Design And Test Of Orchard Picking And Pruning Integrated Work Platform Based On Crawler Self-propelled Vehicles

Orchard planting has become one of the important pillars of China’s agricultural industry development.Although many universities and enterprises have developed a large number of orchard operating machinery,most of the orchard machinery has problems such as single function,poor reliability and low operating efficiency.At present,the harvesting and pruning operations of the vast majority of orchards still rely on ladders to assist manual completion,with low operating rate and high risk of working at height;automatic picking robots are costly and technically difficult to implement,so research and development of orchard mechanized operation platforms to improve picking and the efficiency of pruning operations is an inevitable choice for domestic orchard production.To this end,a crawler self-propelled orchard picking and pruning integrated work platform was designed,which can simultaneously complete the joint operations of picking,conveying,collecting,boxing and pruning of fruit branches.The main contents of this thesis include the following:(1)Determination of the design plan of the working machine.Analyzing and comparing the research development and differences of the orchard operation platform at home and abroad,and raising the development problems of the multi-functional operation platform of domestic orchards.Aiming at the current domestic new type of orchard “dwarf anvil wide and dense planting” planting mode,combined with the agronomic requirements of orchard picking,a “double-sided,multi-station adjustable operation and fruit flexible grading transport and collection based on manual assisted picking and pruning operations” was proposed."The design.The work platform adopts the crawler self-propelled chassis,and the fruit can be fully automated from the transportation to the packing,which can ensure the continuous picking operation of the picking personnel,reduce the preparation time,greatly improve the efficiency of the picking operation and reduce the labor intensity.(2)Analysis and optimization of key components of the work platform.The strength analysis of the adjustable working platform,collection device and carrier chassis was carried out using the static analysis module in the ANSYS Workbench finite element.The results show that both the adjustable working platform and the supporting chassis meet the yield strength of the materials selected,which meets the actual requirements.The collecting device satisfies the strength condition,but the collecting device is in a suspended state,the stress is concentrated,and the alternating stress is subjected to a long time,which easily leads to the breakage at the stress point,and the method of adding a strong rib to the maximum stress point for reinforcement is needed.(3)Prototype and test of the prototype.Through the test of the functions of each part of the prototype,the results show that when the transport efficiency is 4 per second,the end flexible conveying device adopts a single interval and the flexible collecting and conveying device adopts multiple intervals,and the mechanical damage caused to the fruit is 5%.The adjustable working platform has a maximum picking height of 3.6 m and a maximum picking of 3.5 m;the vertical lifting mechanism can complete the self-lifting well,and the relative error is within 6%.When pneumatic shearing is used to trim the fruit trees,the air pump provides power for the pneumatic shears on multiple working stations,which can realize multi-station simultaneous work.The pneumatic shear can easily cut fruit branches with a diameter of about 16 mm.