picking Machine Based on Groove Cam Drive

In order to improve the picking fruit quality of blueberry machine, a blueberry picking machine was designed based on grooved cam transmission. The key components of the prototype were designed, including the calculation and selection of drive components, distribution of reduction ratio of drive system, and the calculation of cam motion curve. The cam profile curve was derived by the inversion method, and the end execution device of the picking system was designed by using the angle dividing line method. A picking machine model was established in ADAMS. The simulation environment was set up to analyze the dynamics of the picker. The influence of the cam design parameters, the length of each member and the speed of driving element on the picking drive was studied. The blueberry picking test was conducted in the plantation. The extraction efficiency of the slot cam picking machine was 4.6kg/min, the unripe fruit shedding rate was 3.2%, the mature fruit recovery rate was 83%, and the fruit damage rate was 3.1%. The comparison analysis showed that the quality of the groove cam picker was superior to the traction picker, and the picking efficiency was 13 times of that of manual picking.