Design And Research Of Multi-station Hand-held Fruit Picking Equipment In The Circumferential Direction

China is a big country for fruit tree planting.According to statistics,the planting area of apples,citrus and pears in China is about 100 million mu,and the output is about 100 million tons.Most of the above-mentioned fruit trees are planted in hillsides and hilly areas,which is not conducive to the use of large-scale picking equipment.Nowadays,most of the fruit tree picking is mainly based on artificial picking.In order to improve the revenue of fruit farmers,it is urgent to develop a hand-picked fruit picking device with a light structure and convenient operation.This design won the first prize of the 2018 National College Student Mechanical Design Innovation Competition.The main research is as follows:1?In line with China's national conditions,research and establish an evaluation system for hand-held picking fruit picking equipment.Through interview with fruit farmers,evaluation indicators such as operational portability,picking efficiency,price and reliability,and corresponding evaluation weights were established,which laid the foundation for the design of new handheld picking fruit picking equipment.2?The characteristics of apple,pear and other fruit trees and planting parameters,as well as the physical characteristics of fruit stalks,such as diameter and shear force,were analyzed.Based on the evaluation system,the design features of the new hand-held fruit harvesting equipment were put forward,including manual cutting,circumferential multi-station harvesting,convenient adjusting rod length,video assistant harvesting,fruit tree collection buffer and other functions.3?The hand-picked fruit picking equipment was comprehensively designed and optimized.Through the mechanism-based comprehensive method,it is analyzed that the movement mode of the input and output of the picking equipment is swing.According to the working conditions and usage requirements of the picking equipment,the transmission mechanism is determined to be a five-bar mechanism with a high pair.The Adams software was used to simulate the dynamics of the picking device's transmission mechanism,and the step function was used to define the motion and load applied to the virtual prototype.With the hand grip strength 30N and the comfortable swing angle 30°as the boundary,the link length is initially determined to be 40?100 mm and the initial angle of the rocker is 20°?60°.Through the binary search method,the final length of the connecting rod is 62mm,and the initial angle of the rocker is 21°.The maximum shearing force is 7.4N and the shearing stroke is greater than 70mm,which satisfies the shearing requirements of the fruit stem.4?Develop a prototype and verify it.The manual cutting mechanism,the circumferential multi-station picking mechanism,the rod length adjusting mechanism,the video auxiliary component,the fruit tree collecting buffer mechanism,etc.were designed,developed,tested and verified,and the whole machine was assembled.5?Go to Gaoyou Orchard for picking trials and improve the problems found.The picking test was carried out in the Gaoyou Orchard,and the defects of the scratched fruit skin before the fruit collecting sleeve were gradually improved.According to the picking test,the efficiency of the design is increased by more than 3 times compared with the traditional manual picking,and the efficiency is more than doubled compared with other auxiliary picking equipment.Without the camera,mass production,the cost per set can be controlled within 150 yuan.It has a very high cost performance.