| At present,pineapple picking is mainly manual,and it can account for 40% of pineapple production profits in the labor cost during the entire harvesting operation.Therefore,in order to solve the above problems,this article proposes a pineapple picking machinery and equipment solution suitable for planting field operations,and the structural design and simulation analysis of the main related components to relieve labor shortage,reduce labor intensity,improve picking efficiency,Have important development significance and research value.This pineapple picking machine not only meets the basic picking requirements,but also has a certain innovation in structure design and picking methods.The main research work completed is as follows:1)This article refers to relevant reference materials,analyzes a variety of orchard picking machinery and application technologies,has a preliminary understanding of pineapple shape characteristics,the size of the connecting force of the fruit stem,and the calculation of the required clamping force.The design scheme and analysis method are to use a high ground clearance rack chassis to reduce the damage to pineapple plants,and choose a rotary picking method to improve the picking efficiency.2)Program design and finite element simulation analysis based on professional software.First complete the main structural design of the relevant parts of the pineapple picking machine,including the important parts of the walking device,picking device,transmission device and collecting device,and then use ANSYS workbench finite element software to make the structural strength of the picking machine frame and the picking device.Analysis;Finally,in the simulation of the clamping process,the dynamic characteristics of the key components of the picking device were analyzed by Adams dynamics software.3)The simulation results of the picking machine frame show that the stress generated by the frame is mainly concentrated at the rear and front of the frame,and the maximum value is74.79 MPa,but the stress distribution is more uniform and diffused,which is difficult to cause damage to the frame structure,and The maximum stress value is less than the yield strength of the frame material of 235 MPa.Among the first 6 modal frequencies of the frame,the frequency of the 1st modal is 32.34 Hz,which is higher than the natural frequency of the frame itself,28 Hz,so it will not cause resonance of the frame,so the structural design of the frame meets the requirements for use.4)The simulation results of the picking device show that when the clamping force of the clamping jaw is maintained at 49 N,the maximum stress of the overall structure of the pineapple clamping jaw is 1.98 MPa,the maximum strain is 0.06 mm,and the maximum displacement and deformation are 3.55 mm,which are less than the material.Therefore,the strength and rigidity of the overall structure of pineapple picking jaws meet the design leveland requirements for use.The four groups of 5mm / s,10 mm / s,15 mm / s,and 20 mm / s putter speeds are compared and found.When the speed is between 5mm / s ~ 10 mm / s,the closing distance of the jaws can meet the requirements of grasping pineapples;under the condition that the push rod is subjected to a force of 32 N and moves at a speed of 7.5mm / s,the parameters of The curve changes are relatively stable,which means that the gripping action of the gripper is smooth without obvious interference,and the curve changes of the gripper on both sides are relatively consistent;at the same time,the motion analysis of the bevel gear meshing of the rotating device is performed,and the gear speed and load are found.The change of the curve is regular,and there is no obvious fluctuation range.Therefore,the design of the picking jaw and the rotation device meets the predetermined motion requirements. |
