高处林果辅助人工自动扭摘装置设计与试验

针对当前高处林果无损采摘装置缺乏,传统人工拍打、果剪采摘方式效率低、劳动强度大、果体易损伤和攀爬采摘危险系数高等实际问题,设计了一种高处林果辅助人工自动扭摘装置,对装置的林果夹持机构和动力传动机构进行了理论分析与关键部件设计,并基于单片机技术开发了自动扭摘装置的控制系统.为检验装置对高处林果的自动扭摘功能及理论扭摘果径范围,进行了苹果和梨子2种水果的果林采摘试验.试验结果表明:苹果和梨子的采摘成功率分别为88%、82%,适宜采摘果径范围为6.3～8.3cm,单果采摘平均耗时为6.7s.装置扭摘机构与控制系统能自动协调作业,满足高处林果安全无损采收要求.

Design and test of artificial automatic twisting device for high forest fruit

In view of the lack of non-destructive picking device with high forest fruit at present, the traditional artificial pat, fruit shear Picking method were low efficiency, the labor intensity was large, the fruit body was easy to damage, and the risk coefficient of climbing picking was high, a kind of high forest fruit assisted artificial automatic torsion and extraction device was designed. The theoretical analysis and key component design of the plant's forest fruit clamping mechanism and power transmission mechanism were carried out, and the control system of the automatic torsion picking device was developed based on the single-chip microcomputer technology. In order to test the automatic torsion and extraction function of high forest fruit and the range of theoretical torsional fruit diameter, the fruit forest picking test of 2 kinds of fruit of apple and pear was carried out. The results showed that the picking success rate of apples and pears was 88% and 82% respectively, the range of fruit picking was 6.3-8.3 cm, and the average time of single fruit picking was 6.7 s. The device torsion removal mechanism and control system could automatically coordinate the operation to meet the requirements of high forest fruit safety nondestructive harvesting.