Design And Research Of An Apple Picking Machine

With the rapid development of China's urbanization,a large number of young labor force flows to cities,resulting in the aging problem of rural labor force.Picking work in China's apple industry requires a lot of labor.With the development of science and technology,mechanical work instead of human labor has become an inevitable trend.Therefore,it is necessary to study a smart apple picking machine instead of manual labor to improve the economic efficiency of the apple industry.This article designs the apple picking machine in the following three aspects:First,through the theory in mechanical design methodology,detail the design task requirements,and decompose the system functions to obtain a variety of design schemes.Finally,use the technical and economic evaluation method to compare and select the design schemes of the apple picking machine,and finally determine Set the program.Secondly,after the design plan is determined,the design of the end effector is firstly carried out.By analyzing the mechanical model of the end effector and combining the actual situation,the design size of the end effector is obtained,and the three-dimensional modeling is performed.The three-dimensional model of the actuator is analyzed to confirm that the design of the end effector meets the requirements for use.Subsequently,the design of the collecting device of the apple picking machine is completed according to the movement state of the apple after the separation of the fruit and the fruit stalk from the apple picking machine.After that,the robotic arm is designed.The D-H coordinate system is established at the joints of the robotic arm to obtain the rotation matrix and translation matrix,and the final transformation matrix is calculated.After using MATLAB to simulate the working space of the robotic arm and Jacobian matrix to optimize the robotic arm,the length of each link of the robotic arm was finally determined,and three-dimensional modeling was performed to complete the structural design of the robotic arm.According to the torque of each joint of the machine at work,the model of the stepper motor of each joint of the machine is selected.Finally,the design of the control system of the apple picking machine is carried out,and the working process of the control system is studied and analyzed.The indicators and parameters of each component of the control system are determined,and the wiring diagram of the controller of the apple picking machine is completed.