Fundamental Research On Automatic Picking Technique Of Lingwu Long Jujubes

Lingwu Long Jujube is unique in Ningxia,which is important in local fruit economic status.In order to develop the economic of Lingwu and increase the income of farmers,it has played a very important role.However,due to the table features of Lingwu Long Jujube,the current way of picking give priority to with human.As artificial labor costs increased year by year,which has caused significant negative impact on economic development,also caused the Lingwu Long Jujube the bottleneck of economic development.So researching the Lingwu Long Jujube mechanized automatic picking device is imminent.(1)The paper has take the Lingwu Long Jujube of ShaoWei farming professional cooperatives as the research object.Then has carried on the different maturity mechanics behavior of the relationship between the fruit and stem,and the design of the end executor.The main research content is as follows:Lingwu Long Jujube fruit mechanical properties research:the physical parameter and compressive properties of jujube fruit is basic to design the load device and the actuator at the end of the harvest.Based on Lingwu Long Jujube as the research object,this paper studies the geometric parameters of jujube fruit,fruit and rubber between the maximum static friction coefficient and the compressive properties of the fruit.(2)Lingwu Long Jujube load device design:To efficient and accurate measurement bonding force between the jujube's fruit and stem,according to the mechanical properties of Lingwu Long Jujube fruit,the paper designs a portable,simple operation,high precision of measuring forces force measuring device.In order to meet the design requirements,first the paper put forward two kinds of design.Then to analysis comparison to determine the best design scheme,The lastly to determine the second solution is the best solution.(3)Different maturity Lingwu Long Jujube mechanics behavior of the relationship between the fruit and stem:First the paper design the experimental measuring Lingwu Long Jujube fruit of different maturity and the cohesive strength between stem.Then analysis the data to eliminate bulky error data by 3a and draw the line chart and graph.By knowledge of statistics,analysis the data and get the mechanics behavior of the relationship between the different maturity of Lingwu Long Jujube fruit and stem.(4)The design of the end executor:In order to realize nondestructive cull of fruits,combined with different mechanics behavior of the relationship between the different maturity of Lingwu Long Jujube fruit and stem,the paper design a comprehensive analysis based on the theory of the TRIZ,by using friction between the gripper and fruit surface to cull the end of the actuator.Then based on the SolidWork software,ADAMS and ANSYS software,the parameters of the end executor model is set up.Last the structure dynamics simulation and statics analysis was carried out on the main bar.In this paper,the research results can provide theoretical support and technical basis for Lingwu Long Jujube automatic picking equipment.