Design And Experiment Of Apple Harvesting Robot Collecting Device

Apple planting industry has become the main pillar of agricultural industry development.As an important link in apple orchard production management,the harvesting operation has a very important impact on orchard planting income.Apple harvest season is strong,labor is large,transportation and packing efficiency is low.Therefore,the low loss and high efficiency mechanized apple collection device is conducive to increasing orchard planting income and promoting the sustainable development of apple industry.Therefore,aiming at the problems of high damage rate and low efficiency in apple orchard collection operation,this paper developed a robot collection device for apple harvesting.To realize the integration of two-sided collection,automatic transportation,classification and packing of apple orchard,to make up for the single process and low efficiency of the existing apple orchard collection machinery.The main research contents of this paper are as follows:(1)Design an apple harvesting robot collection device scheme.The structure of the whole machine is composed of chassis,conveying device,lifting device and fruit box flat rotation device.When working,the apples on the end conveyor belt on both sides are collected by the collecting conveyor belt and transported to the vertical conveyor belt.The vertical conveyor device is transported from top to bottom,and the apples are packed by the bearing rotating device at uniform speed.The two-side collection,automatic transportation,classification and packing integration of apple orchard was realized,which made up for the single process and low collection efficiency of the existing apple orchard picking machinery.The statics and dynamics analysis of the operation performance of the device provides a certain basis for the mechanization of orchard harvesting.(2)Construct an apple low-loss collection model.The three-dimensional model of the collection conveying device was established,and the performance simulation tests of conveying and packing were carried out.The orthogonal experimental design method was used to verify the interaction and influence rule of different factors.After optimized equipment parameters,the damage rate of apples in conveying operation was 3.3%,and that in packing operation was 4.1%.Based on dynamics,discrete element simulation and finite element analysis,the damage rate of apples collected by the device was 4.67%,and the device performance met the requirements of orchard collection.(3)Apple damage rate was used as the test index to carry out laboratory transport performance test.The test results showed that the damage rate of apples was 5.77%.The damage rate of apple was slightly different from that of simulation test.By comparing the results of laboratory test and simulation test,it is found that the collection device will be affected by space jitter during field operation of orchard,which leads to the increase of the loss rate of fruit in collection operation.The performance of the collection device meets the standards of fresh apple collection and the requirements of apple orchard harvesting.