Design And Research Of Mulberry Harvester

Raspberries have high nutritional value,especially in enhancing resistance,preventing cancer,protecting the heart and other aspects of the effect is very outstanding,so the raspberries have been widely recognized by consumers around the world.Because the production of raspberries is far less than the demand,the supply of raspberries exceeds the demand,so planting raspberries has good economic value.China’s raspberry industry has been gradually expanding in recent years,but the current picking method adopted in China is artificial picking,which has high labor intensity,low efficiency and high cost,which limits the rapid development of China’s raspberry industry.In order to solve the problems caused by artificial picking,this paper studied the picking machinery and picking methods of forest fruits at home and abroad,and combined with the actual biological characteristics of the local tora sweet raspberry varieties,designed a small volume,simple structure,convenient operation,safe and reliable raspberry picking machinery.(1)Biological characteristics of raspberry plants and fruits were measured and calculated,and related parameters such as tree height,maximum length of tree crown,fruit mass and volume,fruit separation power,branch density of raspberry plants were obtained.The bending modulus of raspberry branches was also measured by three-point method.The analysis shows that the steady-state response of the raspberry fruit under external excitation can be simplified to the simple pendulum motion,and the mechanical model of the raspberry fruit hanging branches is established.The equations of the amplitude and frequency of vibration and the separation force of the fruit are obtained by solving the problems.According to the research results,the vibration amplitude of the top of the raspberry branch was calculated to be 74.74mm and 92.54mm.The vibration frequency was calculated to be 8.39Hz and 9.72Hz by subtracting the fruit separation force and the amplitude range obtained into the above equation.(2)Through the analysis and research of the existing vibration picking method,we decided to adopt the continuous vibration picking method.On the premise of satisfying the design requirements and mechanical properties of the stressed beam,the overall structure and dimensions of each part of the picking machine were designed by combining the measured tree height,maximum length of tree crown and plant spacing of the raspberry plant.The calculated power of the required driving motor is 2000W.The battery is selected,and the 6-DZF-20.2 battery is selected as the power source of the picking machine.The parameters of the pinion and rack mechanism are designed and checked.The module of the gear and rack is 3,the number of gear and rack is 20,the number of rack and rack is 15,and the tooth width is 30mm.(3)After the use of SolidWorks to build a three-dimensional model of the picking machine,in view of the minimum and maximum vibration force,the use of ADAMS to carry out kinematics analysis of the vibration device,get the picking frame in the minimum and maximum vibration force of the speed and acceleration curves,analysis shows that the two cases meet the requirements of movement;Static simulation analysis was carried out on the key parts of the picking machine,and the maximum stress and deformation of each key parts were obtained.The modal analysis of the picking machine frame shows that there is no resonance between the frame and the vibration excitation device.A simulation study was carried out on the inertia force of the fruit stalk when the picking machine was working,and the harmonic response analysis was carried out on the model of the rberry hanging fruit branch by ANSYS,and the stress of the fruit stalk was obtained when the excitation force was minimum,which met the condition of the separation of the fruit stalk.(4)The trial production of the vibration excitation device of the picking machine was carried out,and the research on the vibration excitation device was carried out,mainly to check the operation of the vibration device and debug it;The vibration of the frame during operation is measured,and the motion of the internal spring is analyzed.The results show that the vibration device can meet the expected requirements during idle operation.